Hall sensor bug fix and tweaks

CHANGELOG.md

@@ -18,7 +18,11 @@
 	* Added access to several config parameters.
 	* Many improvements and bug fixes.
 	* Better error descriptions.
-* Hall sensors: smooth transition to sensorless.
+* Hall sensors improvements:
+	* Smooth transition to sensorless.
+	* Bug fix in interpolation.
+	* Use less noisy speed estimator for interpolation.
+	* Adjusted rate limit.
 * Added soft regen cutoff. See https://github.com/vedderb/vesc_tool/pull/310
 * Attempt at limiting the input current when using MTPA and field weakening.
 * Removed built-in balance app. The balance-package can be used instead, which is where new development is done.

motor/foc_math.c

@@ -544,7 +544,7 @@ float foc_correct_hall(float angle, float dt, motor_all_state_t *motor, int hall
 	mc_configuration *conf_now = motor->m_conf;
 	motor->m_hall_dt_diff_now += dt;
 
-	float rad_per_sec = (M_PI / 3.0) / motor->m_hall_dt_diff_last;
+	float rad_per_sec = motor->m_speed_est_fast;
 	float rpm_abs = fabsf(RADPS2RPM_f(motor->m_pll_speed));
 	float rpm_abs_hall = fabsf(RADPS2RPM_f(rad_per_sec));
 
@@ -603,18 +603,18 @@ float foc_correct_hall(float angle, float dt, motor_all_state_t *motor, int hall
 		} else {
 			// Interpolate
 			float diff = utils_angle_difference_rad(motor->m_ang_hall, ang_hall_now);
-			if (fabsf(diff) < ((2.0 * M_PI) / 12.0)) {
+			if (fabsf(diff) < ((2.0 * M_PI) / 12.0) || SIGN(diff) != SIGN(rad_per_sec)) {
 				// Do interpolation
 				motor->m_ang_hall += rad_per_sec * dt;
 			} else {
 				// We are too far away with the interpolation
-				motor->m_ang_hall -= diff / 100.0;
+				motor->m_ang_hall -= diff * 0.01;
 			}
 		}
 
 		// Limit hall sensor rate of change. This will reduce current spikes in the current controllers when the angle estimation
 		// changes fast.
-		float angle_step = (fmaxf(rpm_abs_hall, conf_now->foc_hall_interp_erpm) / 60.0) * 2.0 * M_PI * dt * 1.5;
+		float angle_step = (fmaxf(rpm_abs_hall, conf_now->foc_hall_interp_erpm) / 60.0) * 2.0 * M_PI * dt * 1.4;
 		float angle_diff = utils_angle_difference_rad(motor->m_ang_hall, motor->m_ang_hall_rate_limited);
 		if (fabsf(angle_diff) < angle_step) {
 			motor->m_ang_hall_rate_limited = motor->m_ang_hall;