module.yaml
3.4 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
module_name: DShot Driver
serial_config:
- command: dshot telemetry ${SERIAL_DEV}
port_config_param:
name: DSHOT_TEL_CFG
group: DShot
parameters:
- group: DShot
definitions:
DSHOT_CONFIG:
description:
short: Configure DShot
long: |
This enables/disables DShot. The different modes define different
speeds, for example DShot150 = 150kb/s. Not all ESCs support all modes.
Note: this enables DShot on the FMU outputs. For boards with an IO it is the
AUX outputs.
type: enum
values:
0: Disable (use PWM/Oneshot)
150: DShot150
300: DShot300
600: DShot600
1200: DShot1200
reboot_required: true
default: 0
DSHOT_MIN:
description:
short: Minimum DShot Motor Output
long: |
Minimum Output Value for DShot in percent. The value depends on the ESC. Make
sure to set this high enough so that the motors are always spinning while
armed.
type: float
unit: '%'
min: 0
max: 1
decimal: 2
increment: 0.01
default: 0.055
DSHOT_3D_ENABLE:
description:
short: Allows for 3d mode when using DShot and suitable mixer
long: |
WARNING: ESC must be configured for 3D mode, and DSHOT_MIN set to 0.
This splits the throttle ranges in two.
Direction 1) 48 is the slowest, 1047 is the fastest.
Direction 2) 1049 is the slowest, 2047 is the fastest.
When mixer outputs 1000 or value inside DSHOT 3D deadband, DShot 0 is sent.
type: boolean
default: 0
DSHOT_3D_DEAD_H:
description:
short: DSHOT 3D deadband high
long: |
When the actuator_output is between DSHOT_3D_DEAD_L and DSHOT_3D_DEAD_H, motor will not spin.
This value is with respect to the mixer_module range (0-1999), not the DSHOT values.
type: int32
min: 1000
max: 1999
default: 1000
DSHOT_3D_DEAD_L:
description:
short: DSHOT 3D deadband low
long: |
When the actuator_output is between DSHOT_3D_DEAD_L and DSHOT_3D_DEAD_H, motor will not spin.
This value is with respect to the mixer_module range (0-1999), not the DSHOT values.
type: int32
min: 0
max: 1000
default: 1000
MOT_POLE_COUNT: # only used by dshot so far, so keep it under the dshot group
description:
short: Number of magnetic poles of the motors
long: |
Specify the number of magnetic poles of the motors.
It is required to compute the RPM value from the eRPM returned with the ESC telemetry.
Either get the number from the motor spec sheet or count the magnets on the bell of the motor (not the stator magnets).
Typical motors for 5 inch props have 14 poles.
type: int32
default: 14