conf/template/conf.txt

@@ -1,7 +1,6 @@
 load conf
 conf0.r = 1
 conf0.l = 0.01
-conf0.l_ratio = 1
 conf0.j = 0.000025
 conf0.j_sys = 0.0
 conf0.j_lpf = 100.0

conf/template/dc.txt

@@ -6,6 +6,4 @@ hv0.d_cmd = 0
 hv0.pos = 0
 hv0.phase_mode = 3
 hv0.q_cmd = dc_ttc0.cur
-hv0.cmd_mode = 1
+hv0.cmd_mode = 1
-conf0.phase_time = 0
-conf0.phase_cur = 0

shared/comps/pid.c

@@ -154,7 +154,8 @@ static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
       PIN(torque_sat) = MAX(PIN(torque_sat) - period, 0.0);
     }
 
-    PIN(ff_torque_cmd) = PIN(acc_ext_cmd) * (PIN(j_mot) + PIN(j_sys));
+    PIN(ff_torque_cmd) = PIN(torque_ext_cmd);
+    PIN(ff_torque_cmd) += PIN(acc_ext_cmd) * (PIN(j_mot) + PIN(j_sys));
     PIN(ff_torque_cmd) += PIN(d) * PIN(vel_cmd);
     PIN(ff_torque_cmd) += PIN(f) * SIGN2(PIN(vel_cmd), PIN(max_vel) * 0.001);
     PIN(ff_torque_cmd) += PIN(l);