BLHeli32 weird stalling, like a stepper Motor

[rs-development]

I am driving T200 thrusters with a TEKKO32 ESC with BLHeli 32.7 and I am facing an issue where sometimes the Motor does not startup properly. I linked a video with bad settings to reproduce the issue more reliably. What i find interessting ist that even after going off the throttle when I zoom in on the Motor there is still some buzzing sound. The motor has still some increased resistance only after turning it about half a rotation it start spinning more freely again.

I attached my used config and the proposed config from BlueROV for the T200 and a BLHeliS ESC.

I already tried different Demag and Compensation angles but it only got worse. Any ideas?

My Config for BLHeli32 BLHeli32_TEKKO32_F3_B - Rev. 32.7 - Multi_210609 - Copy.ixi.txt

Supposed to work with their ESC Design BLHeliS http://cad.bluerobotics.com/BLHeli_BRBasicESC-R_H_15-Rev.16.6-Multi_170921.ini

https://www.youtube.com/watch?v=5n0rdtZwJuo

[sskaug]

This may be a case where the friction or resistance is large enough for the field from the stator to "induce" bemf signal without the rotor moving. We have made a dedicated code optimization for such cases, that has previously shown improvement. A testcode is posted here: https://github.com/bitdump/BLHeli/tree/master/BLHeli_32%20ARM/Thruster%20no%20windup%20testcode

[rs-development]

Sounds good, I will give it a try when I am back at the lake.

[Silvanosky]

Hi,

I am having the same issue, would it be possible to have an options for such case in the main firmware instead of testcode ?

EDIT: I am using T_Motor_F45A_4IN1_V2_Multi so I cannot try this test code. If it would be possible to generate the correct dump so I can try, it could be amazing thanks !

Thanks !

[sskaug]

Testcode now posted. This mode of usage is not very common for BLHeli_32, so at the moment we do not plan to make it a programmable item.