---
title: RPM Mode Settings
slug: microdrive-mp/rpm-mode-settings
icon: ⚙️
docTags: 
createdAt: 2024-01-14T23:54:46.931Z
---

:::hint{type="info"}
The following settings are related to the RPM Mode functions on the micro**DRIVE** MP 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                                                                                                                                                                                                                                                                                                                                                                                                                                            |

**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                                                                                  |

### 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                                                       |

### 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)                                                                                                                       |

### 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)                                                                                                                       |

### 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                                                           |

### 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)                                                                                                                                            |