Refloat
Refloat is a VESC package for self-balancing skateboards (Onewheel-style boards). It runs on the motor controller and handles balancing, the footpad sensor, tilt features, alerts and lights. Lukáš Hrázký wrote it, building on the original Float package.
Key facts
- Current version: 1.3. The 1.3 release reworked core timing and added setpoint smoothing to every tilt, so older tunes may feel different and need adjusting.
- Installing: through VESC Tool's package store, or from the GitHub releases.
- Upgrading: back up your package config first, either with Backup Configs on the Start page or by saving the XML from Refloat Cfg.
- Fresh install: you need motor and IMU calibration. If the package is already installed, disable it before running motor calibration and re-enable it afterward.
- Legacy firmware 6.02: set the Low and High Tiltback voltages in Refloat Cfg → Specs to match your battery.
What Remote Connect can read
Apps talk to Refloat with VESC's custom app data command, using package ID 101. The browser viewer is limited to Refloat's read-only commands: package info, realtime data and the alert list. Tune changes, config saves, lights control and handtest mode are blocked on the hub before they reach the board. A helper who needs to change the tune has to use the official VESC Tool app.
Refloat's own disclaimer says to use it at your own risk. Self-balancing boards can throw you if a tune or a fault goes wrong, so test changes at walking speed.
Sources: lukash/refloat (the README, package README and doc/commands), and the Initial Board Setup guide on pev.dev.