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Posted to commits@nuttx.apache.org by ra...@apache.org on 2022/02/19 14:37:44 UTC
[incubator-nuttx-apps] branch master updated: industry/foc: add support for angle from sensorless observer
This is an automated email from the ASF dual-hosted git repository.
raiden00 pushed a commit to branch master
in repository https://gitbox.apache.org/repos/asf/incubator-nuttx-apps.git
The following commit(s) were added to refs/heads/master by this push:
new 34e4da2 industry/foc: add support for angle from sensorless observer
34e4da2 is described below
commit 34e4da230429d5cd063499206a92739545ca0037
Author: zouboan <ff...@feedforward.com.cn>
AuthorDate: Sun Feb 13 17:10:09 2022 +0800
industry/foc: add support for angle from sensorless observer
---
include/industry/foc/float/foc_angle.h | 32 +++
include/industry/foc/float/foc_handler.h | 1 +
industry/foc/Kconfig | 21 ++
industry/foc/Makefile | 6 +
industry/foc/float/foc_ang_onfo.c | 328 +++++++++++++++++++++++++++++++
industry/foc/float/foc_ang_osmo.c | 302 ++++++++++++++++++++++++++++
industry/foc/float/foc_picontrol.c | 4 +
7 files changed, 694 insertions(+)
diff --git a/include/industry/foc/float/foc_angle.h b/include/industry/foc/float/foc_angle.h
index 1fa9ae6..b258b46 100644
--- a/include/industry/foc/float/foc_angle.h
+++ b/include/industry/foc/float/foc_angle.h
@@ -106,6 +106,26 @@ struct foc_openloop_cfg_f32_s
};
#endif /* CONFIG_INDUSTRY_FOC_ANGLE_OPENLOOP */
+#ifdef CONFIG_INDUSTRY_FOC_ANGLE_ONFO
+struct foc_angle_onfo_cfg_f32_s
+{
+ float per; /* Controller period */
+ float gain;
+ float gain_slow;
+ struct motor_phy_params_f32_s phy;
+};
+#endif
+
+#ifdef CONFIG_INDUSTRY_FOC_ANGLE_OSMO
+struct foc_angle_osmo_cfg_f32_s
+{
+ float per; /* Controller period */
+ float k_slide; /* Bang-bang controller gain */
+ float err_max; /* Linear mode threshold */
+ struct motor_phy_params_f32_s phy;
+};
+#endif
+
#ifdef CONFIG_INDUSTRY_FOC_ANGLE_QENCO
/* Qencoder configuration data */
@@ -136,6 +156,18 @@ struct foc_hall_cfg_f32_s
extern struct foc_angle_ops_f32_s g_foc_angle_ol_f32;
#endif
+#ifdef CONFIG_INDUSTRY_FOC_ANGLE_ONFO
+/* NFO oberver angle operations (float) */
+
+extern struct foc_angle_ops_f32_s g_foc_angle_onfo_f32;
+#endif
+
+#ifdef CONFIG_INDUSTRY_FOC_ANGLE_OSMO
+/* SMO oberver angle operations (float) */
+
+extern struct foc_angle_ops_f32_s g_foc_angle_osmo_f32;
+#endif
+
#ifdef CONFIG_INDUSTRY_FOC_ANGLE_QENCO
/* Qencoder angle operations (float) */
diff --git a/include/industry/foc/float/foc_handler.h b/include/industry/foc/float/foc_handler.h
index 2791926..ada2306 100644
--- a/include/industry/foc/float/foc_handler.h
+++ b/include/industry/foc/float/foc_handler.h
@@ -66,6 +66,7 @@ struct foc_state_f32_s
ab_frame_f32_t vab;
dq_frame_f32_t vdq;
dq_frame_f32_t idq;
+ float mod_scale;
};
/* Forward declaration */
diff --git a/industry/foc/Kconfig b/industry/foc/Kconfig
index 896b15b..4431e73 100644
--- a/industry/foc/Kconfig
+++ b/industry/foc/Kconfig
@@ -58,6 +58,27 @@ config INDUSTRY_FOC_ANGLE_OPENLOOP
---help---
Enable support for open-loop angle handler
+config INDUSTRY_FOC_ANGLE_OBSERVER
+ bool "FOC angle observer handler"
+ default n
+ ---help---
+ Enable support for observer angle handler
+
+if INDUSTRY_FOC_ANGLE_OBSERVER
+
+choice
+ prompt "FOC observer type selection"
+
+config INDUSTRY_FOC_ANGLE_OSMO
+ bool "Enable slidmode observer"
+
+config INDUSTRY_FOC_ANGLE_ONFO
+ bool "Enable fluxlink observer"
+
+endchoice # FOC observer type selection
+
+endif # INDUSTRY_FOC_ANGLE_OBSERVER
+
config INDUSTRY_FOC_ANGLE_QENCO
bool "FOC angle quadrature encoder handler"
default n
diff --git a/industry/foc/Makefile b/industry/foc/Makefile
index 98fedb9..e1797f1 100644
--- a/industry/foc/Makefile
+++ b/industry/foc/Makefile
@@ -36,6 +36,12 @@ CSRCS += float/foc_routine.c
ifeq ($(CONFIG_INDUSTRY_FOC_ANGLE_OPENLOOP),y)
CSRCS += float/foc_ang_openloop.c
endif
+ifeq ($(CONFIG_INDUSTRY_FOC_ANGLE_ONFO),y)
+CSRCS += float/foc_ang_onfo.c
+endif
+ifeq ($(CONFIG_INDUSTRY_FOC_ANGLE_OSMO),y)
+CSRCS += float/foc_ang_osmo.c
+endif
ifeq ($(CONFIG_INDUSTRY_FOC_ANGLE_QENCO),y)
CSRCS += float/foc_ang_qenco.c
endif
diff --git a/industry/foc/float/foc_ang_onfo.c b/industry/foc/float/foc_ang_onfo.c
new file mode 100644
index 0000000..eef0868
--- /dev/null
+++ b/industry/foc/float/foc_ang_onfo.c
@@ -0,0 +1,328 @@
+/****************************************************************************
+ * apps/industry/foc/float/foc_ang_onfo.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements. See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership. The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License. You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <assert.h>
+#include <errno.h>
+#include <stdlib.h>
+
+#include "industry/foc/foc_log.h"
+#include "industry/foc/float/foc_angle.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define SIGN(x) ((x > 0.0f) ? 1.0f : -1.0f)
+
+#define LINEAR_MAP(x, in_min, in_max, out_min, out_max) \
+ ((x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min)
+
+/****************************************************************************
+ * Private Data Types
+ ****************************************************************************/
+
+/* sensorless observer data */
+
+struct foc_observer_f32_s
+{
+ struct foc_observer_cfg_f32_s cfg;
+ struct motor_aobserver_f32_s data;
+ float dir;
+};
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+static int foc_angle_onfo_init_f32(FAR foc_angle_f32_t *h);
+static void foc_angle_onfo_deinit_f32(FAR foc_angle_f32_t *h);
+static int foc_angle_onfo_cfg_f32(FAR foc_angle_f32_t *h, FAR void *cfg);
+static int foc_angle_onfo_zero_f32(FAR foc_angle_f32_t *h);
+static int foc_angle_onfo_dir_f32(FAR foc_angle_f32_t *h, float dir);
+static int foc_angle_onfo_run_f32(FAR foc_angle_f32_t *h,
+ FAR struct foc_angle_in_f32_s *in,
+ FAR struct foc_angle_out_f32_s *out);
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* FOC angle float interface */
+
+struct foc_angle_ops_f32_s g_foc_angle_onfo_f32 =
+{
+ .init = foc_angle_onfo_init_f32,
+ .deinit = foc_angle_onfo_deinit_f32,
+ .cfg = foc_angle_onfo_cfg_f32,
+ .zero = foc_angle_onfo_zero_f32,
+ .dir = foc_angle_onfo_dir_f32,
+ .run = foc_angle_onfo_run_f32,
+};
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: foc_angle_onfo_init_f32
+ *
+ * Description:
+ * Initialize the sensorless observer FOC angle handler (float32)
+ *
+ * Input Parameter:
+ * h - pointer to FOC angle handler
+ *
+ ****************************************************************************/
+
+static int foc_angle_onfo_init_f32(FAR foc_angle_f32_t *h)
+{
+ int ret = OK;
+
+ DEBUGASSERT(h);
+
+ /* Connect angle data */
+
+ h->data = zalloc(sizeof(struct foc_observer_f32_s));
+ if (h->data == NULL)
+ {
+ ret = -ENOMEM;
+ goto errout;
+ }
+
+errout:
+ return ret;
+}
+
+/****************************************************************************
+ * Name: foc_angle_onfo_deinit_f32
+ *
+ * Description:
+ * De-initialize the sensorless observer FOC angle handler (float32)
+ *
+ * Input Parameter:
+ * h - pointer to FOC angle handler
+ *
+ ****************************************************************************/
+
+static void foc_angle_onfo_deinit_f32(FAR foc_angle_f32_t *h)
+{
+ FAR struct foc_observer_f32_s *ob = NULL;
+
+ DEBUGASSERT(h);
+
+ /* Free angle data */
+
+ if (h->data)
+ {
+ ob = h->data;
+ if (ob->data.ao)
+ {
+ free(ob->data.ao);
+ }
+
+ free(h->data);
+ }
+}
+
+/****************************************************************************
+ * Name: foc_angle_onfo_cfg_f32
+ *
+ * Description:
+ * Configure the sensorless observer FOC angle handler (float32)
+ *
+ * Input Parameter:
+ * h - pointer to FOC angle handler
+ * cfg - pointer to angle handler configuration data
+ * (struct foc_observer_f32_s)
+ *
+ ****************************************************************************/
+
+static int foc_angle_onfo_cfg_f32(FAR foc_angle_f32_t *h, FAR void *cfg)
+{
+ int ret = OK;
+ FAR struct foc_observer_f32_s *ob = NULL;
+ FAR struct motor_aobserver_nfo_f32_s *ao = NULL;
+
+ DEBUGASSERT(h);
+
+ /* Get sensorless observer data */
+
+ DEBUGASSERT(h->data);
+ ob = h->data;
+
+ /* Copy configuration */
+
+ memcpy(&ob->cfg, cfg, sizeof(struct foc_observer_cfg_f32_s));
+
+ /* Initialize sensorless observer controller data */
+
+ DEBUGASSERT(ob->cfg.per > 0.0f);
+
+ ao = zalloc(sizeof(struct motor_aobserver_nfo_f32_s));
+ if (ao == NULL)
+ {
+ ret = -ENOMEM;
+ goto errout;
+ }
+
+ /* Initialize nolinear fluxlink angle observer */
+
+ motor_aobserver_nfo_init(ao);
+
+ /* Initialize sensorless observer */
+
+ motor_aobserver_init(&ob->data, ao, ob->cfg.per);
+
+ /* Initialize with CW direction */
+
+ ob->dir = DIR_CW;
+
+ return OK;
+errout:
+ if (ao)
+ {
+ free(ao);
+ }
+
+ return ret;
+}
+
+/****************************************************************************
+ * Name: foc_angle_onfo_zero_f32
+ *
+ * Description:
+ * Zero the sensorless observer FOC angle handler (float32)
+ *
+ * Input Parameter:
+ * h - pointer to FOC angle handler
+ *
+ ****************************************************************************/
+
+static int foc_angle_onfo_zero_f32(FAR foc_angle_f32_t *h)
+{
+ FAR struct foc_observer_f32_s *ob = NULL;
+
+ DEBUGASSERT(h);
+
+ /* Get sensorless observer data */
+
+ DEBUGASSERT(h->data);
+ ob = h->data;
+
+ /* Reset angle */
+
+ ob->data.angle = 0.0f;
+
+ return OK;
+}
+
+/****************************************************************************
+ * Name: foc_angle_onfo_dir_f32
+ *
+ * Description:
+ * Set the sensorless observer FOC angle handler direction (float32)
+ *
+ * Input Parameter:
+ * h - pointer to FOC angle handler
+ * dir - sensor direction (1 if normal -1 if inverted)
+ *
+ ****************************************************************************/
+
+static int foc_angle_onfo_dir_f32(FAR foc_angle_f32_t *h, float dir)
+{
+ FAR struct foc_observer_f32_s *ob = NULL;
+
+ DEBUGASSERT(h);
+
+ /* Get sensorless observer data */
+
+ DEBUGASSERT(h->data);
+ ob = h->data;
+
+ /* Configure direction */
+
+ ob->dir = dir;
+
+ return OK;
+}
+
+/****************************************************************************
+ * Name: foc_angle_onfo_run_f32
+ *
+ * Description:
+ * Process the FOC sensorless observer angle data (float32)
+ *
+ * Input Parameter:
+ * h - pointer to FOC angle handler
+ * in - pointer to FOC angle handler input data
+ * out - pointer to FOC angle handler output data
+ *
+ ****************************************************************************/
+
+static int foc_angle_onfo_run_f32(FAR foc_angle_f32_t *h,
+ FAR struct foc_angle_in_f32_s *in,
+ FAR struct foc_angle_out_f32_s *out)
+{
+ FAR struct foc_observer_f32_s *ob = NULL;
+ FAR dq_frame_f32_t v_dq_mod;
+ float duty_now;
+ float dyn_gain;
+
+ DEBUGASSERT(h);
+
+ /* Get sensorless observer data */
+
+ DEBUGASSERT(h->data);
+ ob = h->data;
+
+ /* Normalize the d-q voltage to get the d-q modulation
+ * voltage
+ */
+
+ v_dq_mod.d = in->state->vdq.d * in->state->mod_scale;
+ v_dq_mod.q = in->state->vdq.q * in->state->mod_scale;
+
+ /* Update duty cycle now */
+
+ duty_now = SIGN(in->state->vdq.q) * vector2d_mag(v_dq_mod.d, v_dq_mod.q);
+
+ /* Update and the observer gain. */
+
+ dyn_gain = LINEAR_MAP(fabsf(duty_now), 0.0, 1.0,
+ ob->cfg.gain * ob->cfg.gain_slow, ob->cfg.gain) * 0.5;
+
+ /* Update observer */
+
+ motor_aobserver_nfo(&ob->data, &in->state->iab, &in->state->vab,
+ &ob->cfg.phy, dyn_gain);
+
+ /* Copy data */
+
+ out->type = FOC_ANGLE_TYPE_ELE;
+ out->angle = ob->data.angle;
+
+ return OK;
+}
diff --git a/industry/foc/float/foc_ang_osmo.c b/industry/foc/float/foc_ang_osmo.c
new file mode 100644
index 0000000..bf0e385
--- /dev/null
+++ b/industry/foc/float/foc_ang_osmo.c
@@ -0,0 +1,302 @@
+/****************************************************************************
+ * apps/industry/foc/float/foc_ang_osmo.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements. See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership. The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License. You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <assert.h>
+#include <errno.h>
+#include <stdlib.h>
+
+#include "industry/foc/foc_log.h"
+#include "industry/foc/float/foc_angle.h"
+
+/****************************************************************************
+ * Private Data Types
+ ****************************************************************************/
+
+/* sensorless observer data */
+
+struct foc_observer_f32_s
+{
+ struct foc_observer_cfg_f32_s cfg;
+ struct motor_aobserver_f32_s data;
+ float dir;
+};
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+static int foc_angle_osmo_init_f32(FAR foc_angle_f32_t *h);
+static void foc_angle_osmo_deinit_f32(FAR foc_angle_f32_t *h);
+static int foc_angle_osmo_cfg_f32(FAR foc_angle_f32_t *h, FAR void *cfg);
+static int foc_angle_osmo_zero_f32(FAR foc_angle_f32_t *h);
+static int foc_angle_osmo_dir_f32(FAR foc_angle_f32_t *h, float dir);
+static int foc_angle_osmo_run_f32(FAR foc_angle_f32_t *h,
+ FAR struct foc_angle_in_f32_s *in,
+ FAR struct foc_angle_out_f32_s *out);
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* FOC angle float interface */
+
+struct foc_angle_ops_f32_s g_foc_angle_osmo_f32 =
+{
+ .init = foc_angle_osmo_init_f32,
+ .deinit = foc_angle_osmo_deinit_f32,
+ .cfg = foc_angle_osmo_cfg_f32,
+ .zero = foc_angle_osmo_zero_f32,
+ .dir = foc_angle_osmo_dir_f32,
+ .run = foc_angle_osmo_run_f32,
+};
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: foc_angle_osmo_init_f32
+ *
+ * Description:
+ * Initialize the sensorless observer FOC angle handler (float32)
+ *
+ * Input Parameter:
+ * h - pointer to FOC angle handler
+ *
+ ****************************************************************************/
+
+static int foc_angle_osmo_init_f32(FAR foc_angle_f32_t *h)
+{
+ int ret = OK;
+
+ DEBUGASSERT(h);
+
+ /* Connect angle data */
+
+ h->data = zalloc(sizeof(struct foc_observer_f32_s));
+ if (h->data == NULL)
+ {
+ ret = -ENOMEM;
+ goto errout;
+ }
+
+errout:
+ return ret;
+}
+
+/****************************************************************************
+ * Name: foc_angle_osmo_deinit_f32
+ *
+ * Description:
+ * De-initialize the sensorless observer FOC angle handler (float32)
+ *
+ * Input Parameter:
+ * h - pointer to FOC angle handler
+ *
+ ****************************************************************************/
+
+static void foc_angle_osmo_deinit_f32(FAR foc_angle_f32_t *h)
+{
+ FAR struct foc_observer_f32_s *ob = NULL;
+ DEBUGASSERT(h);
+
+ /* Free angle data */
+
+ if (h->data)
+ {
+ ob = h->data;
+ if (ob->data.ao)
+ {
+ free(ob->data.ao);
+ }
+
+ free(h->data);
+ }
+}
+
+/****************************************************************************
+ * Name: foc_angle_osmo_cfg_f32
+ *
+ * Description:
+ * Configure the sensorless observer FOC angle handler (float32)
+ *
+ * Input Parameter:
+ * h - pointer to FOC angle handler
+ * cfg - pointer to angle handler configuration data
+ * (struct foc_observer_f32_s)
+ *
+ ****************************************************************************/
+
+static int foc_angle_osmo_cfg_f32(FAR foc_angle_f32_t *h, FAR void *cfg)
+{
+ int ret = OK;
+ FAR struct foc_observer_f32_s *ob = NULL;
+ FAR struct motor_aobserver_smo_f32_s *ao = NULL;
+
+ DEBUGASSERT(h);
+
+ /* Get sensorless observer data */
+
+ DEBUGASSERT(h->data);
+ ob = h->data;
+
+ /* Copy configuration */
+
+ memcpy(&ob->cfg, cfg, sizeof(struct foc_observer_cfg_f32_s));
+
+ /* Initialize sensorless observer controller data */
+
+ DEBUGASSERT(ob->cfg.per > 0.0f);
+
+ ao = zalloc(sizeof(struct motor_aobserver_smo_f32_s));
+ if (ao == NULL)
+ {
+ ret = -ENOMEM;
+ goto errout;
+ }
+
+ /* Initialize SMO angle observer */
+
+ motor_aobserver_smo_init(ao, ob->cfg.k_slide, ob->cfg.err_max);
+
+ /* Initialize sensorless observer */
+
+ motor_aobserver_init(&ob->data, ao, ob->cfg.per);
+
+ /* Initialize with CW direction */
+
+ ob->dir = DIR_CW;
+
+ return OK;
+errout:
+ if (ao)
+ {
+ free(ao);
+ }
+
+ return ret;
+}
+
+/****************************************************************************
+ * Name: foc_angle_osmo_zero_f32
+ *
+ * Description:
+ * Zero the sensorless observer FOC angle handler (float32)
+ *
+ * Input Parameter:
+ * h - pointer to FOC angle handler
+ *
+ ****************************************************************************/
+
+static int foc_angle_osmo_zero_f32(FAR foc_angle_f32_t *h)
+{
+ FAR struct foc_observer_f32_s *ob = NULL;
+
+ DEBUGASSERT(h);
+
+ /* Get sensorless observer data */
+
+ DEBUGASSERT(h->data);
+ ob = h->data;
+
+ /* Reset angle */
+
+ ob->data.angle = 0.0f;
+
+ return OK;
+}
+
+/****************************************************************************
+ * Name: foc_angle_osmo_dir_f32
+ *
+ * Description:
+ * Set the sensorless observer FOC angle handler direction (float32)
+ *
+ * Input Parameter:
+ * h - pointer to FOC angle handler
+ * dir - sensor direction (1 if normal -1 if inverted)
+ *
+ ****************************************************************************/
+
+static int foc_angle_osmo_dir_f32(FAR foc_angle_f32_t *h, float dir)
+{
+ FAR struct foc_observer_f32_s *ob = NULL;
+
+ DEBUGASSERT(h);
+
+ /* Get sensorless observer data */
+
+ DEBUGASSERT(h->data);
+ ob = h->data;
+
+ /* Configure direction */
+
+ ob->dir = dir;
+
+ return OK;
+}
+
+/****************************************************************************
+ * Name: foc_angle_osmo_run_f32
+ *
+ * Description:
+ * Process the FOC sensorless observer angle data (float32)
+ *
+ * Input Parameter:
+ * h - pointer to FOC angle handler
+ * in - pointer to FOC angle handler input data
+ * out - pointer to FOC angle handler output data
+ *
+ ****************************************************************************/
+
+static int foc_angle_osmo_run_f32(FAR foc_angle_f32_t *h,
+ FAR struct foc_angle_in_f32_s *in,
+ FAR struct foc_angle_out_f32_s *out)
+{
+ FAR struct foc_observer_f32_s *ob = NULL;
+ FAR dq_frame_f32_t v_dq_mod;
+ float duty_now;
+ float dyn_gain;
+
+ DEBUGASSERT(h);
+
+ /* Get sensorless observer data */
+
+ DEBUGASSERT(h->data);
+ ob = h->data;
+
+ /* Update observer */
+
+ motor_aobserver_smo(&ob->data, &in->state->iab, &in->state->vab,
+ &ob->cfg.phy, ob->dir);
+
+ /* Copy data */
+
+ out->type = FOC_ANGLE_TYPE_ELE;
+ out->angle = ob->data.angle;
+
+ return OK;
+}
diff --git a/industry/foc/float/foc_picontrol.c b/industry/foc/float/foc_picontrol.c
index 48149a8..b99a8e7 100644
--- a/industry/foc/float/foc_picontrol.c
+++ b/industry/foc/float/foc_picontrol.c
@@ -416,4 +416,8 @@ static void foc_control_state_get_f32(FAR foc_handler_f32_t *h,
state->volt[0] = foc->data.v_abc.a;
state->volt[1] = foc->data.v_abc.b;
state->volt[2] = foc->data.v_abc.c;
+
+ /* Copy modulation scale */
+
+ state->mod_scale = foc->data.vab_mod_scale;
}