RPM Mode Settings

the following settings are related to the rpm mode functions on the nano drive 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 advanced no 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 advanced no 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 advanced yes 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) advanced no 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) advanced no 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 advanced yes 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) advanced no