AS5600 Fantom velocity (jitter)

[lexan253]

Hello everyone!
Im trying to use BLDC motor with simplefocshield v3.2 but I’ve encountered problems with the AS5600 position sensor.
When I test it with “magnetic_sensor_i2c” I have velocity jittering while position (factual and sensed) is steady. The values are repeating (+/-0.54, 1.07, ±0.02). Also this numbers might stop jittering and hold still (but they are obviously wrong since motor isnt moving)

It vanished for some short amount of time when I’ve grounded DIR but shortly after it returned. When I run example from standard AS5600 library it shows correct speed values when motor is steady. Though there is also a little bit of noise when I use AS5600 library, but its quite small, rare and reasonable. On the other hand, velocity jitter from the simplefoc library seems random in terms of cause. Could somebody help with that?

[dekutree64]

Maybe [BUG] Velocity doesnt go to 0 when stationary · Issue #533 · simplefoc/Arduino-FOC · GitHub?
Try adding else velocity = 0; in Sensor::getVelocity() and see if it still happens.

[o_lampe]

Is that a hack for all sensors? I’m struggling with halls and smoothingSensor, too.
Had to use very low velocity PID settings, but now in step/dir_angle mode the motor response is weak.