Motor Drive Settings

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

Active Hold Strength

Description	The duty cycle percentage to apply to the motor during the 'Active Hold' stopping behaviour. A higher duty cycle will provide a stronger braking force but increase power consumption and temperature.
ID	0x01a1
DroneCAN Name	ACTV_HLD_STR
Units	Units are in percentage of duty cycle (% duty cycle)
Advanced	YES

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).
ID	0x0048
DroneCAN 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.
ID	0x006c
DroneCAN Name	AUTO_TIMING
Units	N/A
Advanced	YES

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.
ID	0x004d
DroneCAN Name	BUS_CUR_LIM
Units	Units are in Amps (A)
Advanced	NO

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.
ID	0x0041
DroneCAN Name	DRV_MODE
Units	N/A
Advanced	NO

Value Mappings:

0 -> Normal

1 -> Reversible

2 -> RPM

Enable Gradual Braking

Description	When enabled, during 'Passive Hold' or 'Active Hold' motor stop operations the motor phases will gradually be shorted to provide a smoother braking action. AFW must be enabled.
ID	0x0192
DroneCAN Name	GRAD_BRAK_EN
Units	N/A
Advanced	YES

Fixed Timing Advance

Description	Force the motor timing advance to a constant value.
ID	0x004c
DroneCAN Name	TIMING_ADV
Units	Units are in degress (°)
Advanced	YES

Gradual Braking Duration

Description	The duration of the gradual braking routine. This is the duration in which the duty of the motor phases being shorted will increase from the 'Gradual Braking Starting Duty Cycle' to 100% duty cycle. A longer duration will provide a more gradual braking action.
ID	0x017f
DroneCAN Name	GB_DURATION_S
Units	Units are in seconds (s)
Advanced	YES

Gradual Braking Starting Duty Cycle

Description	The starting duty cycle percentage of the gradual braking routine. This is the duty cycle of the motor phases being shorted compared to floating.
ID	0x017d
DroneCAN Name	GBRAK_STRT_DC
Units	Units are in percentage of duty cycle (% duty cycle)
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.
ID	0x003f
DroneCAN Name	REGEN_BUS_CUR
Units	Units are in Amps (A)
Advanced	NO

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.
ID	0x0046
DroneCAN 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.
ID	0x005d
DroneCAN 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.
ID	0x016a
DroneCAN 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.
ID	0x002b
DroneCAN 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.
ID	0x0035
DroneCAN 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.
ID	0x0021
DroneCAN Name	MOT_POLE_PAIRS
Units	N/A
Advanced	NO

Normal Rotation Direction

Description	Output rotation direction. Toggling this setting reverses the output direction without requiring cabling modification.
ID	0x0044
DroneCAN 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.
ID	0x004e
DroneCAN 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.
ID	0x0011
DroneCAN Name	RAMP_DWN_RT
Units	Units are in % per 10 microseconds (%/10μs)
Advanced	NO

Ramp to Stop

Description	When enabled, the unit will ramp power down to a stop before applying the stopping behaviour when stopping behaviour is not 'Freewheeling'. The rate at which power is ramped down is controlled by the 'Ramp to Stop Rate'.
ID	0x0196
DroneCAN Name	RAMP_STOP_EN
Units	N/A
Advanced	YES

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.
ID	0x006b
DroneCAN 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.
ID	0x0010
DroneCAN 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.
ID	0x005c
DroneCAN Name	RPM_LIM_EN
Units	N/A
Advanced	YES

Stopping Behaviour

Description	Selects the behaviour of the bridge when motor drive stops after a 0% throttle signal is given. When set to 'Freewheeling' the bridge will be set to a floating state where all phases are disconnected. 'Passive Hold' will short the motor phases which will provide a braking force, this can prevent the windmilling of propellers and consumes no power. 'Active Hold' will apply the configured active hold duty cycle to the motor to provide a braking force, this is generally stronger than the passive braking force but consumes power and generates heat in the motor.
ID	0x019b
DroneCAN Name	STOP_BEHAV
Units	N/A
Advanced	NO

Value Mappings:

0 -> Freewheeling

1 -> Passive Hold

2 -> Active Hold

Stopping Behaviour on Armed

Description	Perform the configured stopping behaviour whenever the unit enters armed state. This will cause the stopping behaviour on startup once a valid signal is acquired and arming conditions are met.
ID	0x017c
DroneCAN Name	STOP_ON_ARMED
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.
ID	0x017b
DroneCAN Name	TRNC_MIN_DUTY
Units	N/A
Advanced	YES

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