2019-10-04, 01:35 AM
Do you mean the new changes use 16bit rudder stop resolution on the controller and also support rudder feedback with reversed polarity (voltage decreases as rudder moves to starboard)?
If you don't update the motor controller, it will still fully support this including both polarities, but the end of travel from rudder position logic will be handled in python only. Updating the motor controller will also perform this logic on the controller itself which has a faster reaction time, and slightly safer in case the raspberry with pypilot resets while the motor is still moving, it might not time out before stalling the motor in some cases.
In practice if the drive can move more than 2 degrees past the rudder feedback stops without reaching the maximum travel and stalling the motor, then it will be fine even in the worst case with only python logic, so I don't think it is very important to update the controller.
You can of course upload the new version by typing "make upload" in pypilot/arduino/motor
If you don't update the motor controller, it will still fully support this including both polarities, but the end of travel from rudder position logic will be handled in python only. Updating the motor controller will also perform this logic on the controller itself which has a faster reaction time, and slightly safer in case the raspberry with pypilot resets while the motor is still moving, it might not time out before stalling the motor in some cases.
In practice if the drive can move more than 2 degrees past the rudder feedback stops without reaching the maximum travel and stalling the motor, then it will be fine even in the worst case with only python logic, so I don't think it is very important to update the controller.
You can of course upload the new version by typing "make upload" in pypilot/arduino/motor