Acceleration window
Warn or stop when an axis accelerates harder than it should.
less than a minute
The acceleration window watches the actual acceleration, worked out from the filtered actual velocity. It catches jolts, such as a collision or a sudden drive reaction.
| What | Details |
|---|---|
| Path | actuatorControlLoopNN/accelerationWindowDetector |
| Watches | actuatorAccelerationActualFiltered, in rad/s² or m/s² |
Because it is a derivative, this value is noisy. Set the levels a good margin beyond the limiter’s accelerationLimit, and use timeWindow to ignore short spikes.