Motor Drive Settings

the following settings are related to the motor drive and control interfaces on the nano drive units afw enabled description enables regenerative braking the result is far greater linearity on esc output, alongside increased efficiency must be disabled for use with power supplies or systems that cannot handle regenerative current (eg tethers) can name afw en units n/a advanced no automatic timing advance description toggle the operation of automatically varying the timing advance to the connected motor depending on loading conditions in most cases, leaving this function enabled results in the best overall efficiency can name auto timing units n/a advanced yes brake on stop description enables brake once the unit is given a 0% throttle signal prevents windmilling of propellers recommended to be enabled when using reversible drive mode can name brk on stop units n/a advanced no bus current limit description limits the maximum current limit allowed on the bus the unit will cap the maximum power output at the limit setpoint can name bus cur lim units units are in amps (a) advanced no 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 can name drv mode units n/a advanced no value mappings 0 > normal 1 > reversible 2 > rpm fixed timing advance description force the motor timing advance to a constant value can name timing adv units units are in degress (°) advanced yes max regeneration current description the maximum level of regenerative current (when afw is enabled) on the bus before the unit limits a higher value will result in a quicker response on throttle down regenerative current is negatively signed can name regen bus cur units units are in amps (a) advanced no maximum pwm frequency description the maximum pwm frequency to allow on the output to the motor higher values result in smoother motor drive, and higher controller temperatures can name max pwm freq units units are in hertz (hz) advanced yes maximum rpm limit description the maximum rpm to limit the output to when the limit is enabled can name max rpm lim units units are in revolutions per minute (rpm) advanced yes minimum duty cycle description the minimum allowed duty cycle to apply to the motor this is the lowest duty cycle that will be applied when the throttle is non zero this should be set to the lowest duty cycle that allows the motor to spin from stopped can name min duty units units are in duty cycle percent (%) advanced yes minimum pwm frequency description the minimum pwm frequency to allow on the output to the motor lower values result in reduced linearity and capacitor lifetimes can name min pwm freq units units are in hertz (hz) advanced yes motor kv description back emf constant for connected motor used for stability calcuations zero value indicates automatic specification can name mot kv units units are in rpm per volt (rpm/v) advanced yes motor pole pairs description number of motor pole pairs of the connected motor, utilised for scaling erpm to rpm can name mot pole pairs units n/a advanced no normal rotation direction description output rotation direction toggling this setting reverses the output direction without requiring cabling modification can name direction units n/a advanced no phase current limit description the current limit to apply to drive on the phase/output from the controller can name ph cur lim units units are in amps (a) advanced no ramp down rate description slew rate to apply to transients when decreasing the output duty cycle to the motor can name ramp dwn rt units units are in % per 10 microseconds (%/10μs) advanced no ramp up rate description slew rate to apply to transients when increasing the output duty cycle to the motor can name ramp up rt units units are in % per 10 microseconds (%/10μs) advanced no rpm limit description enable rpm limit the unit will decrease the output duty cycle as the approach to setting limit occurs can name rpm lim en units n/a advanced yes truncate throttle below minimum duty cycle description throttle values that map to a duty cycle below the configured minimum duty cycle are truncated to 0 in normal drive mode if min duty is set to 5% then any throttle below 5% will command 0 output duty this setting does not affect zero throttle checks this should be enabled when using 'dynamic idle' on betaflight flight computers can name trnc min duty units n/a advanced yes