RPM Mode Settings
The following settings are related to the RPM Mode functions on the nanoDRIVE units.
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
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 |
RPM Mode Integral Control
Description | The integral value for the rpm mode PI speed control loop |
|---|---|
ID | 0x0087 |
DroneCAN Name | RPM_MODE_KI |
Units | N/A |
Advanced | YES |
RPM Mode Maximum
Description | The maximum RPM to utilise with the RPM mode. The internal governor will regulate the desired input linearly between minimum and maximum RPM endpoints. |
|---|---|
ID | 0x0089 |
DroneCAN Name | RPM_MODE_MAX |
Units | Units are in mechanical RPM (RPM) |
Advanced | NO |
RPM Mode Minimum
Description | The minimum RPM to utilise with the RPM mode. The internal governor will regulate the desired input linearly between minimum and maximum RPM endpoints. |
|---|---|
ID | 0x0088 |
DroneCAN Name | RPM_MODE_MIN |
Units | Units are in mechanical RPM (RPM) |
Advanced | NO |
RPM Mode Proportional Control
Description | The proportional value for the rpm mode PI speed control loop |
|---|---|
ID | 0x0086 |
DroneCAN Name | RPM_MODE_KP |
Units | N/A |
Advanced | YES |
RPM Mode Soft Start Ramp Time
Description | Soft start rate to utilise when starting a motor. The unit is %/s, a value of 0 means no soft start (instant starting response). Typically used with geared setups. |
|---|---|
ID | 0x008b |
DroneCAN Name | SOFT_START_RMP |
Units | Units are in seconds (s) |
Advanced | NO |