From 53b74865281d009169900864d9cd83213d389bd1 Mon Sep 17 00:00:00 2001
From: raiden00pl <raiden00@railab.me>
Date: Mon, 16 Oct 2023 11:11:46 +0200
Subject: [PATCH] industry/foc: reset velocity observer output
 foc_velocity_zero_xx() is called

---
 industry/foc/fixed16/foc_vel_odiv.c | 2 ++
 industry/foc/fixed16/foc_vel_opll.c | 2 ++
 industry/foc/float/foc_vel_odiv.c   | 2 ++
 industry/foc/float/foc_vel_opll.c   | 2 ++
 4 files changed, 8 insertions(+)

diff --git a/industry/foc/fixed16/foc_vel_odiv.c b/industry/foc/fixed16/foc_vel_odiv.c
index 5df851893..a5460fa1d 100644
--- a/industry/foc/fixed16/foc_vel_odiv.c
+++ b/industry/foc/fixed16/foc_vel_odiv.c
@@ -214,6 +214,8 @@ static int foc_velocity_div_zero_b16(FAR foc_velocity_b16_t *h)
                                div->cfg.filter,
                                div->cfg.per);
 
+  div->o.speed = 0;
+
   return ret;
 }
 
diff --git a/industry/foc/fixed16/foc_vel_opll.c b/industry/foc/fixed16/foc_vel_opll.c
index b16cbee1d..36abdd56a 100644
--- a/industry/foc/fixed16/foc_vel_opll.c
+++ b/industry/foc/fixed16/foc_vel_opll.c
@@ -212,6 +212,8 @@ static int foc_velocity_pll_zero_b16(FAR foc_velocity_b16_t *h)
                                pll->cfg.kp,
                                pll->cfg.ki);
 
+  pll->o.speed = 0;
+
   return ret;
 }
 
diff --git a/industry/foc/float/foc_vel_odiv.c b/industry/foc/float/foc_vel_odiv.c
index 43491b5a5..dfb8d820f 100644
--- a/industry/foc/float/foc_vel_odiv.c
+++ b/industry/foc/float/foc_vel_odiv.c
@@ -214,6 +214,8 @@ static int foc_velocity_div_zero_f32(FAR foc_velocity_f32_t *h)
                            div->cfg.filter,
                            div->cfg.per);
 
+  div->o.speed = 0.0f;
+
   return ret;
 }
 
diff --git a/industry/foc/float/foc_vel_opll.c b/industry/foc/float/foc_vel_opll.c
index 0e554848a..a18b6675c 100644
--- a/industry/foc/float/foc_vel_opll.c
+++ b/industry/foc/float/foc_vel_opll.c
@@ -212,6 +212,8 @@ static int foc_velocity_pll_zero_f32(FAR foc_velocity_f32_t *h)
                            pll->cfg.kp,
                            pll->cfg.ki);
 
+  pll->o.speed = 0.0f;
+
   return ret;
 }