ZeroĬomment: This is the output value that is set when not armed. Used in the GNSS solution is below this threshold. Solution, 2 for planar (2D) solution, 1 for time-only solution,Ĭomment: Set the device health to Warning if the number of satellites The GNSS solution is less than this value. It is recommended toĭisable this feature to reduce the CAN bus traffic.Ĭomment: Set the device health to Warning if the dimensionality of
0 –Ĭomment: Broadcast the old (deprecated) GNSS fix message Safely be above the nominal voltage of the motor to determine theĪctual motor voltage limit, divide the motor’s rated power by theĬomment: Dynamic model used in the GNSS positioning engine. The current controller’sĬommanded voltage will never exceed this value. To the value shown in the motor’s specification sheet.Ĭomment: Motor voltage limit in volts. Tuning a new motor, check that this value is approximately equal This number should be taken from the motor’sĬomment: READ ONLY: Motor resistance in ohms. Used to convert mechanical speeds toĮlectrical speeds. This is measured on start-up.Ĭomment: Number of motor poles. Some deviation from the specified value is acceptable.Ĭomment: READ ONLY: Motor inductance in henries. Specification sheet accuracy will help control performance but Sheet, or set equal to the motor’s specified continuous powerĬomment: Motor Kv in RPM per volt.
The continuous current rating listed in the motor’s specification This determines the maximumĬurrent controller setpoint, as well as the maximum allowableĬurrent setpoint slew rate. Index of this ESC in throttle command messages.Ĭomment: Index of this ESC in throttle command messages.Ĭomment: Motor current limit in amps. Higher values result in faster response, but may result
Systems with low rotational inertia (small props) may need gainĭecreased. Higher rotational inertia (large props) will need gain increased Determines controllerĪggressiveness units are amp-seconds per radian. Use 0 or 1 to reverse direction.Ĭomment: Speed (RPM) controller gain. For fixed-wing aircraft, this value should be less than 50 Hz for multirotors, values up to 100 Hz may provide improvements in responsiveness.Ĭomment: Motor spin direction as detected during initial enumeration. Higher values result in faster speed and current rise times, but may result in overshoot and higher current consumption. # UAVCAN Motor Parameters NameĬomment: Speed controller bandwidth, in Hz. If a listed parameter is missing from the Firmware see: Finding/Updating Parameters.