no longer limit d-controller output to half amplitude. Can cause unwa…

…nted regen
jsphuebner · Nov 16, 2021 · 58ef3e9 · 58ef3e9
1 parent 943a98c
commit 58ef3e9
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/pwmgeneration-foc.cpp b/src/pwmgeneration-foc.cpp
@@ -189,7 +189,7 @@ void PwmGeneration::PwmInit()
    qController.SetMinMaxY(-maxVd, maxVd);
    dController.ResetIntegrator();
    dController.SetCallingFrequency(pwmfrq);
-   dController.SetMinMaxY(-maxVd, maxVd / 2);
+   dController.SetMinMaxY(-maxVd, maxVd);
    fwController.ResetIntegrator();
    fwController.SetCallingFrequency(pwmfrq);
    fwController.SetMinMaxY(-50 * Param::Get(Param::throtcur), 0); //allow 50% of max current for extra field weakening