[Feature request] Use multiple position sensors (SIN/COS + AS5048A) simultaneously about vesc_tool HOT 4 OPEN

This seems like a rather unique use case and I would encourage you to try and implement this feature on your own if it is important to you. Otherwise if your gearbox doesn't have a lot of backlash you can use the multiturn angle division setting in the pid tuning as your gearbox ratio to map the motor multiple turns to your output angle.

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Hi,

Thank you for your answer. I will have a look at this.
I already use the multiturn angle division for output position control. The remaining problem is that If I use a sensor only on the motor side, I have a absolute measurement of the rotor position but I don't know the absolute output position of the actuator. At the moment, I need to place the actuator at a known position at startup in order to control the absolute output position based on rotor position.

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I have exactly the same needs and may I ask if you have already started working on this feature?

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Yes, I am working on it right now.
-We are using sin/cos encoder for FOC control
-We are developing custom user app which reads the AS50xx encoder. We use this encoder value to set the PID pos offset parameter.
-We also created a lisp function to access the encoder value.

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