Motor Drive Settings

The following settings are related to the motor drive and control interfaces on the microDRIVE LPi units.

AFW Enabled

Description	Enables regenerative braking. The result is far greater linearity on ESC output, alongside increased efficiency. Must be disabled for use with power supplies or systems that cannot handle regenerative current (eg. tethers).
CAN Name	AFW_EN
Units	N/A
Advanced	NO

Automatic Timing Advance

Description	Toggle the operation of automatically varying the timing advance to the connected motor depending on loading conditions. In most cases, leaving this function enabled results in the best overall efficiency.
CAN Name	AUTO_TIMING
Units	N/A
Advanced	YES

Brake on Stop

Description	Enables brake once the unit is given a 0% throttle signal. Prevents windmilling of propellers. Recommended to be enabled when using reversible drive mode.
CAN Name	BRK_ON_STOP
Units	N/A
Advanced	NO

Bus Current Limit

Description	Limits the maximum current limit allowed on the bus. The unit will cap the maximum power output at the limit setpoint.
CAN Name	BUS_CUR_LIM
Units	Units are in Amps (A)
Advanced	NO

Calibrated Values Enable

Description	Utilise the factory calibrated values for onboard sensors. Disable for base uncalibrated scaling.
CAN Name	USE_CAL_EN
Units	N/A
Advanced	YES

Drive Mode

Description	Tailor output drive method. Normal will scale 0-100% throttle in the desired direction, applications include multi-rotors, VTOL, propeller flight. Reversible will scale -100-0-100% throttle for applications such as 3D flying. RPM mode will drive at a constant RPM proportional to the throttle value based off the configured minimum and maximum RPM, applications include helicopters, swashplate flight, constant speed applications.
CAN Name	DRV_MODE
Units	N/A
Advanced	NO

Value Mappings:

0 -> Normal
1 -> Reversible
2 -> RPM

Drive Topology

Description	The algorithm to use commutating the motor.
CAN Name	DRV_TOP
Units	N/A
Advanced	YES

Value Mappings:

0 -> Six Step
1 -> FOCAL

Fixed Timing Advance

Description	Force the motor timing advance to a constant value.
CAN Name	TIMING_ADV
Units	Units are in degress (°)
Advanced	YES

Max Regeneration Current

Description	The maximum level of regenerative current (when AFW is enabled) on the bus before the unit limits. A higher value will result in a quicker response on throttle down. Regenerative current is negatively signed.
CAN Name	REGEN_BUS_CUR
Units	Units are in Amps (A)
Advanced	NO

Maximum FOCAL PWM Frequency

Description	The maximum PWM frequency to allow on the output to the motor when operating using FOCAL. Higher values result in smoother motor drive, and higher controller temperatures. FOCAL has a lower frequency range than BLDC.
CAN Name	MAX_FOCAL_FREQ
Units	Units are in Hertz (Hz)
Advanced	YES

Maximum PWM Frequency

Description	The maximum PWM frequency to allow on the output to the motor. Higher values result in smoother motor drive, and higher controller temperatures.
CAN Name	MAX_PWM_FREQ
Units	Units are in Hertz (Hz)
Advanced	YES

Maximum RPM Limit

Description	The maximum RPM to limit the output to when the limit is enabled.
CAN Name	MAX_RPM_LIM
Units	Units are in Revolutions Per Minute (RPM)
Advanced	YES

Minimum Duty Cycle

Description	The minimum allowed duty cycle to apply to the motor. This is the lowest duty cycle that will be applied when the throttle is non-zero. This should be set to the lowest duty cycle that allows the motor to spin from stopped.
CAN Name	MIN_DUTY
Units	Units are in duty cycle percent (%)
Advanced	YES

Minimum PWM Frequency

Description	The minimum PWM frequency to allow on the output to the motor. Lower values result in reduced linearity and capacitor lifetimes.
CAN Name	MIN_PWM_FREQ
Units	Units are in Hertz (Hz)
Advanced	YES

Motor Kv

Description	Back EMF constant for connected motor. Used for stability calcuations. Zero value indicates automatic specification.
CAN Name	MOT_KV
Units	Units are in RPM per Volt (RPM/V)
Advanced	YES

Motor Pole Pairs

Description	Number of motor pole pairs of the connected motor, utilised for scaling eRPM to RPM.
CAN Name	MOT_POLE_PAIRS
Units	N/A
Advanced	NO

Normal Rotation

Description	Output rotation direction. Toggling this setting reverses the output direction without requiring cabling modification.
CAN Name	DIRECTION
Units	N/A
Advanced	NO

Phase Current Limit

Description	The current limit to apply to drive on the phase/output from the controller.
CAN Name	PH_CUR_LIM
Units	Units are in Amps (A)
Advanced	NO

Ramp Down Rate

Description	Slew rate to apply to transients when decreasing the output duty cycle to the motor.
CAN Name	RAMP_DWN_RT
Units	Units are in % per 10 microseconds (%/10μs)
Advanced	NO

Ramp to Stop Rate

Description	The rate at which the unit will reduce power after commanded to stop (zero throttle command). The unit is % per 10 microseconds applied to the commanded output duty cycle.
CAN Name	RAMP_STOP_RT
Units	Units are in % per 10 microseconds (%/10μs)
Advanced	YES

Ramp Up Rate

Description	Slew rate to apply to transients when increasing the output duty cycle to the motor.
CAN Name	RAMP_UP_RT
Units	Units are in % per 10 microseconds (%/10μs)
Advanced	NO

RPM Limit

Description	Enable RPM limit. The unit will decrease the output duty cycle as the approach to setting limit occurs.
CAN Name	RPM_LIM_EN
Units	N/A
Advanced	YES

Truncate Throttle Below Minimum Duty Cycle

Description	Throttle values that map to a duty cycle below the configured minimum duty cycle are truncated to 0. In normal drive mode if MIN_DUTY is set to 5% then any throttle below 5% will command 0 output duty. This setting does not affect zero throttle checks. This should be enabled when using 'Dynamic Idle' on Betaflight flight computers.
CAN Name	TRNC_MIN_DUTY
Units	N/A
Advanced	YES

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