sensorless docs improvements

Author: PAJohnson

CHANGELOG.md

@@ -9,6 +9,8 @@ Please add a note of your changes below this heading if you make a Pull Request.
 * Step and direction mode resets position when entering closed loop just like `input_pos` does
 * CAN baud rate setting is now correctly handled
 * `odrivetool dfu` works properly when an ODrive is flashed with the `dfu` switch set to "dfu".
+* `odrivetool dfu` now erases the entire flash memory before flashing firmware. This ensures that old configuration parameters are erased.
+* ASCII and the Native Protocol do not run at the same time on a UART interface. See `odrv0.config.uart0_protocol` and the `STREAM_PROTOCOL_TYPE` enums for details.
 
 ### Added
 * `sc` command to ascii protocol to run `odrv.clear_errors()`

docs/commands.md

@@ -80,16 +80,20 @@ All variables that are part of a `[...].config` object can be saved to non-volat
  * `<odrv>.hw_version_major`, `<odrv>.hw_version_minor`, `<odrv>.hw_version_revision`: The hardware version of your ODrive.
 
 ## Setting up sensorless
-The ODrive can run without encoder/hall feedback, but there is a minimum speed, usually around a few hundred RPM.
+The ODrive can run without encoder/hall feedback, but there is a minimum speed, usually around a few hundred RPM. In other words, sensorless mode does not support stopping or changing direction!
+
+Sensorless mode starts by ramping up the motor speed in open loop control and then switches to closed loop control automatically. The sensorless speed ramping parameters are in `axis.config.sensorless_ramp` The `vel` and `accel` (in [radians/s] and [radians/s^2]) control the speed that the ramp tries to reach and how quickly it gets there. When the ramp reaches `sensorless_ramp.vel`, `controller.input_vel` is automatically set to the same velocity, in [turns/s], and the state switches to closed loop control.
+
+If your motor comes to a stop after the ramp, try incrementally raising the `vel` parameter. The goal is to be above the minimum speed necessary for sensorless position and speed feedback to converge - this is not well-parameterized per motor. The parameters suggested below work for the D5065 motor, with 270KV and 7 pole pairs. If your motor grinds and skips during the ramp, lower the `accel` parameter until it is tolerable.
+
+Below are some suggested starting parameters that you can use for the ODrive D5065 motor. Note that you _must_ set the `pm_flux_linkage` correctly for sensorless mode to work. Motor calibration and setup must also be completed before sensorless mode will work.
 
-Below are some suggested starting parameters that you can use. Note that you _must_ set the `pm_flux_linkage` correctly for sensorless mode to work. Motor calibration and setup must also be completed before sensorless mode will work.
 
 ```
 odrv0.axis0.controller.config.vel_gain = 0.01
 odrv0.axis0.controller.config.vel_integrator_gain = 0.05
-odrv0.axis0.controller.config.control_mode = 2
-odrv0.axis0.controller.input_vel = 10
-odrv0.axis0.controller.config.vel_limit = <a value greater than input_vel>
+odrv0.axis0.controller.config.control_mode = CONTROL_MODE_VELOCITY_CONTROL
+odrv0.axis0.controller.config.vel_limit = <a value greater than axis.config.sensorless_ramp.vel / (2pi * <pole_pairs>)>
 odrv0.axis0.motor.config.current_lim = 2 * odrv0.axis0.config.sensorless_ramp.current
 odrv0.axis0.sensorless_estimator.config.pm_flux_linkage = 5.51328895422 / (<pole pairs> * <motor kv>)
 odrv0.axis0.config.enable_sensorless_mode = True

tools/setup.py

@@ -32,14 +32,14 @@
 """
 
 # Set to true to make the current release
-is_release = False
+is_release = True
 
 # Set to true to make an official post-release, rather than dev of new version
 is_post_release = False
 post_rel_num = 0
 
 # To test higher numbered releases, bump to the next rev
-devnum = 6
+devnum = 0
 bump_rev = not is_post_release and not is_release
 
 # TODO: add additional y/n prompt to prevent from erroneous upload