Prop Parking Settings
The following settings are related to the prop parking functions on the microDRIVE MP 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