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.
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