Motor Drive Settings

the following settings are related to the motor drive and control interfaces on the nano drive units active hold strength description the duty cycle percentage to apply to the motor during the 'active hold' stopping behaviour 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) advanced yes 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) id 0x0048 dronecan 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 id 0x006c dronecan name auto timing units n/a advanced yes 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 id 0x004d dronecan 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 id 0x0041 dronecan name drv mode units n/a advanced no value mappings 0 > normal 1 > reversible 2 > rpm enable gradual braking description when enabled, during 'passive hold' or 'active hold' motor stop operations the motor phases will gradually be shorted to provide a smoother braking action afw must be enabled id 0x0192 dronecan name grad brak en units n/a advanced yes fixed timing advance description force the motor timing advance to a constant value id 0x004c dronecan name timing adv units units are in degress (°) advanced yes gradual braking duration description the duration of the gradual braking routine this is the duration in which the duty of the motor phases being shorted will increase from the 'gradual braking starting duty cycle' to 100% duty cycle a longer duration will provide a more gradual braking action id 0x017f dronecan name gb duration s units units are in seconds (s) advanced yes gradual braking starting duty cycle description the starting duty cycle percentage of the gradual braking routine this is the duty cycle of the motor phases being shorted compared to floating id 0x017d dronecan name gbrak strt dc units units are in percentage of duty cycle (% duty cycle) 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 id 0x003f dronecan 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 id 0x0046 dronecan 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 id 0x005d dronecan 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 id 0x016a dronecan 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 id 0x002b dronecan 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 id 0x0035 dronecan 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 id 0x0021 dronecan 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 id 0x0044 dronecan 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 id 0x004e dronecan 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 id 0x0011 dronecan name ramp dwn rt units units are in % per 10 microseconds (%/10μs) advanced no ramp to stop description when enabled, the unit will ramp power down to a stop before applying the stopping behaviour when stopping behaviour is not 'freewheeling' the rate at which power is ramped down is controlled by the 'ramp to stop rate' id 0x0196 dronecan name ramp stop en units n/a advanced yes ramp to stop rate description the rate at which the unit will reduce power after commanded to stop (zero throttle command) the unit is % per 10 microseconds applied to the commanded output duty cycle id 0x006b dronecan name ramp stop rt units units are in % per 10 microseconds (%/10μs) advanced yes ramp up rate description slew rate to apply to transients when increasing the output duty cycle to the motor id 0x0010 dronecan 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 id 0x005c dronecan name rpm lim en units n/a advanced yes stopping behaviour description selects the behaviour 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 advanced no value mappings 0 > freewheeling 1 > passive hold 2 > active hold stopping behaviour on armed description perform the configured stopping behaviour whenever the unit enters armed state this will cause the stopping behaviour on startup once a valid signal is acquired and arming conditions are met id 0x017c dronecan name stop on armed 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 id 0x017b dronecan name trnc min duty units n/a advanced yes