RPM Mode Settings

The following settings are related to the RPM Mode functions on the nanoDRIVE 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)

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