diff --git a/docs/assets/hardware/esc/ark/ark_4_in_1_esc.jpg b/docs/assets/hardware/esc/ark/ark_4_in_1_esc.jpg new file mode 100644 index 0000000000..30e47baf15 Binary files /dev/null and b/docs/assets/hardware/esc/ark/ark_4_in_1_esc.jpg differ diff --git a/docs/assets/hardware/esc/ark/ark_4_in_1_esc_with_connectors.jpg b/docs/assets/hardware/esc/ark/ark_4_in_1_esc_with_connectors.jpg new file mode 100644 index 0000000000..031763d980 Binary files /dev/null and b/docs/assets/hardware/esc/ark/ark_4_in_1_esc_with_connectors.jpg differ diff --git a/docs/en/SUMMARY.md b/docs/en/SUMMARY.md index cbadce480b..0d696d602e 100644 --- a/docs/en/SUMMARY.md +++ b/docs/en/SUMMARY.md @@ -312,15 +312,17 @@ - [Actuator Allocation](config/actuators.md) - [ESC Calibration](advanced_config/esc_calibration.md) - [ESCs & Motors](peripherals/esc_motors.md) + - [ESC Protocols](esc/esc_protocols.md) - [PWM ESCs and Servos](peripherals/pwm_escs_and_servo.md) - [DShot ESCs](peripherals/dshot.md) - [OneShot ESCs and Servos](peripherals/oneshot.md) - [DroneCAN ESCs](dronecan/escs.md) - - [Zubax Telega](dronecan/zubax_telega.md) - [PX4 Sapog ESC Firmware](dronecan/sapog.md) - - [Holybro Kotleta](dronecan/holybro_kotleta.md) - - [Vertiq](peripherals/vertiq.md) - - [VESC](peripherals/vesc.md) + - [ARK 4IN1 ESC](esc/ark_4in1_esc.md) + - [Holybro Kotleta](dronecan/holybro_kotleta.md) + - [Vertiq Motor/ESC Modules](peripherals/vertiq.md) + - [VESC Project ESCs](peripherals/vesc.md) + - [Zubax Telega ESCs](dronecan/zubax_telega.md) - [Radio Control (RC)](getting_started/rc_transmitter_receiver.md) - [Radio Setup](config/radio.md) - [Flight Modes](config/flight_mode.md) diff --git a/docs/en/esc/ark_4in1_esc.md b/docs/en/esc/ark_4in1_esc.md new file mode 100644 index 0000000000..5d094198ce --- /dev/null +++ b/docs/en/esc/ark_4in1_esc.md @@ -0,0 +1,58 @@ +# ARK 4IN1 ESC (with/without Connectors) + +4 in 1 Electronic Speed Controller (ESC) that is made in the USA, NDAA compliant, and DIU Blue Framework listed. + +The ESC comes in variants without connectors that you can solder in place, and a variant that has built-in motor and battery connectors (no soldering required). + +![ARK 4IN1 ESC without connectors ](../../assets/hardware/esc/ark/ark_4_in_1_esc.jpg)![ARK 4IN1 ESC with connectors](../../assets/hardware/esc/ark/ark_4_in_1_esc_with_connectors.jpg) + +## Where to Buy + +Order this module from: + +- [4IN1 ESC (with connectors)](https://arkelectron.com/product/ark-4in1-esc/) (ARK Electronics - US) +- [ARK Electronics (without connectors)](https://arkelectron.com/product/ark-4in1-esc-cons/) (ARK Electronics US) + +## Hardware Specifications + +- Battery Voltage: 3-8s + - 6V Minimum + - 65V Absolute Maximum +- Current Rating: 50A Continuous, 75A Burst Per Motor +- [STM32F0](https://www.st.com/en/microcontrollers-microprocessors/stm32f0-series.html) +- [AM32 Firmware](https://github.com/am32-firmware/AM32/pull/27) +- Onboard Current Sensor, Serial Telemetry + - 100V/A +- Input Protocols + - DShot (300, 600) + - Bi-directional DShot + - KISS Serial Telemetry + - PWM +- 8 Pin JST-SH Input/Output +- 10 Pin JST-SH Debug + +- Motor & Battery Connectors (with-connector version) + + - MR30 Connector Limit Per Motor: 30A Continuous, 40A Burst + - Four MR30 Motor Connectors + +- Dimensions (with connectors) + + - Size: 77.00mm x 42.00mm x 9.43mm + - Mounting Pattern: 30.5mm + - Weight: 24g + +- Dimensions (without connectors) + - Size: 43.00mm x 40.50mm x 7.60mm + - Mounting Pattern: 30.5mm + - Weight: 14.5g + +Other + +- Made in the USA +- Open source AM32 firmware +- [DIU Blue Framework Listed](https://www.diu.mil/blue-uas/framework) + +## See Also + +- [ARK 4IN1 ESC CONS](https://docs.arkelectron.com/electronic-speed-controller/ark-4in1-esc) (ARK Docs) diff --git a/docs/en/esc/esc_protocols.md b/docs/en/esc/esc_protocols.md new file mode 100644 index 0000000000..930d436de6 --- /dev/null +++ b/docs/en/esc/esc_protocols.md @@ -0,0 +1,66 @@ +# ESC Protocols + +This topic lists the main [Electronic Speed Controller (ESC)](../peripherals/esc_motors.md) protocols supported by PX4. + +## DShot + +[DShot](../peripherals/dshot.md) is a digital ESC protocol that is highly recommended for vehicles that can benefit from reduced latency, in particular racing multicopters, VTOL vehicles, and so on. + +It has reduced latency and is more robust than both [PWM](#pwm) and [OneShot](#oneshot-125). +In addition it does not require ESC calibration, telemetry is available from some ESCs, and you can reverse motor spin directions. + +PX4 configuration is done in the [Actuator Configuration](../config/actuators.md). +Selecting a higher rate DShot ESC in the UI results in lower latency, but lower rates are more robust (and hence more suitable for large aircraft with longer leads); some ESCs only support lower rates (see datasheets for information). + +Setup: + +- [ESC Wiring](../peripherals/pwm_escs_and_servo.md) (same as for PWM ESCs) +- [DShot](../peripherals/dshot.md) also contains information about how to send commands etc. + +## DroneCAN + +[DroneCAN ESCs](../dronecan/escs.md) are recommended when DroneCAN is the primary bus used for your vehicle. +The PX4 implementation is currently limited to update rates of 200 Hz. + +DroneCAN shares many similar benefits to [DShot](#dshot) including high data rates, robust connection over long leads, telemetry feedback, no need for calibration of the ESC itself. + +[DroneCAN ESCs](../dronecan/escs.md) are connected via the DroneCAN bus (setup and configuration are covered at that link). + +## PWM + +[PWM ESCs](../peripherals/pwm_escs_and_servo.md) are commonly used for fixed-wing vehicles and ground vehicles (vehicles that require a lower latency like multicopters typically use oneshot or dshot ESCs). + +PWM ESCs communicate using a periodic pulse, where the _width_ of the pulse indicates the desired speed. +The pulse width typically ranges between 1000 μs for zero power and 2000 μs for full power. +The periodic frame rate of the signal depends on the capability of the ESC, and commonly ranges between 50 Hz and 490 Hz (the theoretical maximum being 500 Hz for a very small "off" cycle). +A higher rate is better for ESCs, in particular where a rapid response to setpoint changes is needed. +For PWM servos 50 Hz is usually sufficient, and many don't support higher rates. + +![duty cycle for PWM](../../assets/peripherals/esc_pwm_duty_cycle.png) + +In addition to being a relatively slow protocol PWM ESCs require [calibration](../advanced_config/esc_calibration.md) because the pulse widths representing low and high values can vary significantly. +Unlike [DShot](#dshot) and [DroneCAN ESC](#dronecan) they do not have the ability to provide telemetry and feedback on ESC (or servo) state. + +Setup: + +- [ESC Wiring](../peripherals/pwm_escs_and_servo.md) +- [PX4 Configuration](../peripherals/pwm_escs_and_servo.md#px4-configuration) +- [ESC Calibration](../advanced_config/esc_calibration.md) + +## OneShot 125 + +[OneShot 125 ESCs](../peripherals/oneshot.md) are usually much faster than PWM ESCs, and hence more responsive and easier to tune. +They are preferred over PWM for multicopters (but not as much as [DShot ESCs](#dshot), which do not require calibration, and may provide telemetry feedback). +There are a number of variants of the OneShot protocol, which support different rates. +PX4 only supports OneShot 125. + +OneShot 125 is the same as PWM but uses pulse widths that are 8 times shorter (from 125 μs to 250 μs for zero to full power). +This allows OneShot 125 ESCs to have a much shorter duty cycle/higher rate. +For PWM the theoretical maximum is close to 500 Hz while for OneShot it approaches 4 kHz. +The actual supported rate depends on the ESC used. + +Setup: + +- [ESC Wiring](../peripherals/pwm_escs_and_servo.md) (same as for PWM ESCs) +- [PX4 Configuration](../peripherals/oneshot.md#px4-configuration) +- [ESC Calibration](../advanced_config/esc_calibration.md) diff --git a/docs/en/peripherals/esc_motors.md b/docs/en/peripherals/esc_motors.md index e6c97d00a3..5badeebd3a 100644 --- a/docs/en/peripherals/esc_motors.md +++ b/docs/en/peripherals/esc_motors.md @@ -3,80 +3,42 @@ Many PX4 drones use brushless motors that are driven by the flight controller via an Electronic Speed Controller (ESC). The ESC takes a signal from the flight controller and uses it to set control the level of power delivered to the motor. -PX4 supports a number of common protocols for sending the signals to ESCs: [PWM ESCs](../peripherals/pwm_escs_and_servo.md), [OneShot ESCs](../peripherals/oneshot.md), [DShot ESCs](../peripherals/dshot.md), [DroneCAN ESCs](../dronecan/escs.md), PCA9685 ESC (via I2C), and some UART ESCs (from Yuneec). +PX4 supports a number of [common protocols](../esc/esc_protocols.md) for sending the signals to ESCs: [PWM ESCs](../peripherals/pwm_escs_and_servo.md), [OneShot ESCs](../peripherals/oneshot.md), [DShot ESCs](../peripherals/dshot.md), [DroneCAN ESCs](../dronecan/escs.md), PCA9685 ESC (via I2C), and some UART ESCs (from Yuneec). + +## Supported ESC + +The following list is non-exhaustive. + +| ESC Device | Protocols | Firmwares | Notes | +| ---------------------------- | ------------------------------------ | ------------------------ | ----------------------------------------------------- | +| [ARK 4IN1 ESC] | [Dshot], [PWM] | [AM32] | Has versions with/without connnectors | +| [Holybro Kotleta 20] | [DroneCAN], [PWM] | [PX4 Sapog ESC Firmware] | | +| [Vertiq Motor & ESC modules] | [Dshot], [OneShot], Multishot, [PWM] | Vertiq firmware | Larger modules support DroneCAN, ESC and Motor in one | +| [VESC ESCs] | [DroneCAN], [PWM] | VESC project firmware | | +| [Zubax Telega] | [DroneCAN], [PWM] | Telega-based | ESC and Motor in one | + + + +[ARK 4IN1 ESC]: ../esc/ark_4in1_esc.md +[AM32]: https://am32.ca/ +[PX4 Sapog ESC Firmware]: ../dronecan/sapog.md +[VESC ESCs]: ../peripherals/vesc.md +[DroneCAN]: ../dronecan/escs.md +[Dshot]: ../peripherals/dshot.md +[OneShot]: ../peripherals/oneshot.md +[PWM]: ../peripherals/pwm_escs_and_servo.md +[Holybro Kotleta 20]: ../dronecan/holybro_kotleta.md +[Vertiq Motor & ESC modules]: ../peripherals/vertiq.md +[Zubax Telega]: ../dronecan/zubax_telega.md + +## See Also For more information see: +- [ESC Protocols](../esc/esc_protocols.md) — overview of main ESC/Servo protocols supported by PX4 - [PWM ESCs and Servos](../peripherals/pwm_escs_and_servo.md) - [OneShot ESCs and Servos](../peripherals/oneshot.md) - [DShot](../peripherals/dshot.md) - [DroneCAN ESCs](../dronecan/escs.md) - [ESC Calibration](../advanced_config/esc_calibration.md) - [ESC Firmware and Protocols Overview](https://oscarliang.com/esc-firmware-protocols/) (oscarliang.com) - -A high level overview of the main ESC/Servo protocols supported by PX4 is given below. - -## ESC Protocols - -### PWM - -[PWM ESCs](../peripherals/pwm_escs_and_servo.md) are commonly used for fixed-wing vehicles and ground vehicles (vehicles that require a lower latency like multicopters typically use oneshot or dshot ESCs). - -PWM ESCs communicate using a periodic pulse, where the _width_ of the pulse indicates the desired power level. -The pulse wdith typically ranges between 1000uS for zero power and 2000uS for full power. -The periodic frame rate of the signal depends on the capability of the ESC, and commonly ranges between 50Hz and 490 Hz (the theoretical maximum being 500Hz for a very small "off" cycle). -A higher rate is better for ESCs, in particular where a rapid response to setpoint changes is needed. -For PWM servos 50Hz is usually sufficient, and many don't support higher rates. - -![duty cycle for PWM](../../assets/peripherals/esc_pwm_duty_cycle.png) - -In addition to being a relatively slow protocol PWM ESCs require [calibration](../advanced_config/esc_calibration.md) because the range values representing low and high values can vary significantly. -Unlike [dshot](#dshot) and [DroneCAN ESC](#dronecan) they do not have the ability to provide telemetry and feedback on ESC (or servo) state. - -Setup: - -- [ESC Wiring](../peripherals/pwm_escs_and_servo.md) -- [PX4 Configuration](../peripherals/pwm_escs_and_servo.md#px4-configuration) -- [ESC Calibration](../advanced_config/esc_calibration.md) - -### Oneshot 125 - -[OneShot 125 ESCs](../peripherals/oneshot.md) are usually much faster than PWM ESCs, and hence more responsive and easier to tune. -They are preferred over PWM for multicopters (but not as much as [DShot ESCs](#dshot), which do not require calibration, and may provide telemetry feedback). -There are a number of variants of the OneShot protocol, which support different rates. -PX4 only supports OneShot 125. - -OneShot 125 is the same as PWM but uses pulse widths that are 8 times shorter (from 125us to 250us for zero to full power). -This allows OneShot 125 ESCs to have a much shorter duty cycle/higher rate. -For PWM the theoretical maximum is close to 500 Hz while for OneShot it approaches 4 kHz. -The actual supported rate depends on the ESC used. - -Setup: - -- [ESC Wiring](../peripherals/pwm_escs_and_servo.md) (same as for PWM ESCs) -- [PX4 Configuration](../peripherals/oneshot.md#px4-configuration) -- [ESC Calibration](../advanced_config/esc_calibration.md) - -### DShot - -[DShot](../peripherals/dshot.md) is a digital ESC protocol that is highly recommended for vehicles that can benefit from reduce latency, in particular racing multicopters, VTOL vehicles, and so on. - -It has reduced latency and is more robust than both [PWM](#pwm) and [OneShot](#oneshot-125). -In addition it does not require ESC calibration, telemetry is available from some ESCs, and you can revers motor spin directions - -PX4 configuration is done in the [Actuator Configuration](../config/actuators.md). -Selecting a higher rate DShot ESC in the UI result in lower latency, but lower rates are more robust (and hence more suitable for large aircraft with longer leads); some ESCs only support lower rates (see datasheets for information). - -Setup: - -- [ESC Wiring](../peripherals/pwm_escs_and_servo.md) (same as for PWM ESCs) -- [DShot](../peripherals/dshot.md) also contains information about how to send commands etc. - -### DroneCAN - -[DroneCAN ESCs](../dronecan/escs.md) are recommended when DroneCAN is the primary bus used for your vehicle. -The PX4 implementation is currently limited to update rates of 200Hz. - -DroneCAN shares many similar benefits to [Dshot](#dshot) including high data rates, robust connection over long leads, telemetry feedback, no need for calibration of the ESC itself. - -[DroneCAN ESCs](../dronecan/escs.md) are connected via the DroneCAN bus (setup and configuration are covered at that link).