From e4fcfe357493fa5d080892247af6b771cf078050 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 15 Aug 2024 13:04:26 +0200
Subject: [PATCH] Added MXV observer setting

---
 res/config/6.05/parameters_mcconf.xml | 12 +++++++++++-
 1 file changed, 11 insertions(+), 1 deletion(-)

diff --git a/res/config/6.05/parameters_mcconf.xml b/res/config/6.05/parameters_mcconf.xml
index 10586a56a..5efec28c7 100644
--- a/res/config/6.05/parameters_mcconf.xml
+++ b/res/config/6.05/parameters_mcconf.xml
@@ -2270,15 +2270,25 @@ p, li { white-space: pre-wrap; }
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;FOC_OBSERVER_MXLEMMING&lt;/span&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Observer by David Molony, also known as mxlemming. This observer does not rely on the observer gain parameter, which is a significant advantage.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;FOC_OBSERVER_MXV&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Same as MXLEMMING, but truncates the flux linkage in two dimensions.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;FOC_OBSERVER_ORTEGA_LAMBDA_COMP&lt;/span&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;FOC_OBSERVER_MXLEMMING_LAMBDA_COMP&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Same as the others, but with flux linkage tracking. The flux linkage tracker uses the observer gain for both observers, but it is less critical to get it right here as the flux linkage is mostly DC (unless the current is high and the motor starts to saturate).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;FOC_OBSERVER_MXV_LAMBDA_COMP&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Same as the others, but with flux linkage tracking. The flux linkage tracker uses the observer gain for both observers, but it is less critical to get it right here as the flux linkage is mostly DC (unless the current is high and the motor starts to saturate).&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;FOC_OBSERVER_MXV_LAMBDA_COMP_LIN&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Uses linear lambda compensation instead of squares.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>MCCONF_FOC_OBSERVER_TYPE</cDefine>
             <valInt>3</valInt>
             <enumNames>FOC_OBSERVER_ORTEGA_ORIGINAL</enumNames>
             <enumNames>FOC_OBSERVER_MXLEMMING</enumNames>
             <enumNames>FOC_OBSERVER_ORTEGA_LAMBDA_COMP</enumNames>
             <enumNames>FOC_OBSERVER_MXLEMMING_LAMBDA_COMP</enumNames>
+            <enumNames>FOC_OBSERVER_MXV</enumNames>
+            <enumNames>FOC_OBSERVER_MXV_LAMBDA_COMP</enumNames>
+            <enumNames>FOC_OBSERVER_MXV_LAMBDA_COMP_LIN</enumNames>
         </foc_observer_type>
         <foc_hfi_voltage_start>
             <longName>HFI Start Voltage</longName>