Communication Settings
The following settings are related to the communications interfaces available on nanoDRIVE units.
CAN Protocol
Description | The CAN protocol to use on the device CAN bus. 'Auto' will automatically detect which CAN protocol is in use based on traffic on the bus, this requires existing periodic traffic on the bus. 'Auto' is not recommended for use in final production vehicles. |
|---|---|
ID | 0x009a |
DroneCAN Name | CAN_PROTOCOL |
Units | N/A |
Value Mappings:
- 0 -> DroneCAN
- 1 -> ARINC 825
- 2 -> Auto
CAN Signal Priority
Description | Select the priority of the CAN throttle signal. Selecting Primary will cause CAN to override other signals, selecting Secondary will cause CAN to be used when the Primary signal is not available. Setting to None will ignore CAN throttle signals. |
|---|---|
ID | 0x0163 |
DroneCAN Name | CAN_SIG_PRIO |
Units | N/A |
Value Mappings:
- 0 -> None
- 1 -> Primary
- 2 -> Secondary
PWM Jitter Filter
Description | Set the sample depth of the PWM Median Filter. |
|---|---|
ID | 0x007c |
DroneCAN Name | PWM_JITTER_EN |
Units | N/A |
Value Mappings:
- 0 -> No Filtering
- 1 -> 3 Sample Median
- 2 -> 5 Sample Median
- 3 -> 7 Sample Median
- 4 -> 9 Sample Median
PWM Reversible Dead Zone
Description | Define the width of zero throttle (%) when operating inside the reversible drive mode. Scales between minimum and maximum endpoints. Applies to PWM signalling only. |
|---|---|
ID | 0x0017 |
DroneCAN Name | RVRS_DEAD_ZNE |
Units | N/A |
Require All Signals to Arm
Description | When enabled arming conditions must be met on all configured signals for the unit to arm after startup or entering Idle state, only the currently active signal will be checked when recovering from an error. All signals must be acquired, armed (if applicable) and zero throttle conditions must be met on all signals (if zero throttle required is enabled) for the unit to arm. These checks are disabled (only currently active signal is checked) if the unit is recovering from a watchdog reset. |
|---|---|
ID | 0x0167 |
DroneCAN Name | REQ_ALL_SIG |
Units | N/A |
Require Signal Armed to Fallback
Description | When enabled the ESC will only fallback or regain a lost signal if the signal is armed. Signals that do not support a separate arming mechanism or have that mechanism disabled are considered always armed. |
|---|---|
ID | 0x0166 |
DroneCAN Name | SIG_FB_ARMED |
Units | N/A |
Require Zero Throttle
Description | Toggle option to automatically disable the zero throttle setpoint requirement upon signal loss and re-establishment. When enabled, the ESC requires a 0% throttle signal to arm after startup or re-arm after signal loss. On firmware versions up to 3.0 this setting will only be taken into account when utilising CAN Bus signalling. |
|---|---|
ID | 0x003e |
DroneCAN Name | REQ_ZERO_THR |
Units | N/A |
Secondary Arming Switch Enable
Description | Enables the secondary arming switch. When enabled a switch can be connected as per the product documentation. When the switch is active the unit can arm, when the switch is deactivated for longer than the Secondary Arming Switch Timeout duration the unit will disarm. Please refer to the documentation for your specific unit for wiring information. |
|---|---|
ID | 0x015f |
DroneCAN Name | ARM_SW_EN |
Units | N/A |
Secondary Arming Switch Timeout
Description | The duration that the secondary arming switch must be off before triggering a disarm event. |
|---|---|
ID | 0x015e |
DroneCAN Name | ARM_SW_TOUT |
Units | Units are in Milliseconds (ms) |
Serial Signal Priority
Description | Select the priority of the Serial throttle signal. Selecting Primary will cause Serial to override other signals, selecting Secondary will cause Serial to be used when the Primary signal is not available. Setting to None will ignore Serial throttle signals. |
|---|---|
ID | 0x0164 |
DroneCAN Name | SER_SIG_PRIO |
Units | N/A |
Value Mappings:
- 0 -> None
- 1 -> Primary
- 2 -> Secondary
Serial Signal Type
Description | The specific serial protocol to accept when the unit is configured in non-CAN mode. Other protocols will be ignored. |
|---|---|
ID | 0x0057 |
DroneCAN Name | SIG_TYPE |
Units | N/A |
Value Mappings:
- 0 -> Auto
- 1 -> PWM
- 2 -> DShot
- 3 -> BiDirectional DShot
Signal Baud Rate
Description | The specific protocol rate can be selected when serial signalling and the DShot protocol are utilised. Other rates will be ignored. |
|---|---|
ID | 0x0058 |
DroneCAN Name | SIG_BAUD |
Units | N/A |
Value Mappings:
- 0 -> Auto
- 1 -> DShot150
- 2 -> DShot300
- 3 -> DShot600
Throttle End Point Max
Description | Maximum input pulse width when operating within PWM signalling. |
|---|---|
ID | 0x0014 |
DroneCAN Name | THR_MAX_PWM |
Units | N/A |
Throttle End Point Min
Description | Lower endpoint to scale throttle when operating PWM input. It should be lower than the Maximum Endpoint. |
|---|---|
ID | 0x0013 |
DroneCAN Name | THR_MIN_PWM |
Units | N/A |