---
title: Communication Settings
slug: legacy-doc-gk2/communication-settings
icon: 🔧
createdAt: 2024-01-14T23:54:52.306Z
---

:::hint{type="info"}
The following settings are related to the communications interfaces available on micro**DRIVE** units.
:::

### CAN Bus Enabled

| **Description** | CAN Bus communication enabled on CAN2. ESC will use DroneCAN for control and telemetry. The input of DShot and PWM is disabled. Disabling this setting enables other protocols. |
| --------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| **CAN Name**    | CANBUS\_EN                                                                                                                                                                      |
| **Units**       | N/A                                                                                                                                                                             |
| **Advanced**    | NO                                                                                                                                                                              |

### PWM Jitter Filter

| **Description** | Set the sample depth of the PWM Median Filter. |
| --------------- | ---------------------------------------------- |
| **CAN Name**    | PWM\_JITTER\_EN                                |
| **Units**       | N/A                                            |
| **Advanced**    | YES                                            |

**Value Mappings**:

- 0 -> No Filtering
- 1 -> 3 Sample Median
- 2 -> 5 Sample Median
- 3 -> 7 Sample Median
- 4 -> 9 Sample Median

### Require Zero Throttle

| **Description** | Toggle option to automatically disable the zero throttle setpoint requirement upon signal loss and re-establishment. When enabled, the ESC requires a 0% throttle signal to re-arm after signal loss. The start-up will require a 0% throttle signal regardless of this setting. This setting will only be taken into account when utilising CAN Bus signalling. |
| --------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| **CAN Name**    | REQ\_ZERO\_THR                                                                                                                                                                                                                                                                                                                                                   |
| **Units**       | N/A                                                                                                                                                                                                                                                                                                                                                              |
| **Advanced**    | NO                                                                                                                                                                                                                                                                                                                                                               |

### Reversible Dead Zone

| **Description** | Define the width of zero throttle (%) when operating inside the reversible drive mode. Scales between minimum and maximum endpoints. |
| --------------- | ------------------------------------------------------------------------------------------------------------------------------------ |
| **CAN Name**    | RVRS\_DEAD\_ZNE                                                                                                                      |
| **Units**       | N/A                                                                                                                                  |
| **Advanced**    | YES                                                                                                                                  |

### Signal Baud Rate

| **Description** | The specific protocol rate can be selected when serial signalling and the DShot protocol are utilised. Other rates will be ignored. |
| --------------- | ----------------------------------------------------------------------------------------------------------------------------------- |
| **CAN Name**    | SIG\_BAUD                                                                                                                           |
| **Units**       | N/A                                                                                                                                 |
| **Advanced**    | YES                                                                                                                                 |

**Value Mappings**:

- 0 -> Auto
- 1 -> DShot150
- 2 -> DShot300
- 3 -> DShot600

### Signal Type

| **Description** | The specific serial protocol to accept when the unit is configured in non-CAN mode. Other protocols will be ignored. |
| --------------- | -------------------------------------------------------------------------------------------------------------------- |
| **CAN Name**    | SIG\_TYPE                                                                                                            |
| **Units**       | N/A                                                                                                                  |
| **Advanced**    | NO                                                                                                                   |

**Value Mappings**:

- 0 -> Auto
- 1 -> PWM
- 2 -> DShot
- 3 -> BiDirectional DShot

### Throttle End Point Max

| **Description** | Maximum input pulse width when operating within PWM signalling. |
| --------------- | --------------------------------------------------------------- |
| **CAN Name**    | THR\_MAX\_PWM                                                   |
| **Units**       | N/A                                                             |
| **Advanced**    | YES                                                             |

### Throttle End Point Min

| **Description** | Lower endpoint to scale throttle when operating PWM input. It should be lower than the Maximum Endpoint. |
| --------------- | -------------------------------------------------------------------------------------------------------- |
| **CAN Name**    | THR\_MIN\_PWM                                                                                            |
| **Units**       | N/A                                                                                                      |
| **Advanced**    | YES                                                                                                      |