--- title: Prop Parking Settings slug: microdrive-lp/prop-parking-settings icon: ⚙️ docTags: createdAt: 2024-01-14T23:54:46.931Z --- :::hint{type="info"} The following settings are related to the prop parking functions on the micro**DRIVE** LP units. ::: ### Active Hold Strength | **Description** | The duty cycle percentage to apply to the motor during the 'Active Hold' stopping behavior. 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) | ### Enable Propeller Parking | **Description** | Enable the propeller parking function. Parking will engage whenever ESC was running, and zero throttle is commanded. | | ----------------- | -------------------------------------------------------------------------------------------------------------------- | | **ID** | 0x0064 | | **DroneCAN Name** | PARK\_EN | | **Units** | N/A | ### 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 | ### Propeller Parking Angle Offset | **Description** | Final mechanical offset angle from the prop parking sensor position. Allows fine tuning of final parking location. Units are in degrees (mechanical). | | ----------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------- | | **ID** | 0x0067 | | **DroneCAN Name** | PARK\_OFFSET\_ANG | | **Units** | Units are in degrees (°) | ### Propeller Parking Hall Input | **Description** | Hall effect input to use for propeller parking. | | ----------------- | ----------------------------------------------- | | **ID** | 0x0069 | | **DroneCAN Name** | PARK\_HALL\_IN | | **Units** | N/A | **Value Mappings**: - 0 -> Hall A - 1 -> Hall B - 2 -> Hall C ### Propeller Parking on Armed | **Description** | Perform the propeller parking routine when the unit arms. This will perform propeller parking on startup once a valid signal is obtained and arming conditions are met. | | ----------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | **ID** | 0x01a0 | | **DroneCAN Name** | PARK\_ON\_ARMED | | **Units** | N/A | ### Propeller Parking Speed | **Description** | The speed at which to turn the load while performing parking. | | ----------------- | ------------------------------------------------------------- | | **ID** | 0x0065 | | **DroneCAN Name** | PARK\_SPEED | | **Units** | Units are in mechanical RPM (RPM) | ### Propeller Parking Timeout | **Description** | Timeout (in number of rotations) once the propeller parking event begins in the event a sensor isn’t located. Zero corresponds to no timeout. | | ----------------- | --------------------------------------------------------------------------------------------------------------------------------------------- | | **ID** | 0x006a | | **DroneCAN Name** | PARK\_TIMEOUT | | **Units** | Units are in number of rotations (n rotations) | ### Propeller Parking Transition Direction | **Description** | Signal edge from hall sensor to trigger parking signal. Depending on hall configuration this is either rising or falling. | | ----------------- | ------------------------------------------------------------------------------------------------------------------------- | | **ID** | 0x0068 | | **DroneCAN Name** | PARK\_TRANS\_DIR | | **Units** | N/A | **Value Mappings**: - 0 -> Rising Edge - 1 -> Falling Edge ### Propeller Parking Turning Strength | **Description** | The amount of power to apply to the bridge when turning during parking. | | ----------------- | ----------------------------------------------------------------------- | | **ID** | 0x0066 | | **DroneCAN Name** | PARK\_TURN\_STR | | **Units** | Units are in percentage of duty cycle (% duty cycle) | ### Stopping Behavior | **Description** | Selects the behavior 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 | **Value Mappings**: - 0 -> Freewheeling - 1 -> Passive Hold - 2 -> Active Hold