Refloat 1.3.0-beta1

Refloat 1.3 reworks a lot of the core control mechanisms and adds Setpoint Smoothing to all Tilts. Boards will behave slightly differently and tunes might need adjusting.

WARNING: This is a test version of the package. Bugs may be present.

Use at your own risk!!!

Features

• Move core (PID) balancing control to the IMU callback
  This removes a source of timing inaccuracies stemming from an arbitrary delay between a new IMU sample arriving and being used.

• Introduce setpoint smoothing for all Tilts (Torque tilt, ATR, Brake Tilt, Turn Tilt and Remote)

• Add separate configurable downhill/braking tilt speeds for Torque Tilt and ATR

• New ATR Transition Boost
  The ATR Transition Boost feature didn't fit the new Setpoint Smoothing algorithm. It was reworked and the multiplier now applies to the smoothing constants as well as the angling rates.

• The ATR Response Boost config option was dropped
  It is deemed unnecessary with the new Setpoint Smoothing allowing faster speeds in general.

• Use torque instead of current in balance calculations (6.06+)
  On firmware 6.06+ calculate motor torque based on the calibrated flux linkage and configured motor poles.

  This compensates for different motors' torque constants and should make tunes behave more consistently across different motors (not taking into account saturation, that is, the maximum torque a given motor can produce, which remains a major differentiator that can't be accounted for). As a consequence, with this feature (on FW 6.06+) the tune behavior will change slightly according to the motor being used.

  Config options related to current are now internally converted to a torque equivalent of a motor Flux Linkage of 27 mWb (a middle value for the common Onewheel motors). The more your Flux Linkage value differs from this, the more will your tune be adjusted.

  The following config options are affected. To retain previous tune behavior, calculate k = Flux Linkage / 27 and adjust:

  Divide by k (likely noticeable, recommended to adjust):

  • Torque Tilt Strength and Strength (Regen)

  Multiply by k (subtle, adjust if needed):

  • Angle P
  • Rate P
  • Angle I
  • I Term Limit
  • Booster (Acceleration/Braking) Current Boost
  • Torque Tilt Start Current Threshold
  • ATR Amps to Acceleration/Deceleration Ratio

  Make sure your Motor Cfg -> Additional Info -> Setup -> Motor Poles value is correct! The correct value for all Onewheel motors to date is 30.

  On firmware 6.05 and older the behavior remains the same.

• New and more consistent Reverse Stop implementation

• Add the Control Loop dt and Control Loop Frequency to realtime data
  The dt (delta time) is the time between control loop iterations. The frequency is based off that, just smoothed out. Both of these values are defined by IMU Sample Rate.

  Control Loop Frequency can be used to check the actual frequency a particular configure IMU Sample Rate has resulted in.

  Control Loop dt can be checked to see how jittery the timing is, but the Data Recording firmware is needed for that, as the dt needs to be recorded precisely (normal data logging at 10x per second can't accurately show it). Besides IMU Sample Rate, Motor ZVF has a big impact on the Control Loop jitter.

• Add an option to swap left/right footpad ADCs

• Remove the Loop Hertz config option
  The value no longer directly influences motor control and is now hard-coded to 500 Hz.

• Remove the Turn Tilt Max Tiltback Speed option
  It is replaced by the Smoothing Time Constant, which effectively limits speed in addition to defining the overall smoothness.

• Remove the Remote Tiltback Speed option
  It is replaced by the Smoothing Time Constant.

• Add a "Keep Defaults" button to the automatic config restore dialog (to stay on defaults and stop the dialog from popping up)

• Add the Decimation parameter to Data Recording
  Decimation controls how often samples are recorded - a value of N records every Nth sample, allowing longer recording periods at reduced resolution. It can be set via long-pressing the Record button in the realtime data plot.

  The decimation defaults to a value which results in about 10 seconds of data being recorded.

• Implement scaling groups for the realtime data plot in the UI
  All pitch values (including sentpoints) and all motor current values will now scale together.

• Custom scaling for realtime data plot
  The scaling can be accessed by long-pressing on a series in the series visibility menu.

• Add a fullscreen remote overlay to package UI

• Rework the remote moving (wheel turning) and implement a new way to control remote (both tilting and moving) from apps
  There is now a single slider in the package UI for remote which controls both tilting and moving the same way a remote does.

• Flash the last remaining LED on the status battery bar if battery percentage goes below that point [acheronfail]

• Show motor and battery current saturation (together with the duty cycle called motor utilization) on the status bar [acheronfail]
  Motor saturation is pink, battery saturation is teal and duty cycle is amber in color.

• Turn Flywheel off on a single sensor press instead of requiring both halves to be pressed

Fixes

• Make internal package calculations independent of the loop frequency
  Ensures consistent behavior regardless of what frequency the package is running at.
• Add recalculation of filter constants according to actual measured loop frequency
  Due to technical details actual frequencies at which the package is running can differ significantly from the configured ones, this ensures the filtering is consistent and accurate.
• Fix sending up to full motor current when turning off Flywheel via the app button
• When using a physical remote to move the motor, don't immediately release the motor (applying brake current) in neutral position (1s timeout is used)

Refloat 1.2.2

A bugfix release with quite a number of small fixes that have accumulated.

A notable change is the renaming of the VESC Tool AppUI tab to "Refloat".

Use at your own risk!!!

Features

• Rename the AppUI tab title to Refloat [contactsimonwilson]
• Don't disable LEDs if both sensors are pressed at startup [Eli Parker]
  This mechanism was in place for the potential case of the LED initialization locking up the board in a way that would prevent the user from connecting to fix the problem. This has proven unneeded, so the feature is being removed.
• Allow external apps to set the following values in runtime, without writing the config (used by Float Control) [Dado Mista]
  • Roll KP
  • Turn Tilt start angle
  • Disable Moving Faults
  • Sensor beep
  • Parking Brake mode
  • Negative variable tilt
  • Speed pushback threshold
  • Faster on/off speeds

Fixes

• Fix haptic strength speed scaling being applied incorrectly when riding in reverse [Dado Mista]
• Set more sensible limits of 45-90° for Pitch and Roll Axis Fault Cutoffs
• Fix toggling LEDs or Headlights On via the UI or konami being stored in the config under some circumstances
  The toggles are now only temporary and once toggled, writing the config won't override the current state either.
• Exclude the Persistent Fatal Error config option from being stored in tunes
  To remove it from existing tunes, the tunes need to be resaved.
• Drive beeper pin low after init to prevent unintended beep [0x41kravchenko]
• Fix a potential extra short beep on startup
• Stop the "last beep reason" text from disappearing once the beep condition stops for users running Float Accessories [Eli Parker]
• Fix the Tips & Tricks all being displayed over each other

Refloat 1.3.0-preview3

WARNING: This is a test version of the package. Bugs may be present.

This is a feature preview of the timing rework, new setpoint smoothing and a few other smaller features and improvements.

Please read the release post for more details.

1.3.0-preview3

Features

• Fine tuning the Smoothing and angling speed defaults for Torque Tilt and ATR
• Flash the last remaining LED on the status battery bar if battery percentage goes below that point [acheronfail]
• Show motor and battery current saturation (together with the duty cycle called motor utilization) on the status bar [acheronfail]
  Motor saturation is pink, battery saturation is teal and duty cycle is amber in color.
• Turn Flywheel off on a single sensor press instead of requiring both halves to be pressed

Fixes

• Fix Torque Tilt Strength and Strength (Regen) only being applied at about 37% of their intended value
  The strengths should result in behavior close to Refloat 1.2. They are affected by the torque normalization enough to be noticeable though. To calculate equivalent new values, divide the old values by k = motor_flux_linkage / 27 (if your flux linkage is greater than 27, you need to knock the Strengths down a notch).
• Fix sending up to full motor current when turning off Flywheel via the app button
• Minor unlisted improvements and cleanups

1.3.0-preview2

Features

• Usable, close to final defaults for all the Smoothing config options

• Remove the Loop Hertz config option
  The value no longer directly influences motor control and is now hard-coded to 500 Hz.

• Remove the Turn Tilt Max Tiltback Speed option
  It is replaced by the Smoothing Time Constant, which effectively limits speed in addition to defining the overall smoothness.

• Add the Decimation parameter to Data Recording
  Decimation controls how often samples are recorded - a value of N records every Nth sample, allowing longer recording periods at reduced resolution. It can be set via long-pressing the Record button in the realtime data plot.

  The decimation defaults to a value which results in about 10 seconds of data being recorded.

• Implement scaling groups for the realtime data plot in the UI
  All pitch values (including sentpoints) and all motor current values will now scale together.

• Custom scaling for realtime data plot
  The scaling can be accessed by long-pressing on a series in the series visibility menu.

• Add a fullscreen remote overlay to package UI

• Rework the remote moving (wheel turning) and implement a new way to control remote (both tilting and moving) from apps
  There is now a single slider in the package UI for remote which controls both tilting and moving the same way a remote does.

Fixes

• A number of minor fixes and improvements on top of what was in preview1

1.3.0-preview1

Features

• Move core (PID) balancing control to the IMU callback
  This removes a source of timing inaccuracies stemming from an arbitrary delay between a new IMU sample arriving and being used.

• Introduce setpoint smoothing for all Tilts (Torque tilt, ATR, Brake Tilt, Turn Tilt and Remote)

• Add separate configurable downhill/braking tilt speeds for Torque Tilt and ATR

• New ATR Transition Boost
  The ATR Transition Boost feature didn't fit the new Setpoint Smoothing algorithm. It was reworked and the multiplier now applies to the smoothing constants as well as the angling rates.

• The ATR Response Boost config option was dropped
  It is deemed unnecessary with the new Setpoint Smoothing allowing faster speeds in general.

• Use torque instead of current in balance calculations (6.06+)
  On firmware 6.06+ calculate motor torque based on the calibrated flux linkage and configured motor poles.

  This compensates for different motors' torque constants and should make tunes behave more consistently across different motors (not taking into account saturation, that is, the maximum torque a given motor can produce, which remains a major differentiator that can't be accounted for). As a consequence, with this feature (on FW 6.06+) the tune behavior will change slightly according to the motor being used.

  Config options related to current are now internally converted to a torque equivalent of a motor Flux Linkage of 27 mWb (a middle value for the common Onewheel motors). The more your Flux Linkage value differs from this, the more will your tune be adjusted.

  The following config options are affected:

  • Angle P
  • Rate P
  • Angle I
  • I Term Limit
  • Booster (Acceleration/Braking) Current Boost
  • Torque Tilt Strength and Strength (Regen)
  • Torque Tilt Start Current Threshold
  • ATR Uphill/Downhill Strength
  • ATR Amps to Acceleration/Decceleration Ratio

  Make sure your Motor Cfg -> Additional Info -> Setup -> Motor Poles value is correct! The correct value for all Onewheel motors to date is 30.

  On firmware 6.05 and older the behavior remains the same.

• New and more consistent Reverse Stop implementation

• Add the Control Loop dt and Control Loop Frequency to realtime data
  The dt (delta time) is the time between control loop iterations. The frequency is based off that, just smoothed out. Both of these values are defined by IMU Sample Rate.

  Control Loop Frequency can be used to check the actual frequency a particular configure IMU Sample Rate has resulted in.

  Control Loop dt can be checked to see how jittery the timing is, but the Data Recording firmware is needed for that, as the dt needs to be recorded precisely (normal data logging at 10x per second can't accurately show it). Besides IMU Sample Rate, Motor ZVF has a big impact on the Control Loop jitter.

• Rename the AppUI tab title to Refloat [contactsimonwilson]

• Don't disable LEDs if both sensors are pressed at startup [Eli Parker]
  This mechanism was in place for the potential case of the LED initialization locking up the board in a way that would prevent the user from connecting to fix the problem. This has proven unneeded, so the feature is being removed.

• Add an option to swap left/right footpad ADCs

Fixes

• Make internal package calculations independent of the loop frequency
  Ensures consistent behavior regardless of what frequency the package is running at.
• Add recalculation of filter constants according to actual measured loop frequency
  Due to technical details actual frequencies at which the package is running can differ significantly from the configured ones, this ensures the filtering is consistent and accurate.
• Fix haptic strength speed scaling being applied incorrectly when riding in reverse [Dado Mista]
• Set more sensible limits of 45-90° for Pitch and Roll Axis Fault Cutoffs
• Stop the "last beep reason" text from disappearing once the beep condition stops for users running Float Accessories [Eli Parker]
• Drive beeper pin low after init to prevent unintended beep [0x41kravchenko]
• Fix a potential extra short beep on startup

Refloat 1.3.0-preview2

WARNING: This is a test version of the package. Bugs may be present.

This is a feature preview of the timing rework, new setpoint smoothing and a few other smaller features and improvements.

Please read the release post for more details.

1.3.0-preview2

Features

• Usable, close to final defaults for all the Smoothing config options

• Remove the Loop Hertz config option
  The value no longer directly influences motor control and is now hard-coded to 500 Hz.

• Remove the Turn Tilt Max Tiltback Speed option
  It is replaced by the Smoothing Time Constant, which effectively limits speed in addition to defining the overall smoothness.

• Add the Decimation parameter to Data Recording
  Decimation controls how often samples are recorded - a value of N records every Nth sample, allowing longer recording periods at reduced resolution. It can be set via long-pressing the Record button in the realtime data plot.

  The decimation defaults to a value which results in about 10 seconds of data being recorded.

• Implement scaling groups for the realtime data plot in the UI
  All pitch values (including sentpoints) and all motor current values will now scale together.

• Custom scaling for realtime data plot
  The scaling can be accessed by long-pressing on a series in the series visibility menu.

• Add a fullscreen remote overlay to package UI

• Rework the remote moving (wheel turning) and implement a new way to control remote (both tilting and moving) from apps
  There is now a single slider in the package UI for remote which controls both tilting and moving the same way a remote does.

Fixes

• A number of minor fixes and improvements on top of what was in preview1

1.3.0-preview1

Features

• Move core (PID) balancing control to the IMU callback
  This removes a source of timing inaccuracies stemming from an arbitrary delay between a new IMU sample arriving and being used.

• Introduce setpoint smoothing for all Tilts (Torque tilt, ATR, Brake Tilt, Turn Tilt and Remote)

• Add separate configurable downhill/braking tilt speeds for Torque Tilt and ATR

• New ATR Transition Boost
  The ATR Transition Boost feature didn't fit the new Setpoint Smoothing algorithm. It was reworked and the multiplier now applies to the smoothing constants as well as the angling rates.

• The ATR Response Boost config option was dropped
  It is deemed unnecessary with the new Setpoint Smoothing allowing faster speeds in general.

• Use torque instead of current in balance calculations (6.06+)
  On firmware 6.06+ calculate motor torque based on the calibrated flux linkage and configured motor poles.

  This compensates for different motors' torque constants and should make tunes behave more consistently across different motors (not taking into account saturation, that is, the maximum torque a given motor can produce, which remains a major differentiator that can't be accounted for). As a consequence, with this feature (on FW 6.06+) the tune behavior will change slightly according to the motor being used.

  Config options related to current are now internally converted to a torque equivalent of a motor Flux Linkage of 27 mWb (a middle value for the common Onewheel motors). The more your Flux Linkage value differs from this, the more will your tune be adjusted.

  The following config options are affected:

  • Angle P
  • Rate P
  • Angle I
  • I Term Limit
  • Booster (Acceleration/Braking) Current Boost
  • Torque Tilt Strength and Strength (Regen)
  • Torque Tilt Start Current Threshold
  • ATR Uphill/Downhill Strength
  • ATR Amps to Acceleration/Decceleration Ratio

  Make sure your Motor Cfg -> Additional Info -> Setup -> Motor Poles value is correct! The correct value for all Onewheel motors to date is 30.

  On firmware 6.05 and older the behavior remains the same.

• New and more consistent Reverse Stop implementation

• Add the Control Loop dt and Control Loop Frequency to realtime data
  The dt (delta time) is the time between control loop iterations. The frequency is based off that, just smoothed out. Both of these values are defined by IMU Sample Rate.

  Control Loop Frequency can be used to check the actual frequency a particular configure IMU Sample Rate has resulted in.

  Control Loop dt can be checked to see how jittery the timing is, but the Data Recording firmware is needed for that, as the dt needs to be recorded precisely (normal data logging at 10x per second can't accurately show it). Besides IMU Sample Rate, Motor ZVF has a big impact on the Control Loop jitter.

• Rename the AppUI tab title to Refloat [contactsimonwilson]

• Don't disable LEDs if both sensors are pressed at startup [Eli Parker]
  This mechanism was in place for the potential case of the LED initialization locking up the board in a way that would prevent the user from connecting to fix the problem. This has proven unneeded, so the feature is being removed.

• Add an option to swap left/right footpad ADCs

Fixes

• Make internal package calculations independent of the loop frequency
  Ensures consistent behavior regardless of what frequency the package is running at.
• Add recalculation of filter constants according to actual measured loop frequency
  Due to technical details actual frequencies at which the package is running can differ significantly from the configured ones, this ensures the filtering is consistent and accurate.
• Fix haptic strength speed scaling being applied incorrectly when riding in reverse [Dado Mista]
• Set more sensible limits of 45-90° for Pitch and Roll Axis Fault Cutoffs
• Stop the "last beep reason" text from disappearing once the beep condition stops for users running Float Accessories [Eli Parker]
• Drive beeper pin low after init to prevent unintended beep [0x41kravchenko]
• Fix a potential extra short beep on startup

Refloat 1.2.2-beta2

A bugfix release with quite a number of small fixes that have accumulated.

A notable change is the renaming of the VESC Tool AppUI tab to "Refloat".

WARNING: This is a test version of the package. Bugs may be present.

Use at your own risk!!!

Features

• Rename the AppUI tab title to Refloat [contactsimonwilson]
• Don't disable LEDs if both sensors are pressed at startup [Eli Parker]
  This mechanism was in place for the potential case of the LED initialization locking up the board in a way that would prevent the user from connecting to fix the problem. This has proven unneeded, so the feature is being removed.

Fixes

• Fix haptic strength speed scaling being applied incorrectly when riding in reverse [Dado Mista]
• Set more sensible limits of 45-90° for Pitch and Roll Axis Fault Cutoffs
• Fix toggling LEDs or Headlights On via the UI or konami being stored in the config under some circumstances
  The toggles are now only temporary and once toggled, writing the config won't override the current state either.
• Exclude the Persistent Fatal Error config option from being stored in tunes
  To remove it from existing tunes, the tunes need to be resaved.
• Drive beeper pin low after init to prevent unintended beep [0x41kravchenko]
• Fix a potential extra short beep on startup
• Stop the "last beep reason" text from disappearing once the beep condition stops for users running Float Accessories [Eli Parker]
• Fix the Tips & Tricks all being displayed over each other

Refloat 1.3.0-preview1

WARNING: This is an experimental version of the package. Bugs may and will be present. Use at your own risk!

This is a feature preview of the timing rework, new setpoint smoothing and a few other smaller features and improvements.

Please read the release post for more details.

Features

• Move core (PID) balancing control to the IMU callback
  This removes a source of timing inaccuracies stemming from an arbitrary delay between a new IMU sample arriving and being used.

• Introduce setpoint smoothing for all Tilts (Torque tilt, ATR, Brake Tilt, Turn Tilt and Remote)

• Add separate configurable downhill/braking tilt speeds for Torque Tilt and ATR

• New ATR Transition Boost
  The ATR Transition Boost feature didn't fit the new Setpoint Smoothing algorithm. It was reworked and the multiplier now applies to the smoothing constants as well as the angling rates.

• The ATR Response Boost config option was dropped
  It is deemed unnecessary with the new Setpoint Smoothing allowing faster speeds in general.

• Use torque instead of current in balance calculations (6.06+)
  On firmware 6.06+ calculate motor torque based on the calibrated flux linkage and configured motor poles.

  This compensates for different motors' torque constants and should make tunes behave more consistently across different motors (not taking into account saturation, that is, the maximum torque a given motor can produce, which remains a major differentiator that can't be accounted for). As a consequence, with this feature (on FW 6.06+) the tune behavior will change slightly according to the motor being used.

  Config options related to current are now internally converted to a torque equivalent of a motor Flux Linkage of 27 mWb (a middle value for the common Onewheel motors). The more your Flux Linkage value differs from this, the more will your tune be adjusted.

  The following config options are affected:

  • Angle P
  • Rate P
  • Angle I
  • I Term Limit
  • Booster (Acceleration/Braking) Current Boost
  • Torque Tilt Strength and Strength (Regen)
  • Torque Tilt Start Current Threshold
  • ATR Uphill/Downhill Strength
  • ATR Amps to Acceleration/Decceleration Ratio

  Make sure your Motor Cfg -> Additional Info -> Setup -> Motor Poles value is correct! The correct value for all Onewheel motors to date is 30.

  On firmware 6.05 and older the behavior remains the same.

• New and more consistent Reverse Stop implementation

• Add the Control Loop dt and Control Loop Frequency to realtime data
  The dt (delta time) is the time between control loop iterations. The frequency is based off that, just smoothed out. Both of these values are defined by IMU Sample Rate.

  Control Loop Frequency can be used to check the actual frequency a particular configure IMU Sample Rate has resulted in.

  Control Loop dt can be checked to see how jittery the timing is, but the Data Recording firmware is needed for that, as the dt needs to be recorded precisely (normal data logging at 10x per second can't accurately show it). Besides IMU Sample Rate, Motor ZVF has a big impact on the Control Loop jitter.

• Rename the AppUI tab title to Refloat [contactsimonwilson]

• Don't disable LEDs if both sensors are pressed at startup [Eli Parker]
  This mechanism was in place for the potential case of the LED initialization locking up the board in a way that would prevent the user from connecting to fix the problem. This has proven unneeded, so the feature is being removed.

• Add an option to swap left/right footpad ADCs

Fixes

• Make internal package calculations independent of the loop frequency
  Ensures consistent behavior regardless of what frequency the package is running at.
• Add recalculation of filter constants according to actual measured loop frequency
  Due to technical details actual frequencies at which the package is running can differ significantly from the configured ones, this ensures the filtering is consistent and accurate.
• Fix haptic strength speed scaling being applied incorrectly when riding in reverse [Dado Mista]
• Set more sensible limits of 45-90° for Pitch and Roll Axis Fault Cutoffs
• Stop the "last beep reason" text from disappearing once the beep condition stops for users running Float Accessories [Eli Parker]
• Drive beeper pin low after init to prevent unintended beep [0x41kravchenko]
• Fix a potential extra short beep on startup

Refloat 1.2.1

Refloat 1.2 reaches fully seamless upgrading experience (with automatic config restore and support for automatically migrating any changes in config options) and brings major improvements in various alerting me
chanisms.

Disclaimer: Use at your own risk!!!

Read the package README for installation details.

Features

• Add support for BMS alerting (Pushback and Haptic) [Syler Clayton]
• Add support for speed-based alerting (Pushback and Haptic) [Henrik Buestad]
  Trigger Pushback and Haptic Feedback at a desired speed. The properties other than the Speed Threshold are shared with Duty Cycle.
• Support migrating package config from older versions to newer in the AppUI backups (doesn't work for XML and Start page backups).
• Groundworks for a new Alerting system
  Right now only providing information about firmware faults (support for other alerts will come in future versions).
• Support per-cell low and high voltage thresholds for Pushback / Haptic alerts (Spec -> Low/High Voltage Threshold)
  Requires firmware 6.05+. Total values are still supported (but no longer recommended). If using the package-native backup/restore mechanism, the config will be automatically adjusted to per-cell values.
• Add an option to enable/disable Quickstop.
• Add Rainbow Fade, Rainbow Cycle and Rainbow Roll LED effects. [acheronfail]
• Add an option for LEDs to not require a pullup resistor to 5V.
• Remove the conversion of old Float quicksaves into Refloat.
• Allow to configure both Internal and External LEDs at the same time.
• Remove the Swap Footpad Sensor ADCs AppUI Preferences option
  It only changed the visualization and was not a per-board option, which could cause confusion.
• Add hundredths precision to Brake Scaling params [Nico Aleman]
• Add Tilt Smoothing to Turn Tiltback and Brake Tiltback [Nico Aleman]
• Add support for driving LEDs via the JetFleet F6 v1 AUX pin (C9)
• Show one-time Tips & Tricks in AppUI to highlight non-obvious UI interactions
• Implement package update available check
  Refreshes the VESC Tool archive once every 24 hours and pops up a dialog if a new package version is available.
  The dialog popup can be snoozed for one month and the whole check can be disabled in AppUI Preferences.

Fixes

• Fix a failure (motor cutting and apps reporting duty cycle > 100%) if Brake Tilt Lingering is set to 0 in runtime tune (via Float Control)
• Limit Input Deadband to maximum 50%
• Fix LEDs color spectrum generation to be more uniform
• Rotate Gyro Y to estimate the change in pitch due to rider input, without influence from turning (Credit to Michalmo for the math) [Nico Aleman]
• Fix motor config changes (current limits, temp thresholds, etc.) not being updated in the package until a restart
• Fix displaying charging current and voltage on Floatwheel
• Always finish playing the full pattern of Haptic Feedback before stopping / changing
• Fix applying a tune from the Tune Archive saying it's the same as the current tune
• Fix wording in the dialog applying a tune from the archive
• Fix inverted motor direction in darkride (board shooting off)
• Fix Torque Tilt tilt/release speed conditions: [Nico Aleman]
  • Use Release Speed when TT is targeting 0°
  • Use the faster tilt speed when crossing 0°
• Ignore push start backwards if reverse stop is enabled [Dado Mista]
• Fix the roll pictogram in AppUI doing a full turn when crossing the 180 <-> -180 threshold
• On FW 6.06+ eliminate the impact of LED control on the balancing (it was already minimal, this removes it entirely)
• TurnTilt & NoseAngling handling in Wheelslip [Nico Aleman]
  • Setpoints are now still applied during Wheelslip
  • TurnTilt is now wound down (instead of frozen) during Wheelslip
• Remove TurnTilt suppression in high torque response situations [Dado Mista]
• Fix AppUI settings dialog being too tall and getting clipped

Refloat 1.1.2

Fixes a critical bug of the board shooting off when entering Darkride.

Disclaimer: Use at your own risk!!!

Read the package README for installation details.

Fixes

• Fix inverted motor direction in Darkride (board shooting off)

Refloat 1.1.1

A bugfix release fixing a serious bug that would limit ERPM to 6000 if on surfdado's Pin Lock firmware and using flywheel. Also contains a fix for Remote behavior and a Reverse Stop fix.

Disclaimer: Use at your own risk!!!

Read the package README for installation details.

Fixes

• do not risk chance that erpm limit is reduced to 6000 after doing flywheel [Dado Mista]
• Fix remote not being reset on engage, not respecting the 30 degree threshold disabling the quickstop and pitch fault and not being properly reported to client apps.
• Don't ignore reverse-stop during error pushback situations. [Dado Mista]
• Fix Data Record buttons in the plot being displayed when they shouldn't.

Refloat 1.1.0

This release contains Haptic Feedback as the major feature, as well as a number of other smaller features along with a handful of fixes.

Disclaimer: Use at your own risk!!!

Read the package README for installation details.

Features

• Implement Haptic Feedback.
• New Parking Brake feature
  Parking Brake is a strong brake at standstill applied via shorting the motor phases. A new option is added that allows to turn it on, off or on only when idle (allowing for ghostride tricks).
• Smoothened/faster setpoint ramping for ATR and Torque Tilt [Dado Mista]
• Implement manual per-board backup in Settings -> Setup
• Implement automatic board backup and restore
  Each board's config is now automatically backed up in VESC Tool. In case of a config reset (due to installing a new package version), a restore dialog is automatically displayed. The backup can be viewed in Settings -> Setup.
• UI: Highlight tunes that match the current config
• UI: Show list of changed options in tune / config dialogs
• UI: Add a settings toggle to show changed options count on tunes
• Make LED strip order configurable.
• Make LEDs color order configurable per-strip.
• Add the (W)RGB LED Color Order option (WS2814 LED chip). [Jared Harrison]
• Add the Felony LED effect. [acheronfail]
• LED status bar confirmation animation for config writes and konami triggers.
• Add konami codes for turning LED headlights on and off
  To turn headlights on: LEFT LEFT RIGHT
  To turn headlights off: RIGHT RIGHT LEFT
• Realtime data plot in the package AppUI
  In the Data tab in the AppUI the realtime values from the package are now plotted in a graph.
  Also, with a special firmware, mainly intended for developers, it is now possible to have a short period of time recorded in the package, at the native loop frequency.
• Reverse stop is now smooth, robust and beginner friendly. [Dado Mista]
• More tolerant simple-start implementation with 1 second grace period. [Dado Mista]
• Don't activate idle brake right after startup.
• Apply Startup Click to disengaging too.
• The Accelerometer Confidence Decay configuration option has been removed
  The value is now hard-coded to 0.02.
• The Darkride Pitch Offset configuration option has been removed.
• The Surge feature has been removed.
• The Remote Tiltback Smoothing Factor configuration option has been removed
  Its default value of 1 is now used for smoothing.

Fixes

• Updates to Config Parameters [Nico Aleman, Dado Mista]
  • Pitch KP: Min from 0 -> 0.2
  • Brake Scalings: Max from 2x -> 3x
  • Torquetilt Strengths: Defaults changed from 0 -> 0.1 º/A
  • Torquetilt On Speed: from 5 -> 10
  • Torquetilt Off Speed: from 3 -> 8
  • Turntilt Aggregate Threshold: from 2 -> 5
  • Turntilt ERPM Threshold: from 1000 -> 2000
  • ATR Uphill Strength: Default changed from 0 -> 1.0
  • ATR Downhill Strength: Default changed from 0 -> 0.5
  • ATR On Speed: from 4 -> 10
  • ATR Off Speed: from 3 -> 8
  • Descriptions updated for: Rate P, Angle I, Pitch KP, Duty Buzz Strength/Frequency, Booster parameters, and ATR Amps to Deceleration.
• UI: Fix some Specs/Hardware options being included in tune quicksaves and remove Pushback Alerts config section the quicksaves too.
• Fix spurious braking current at standstill by raising the ERPM threshold to 10.
• Fix losing odometer distance of the last ride if turning the board off within 10 seconds after disengaging.
• Don't allow disabling the package while engaged.
• Fix the short jerk when writing a config.