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Ark esc docs + restructure top level ESC docs (#26132)
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Patrik Dominik Pordi
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docs/assets/hardware/esc/ark/ark_4_in_1_esc.jpg
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- [Actuator Allocation](config/actuators.md)
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- [ESC Calibration](advanced_config/esc_calibration.md)
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- [ESCs & Motors](peripherals/esc_motors.md)
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- [ESC Protocols](esc/esc_protocols.md)
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- [PWM ESCs and Servos](peripherals/pwm_escs_and_servo.md)
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- [DShot ESCs](peripherals/dshot.md)
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- [OneShot ESCs and Servos](peripherals/oneshot.md)
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- [DroneCAN ESCs](dronecan/escs.md)
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- [Zubax Telega](dronecan/zubax_telega.md)
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- [PX4 Sapog ESC Firmware](dronecan/sapog.md)
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- [ARK 4IN1 ESC](esc/ark_4in1_esc.md)
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- [Holybro Kotleta](dronecan/holybro_kotleta.md)
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- [Vertiq](peripherals/vertiq.md)
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- [VESC](peripherals/vesc.md)
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- [Vertiq Motor/ESC Modules](peripherals/vertiq.md)
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- [VESC Project ESCs](peripherals/vesc.md)
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- [Zubax Telega ESCs](dronecan/zubax_telega.md)
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- [Radio Control (RC)](getting_started/rc_transmitter_receiver.md)
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- [Radio Setup](config/radio.md)
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- [Flight Modes](config/flight_mode.md)
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58
docs/en/esc/ark_4in1_esc.md
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docs/en/esc/ark_4in1_esc.md
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# ARK 4IN1 ESC (with/without Connectors)
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4 in 1 Electronic Speed Controller (ESC) that is made in the USA, NDAA compliant, and DIU Blue Framework listed.
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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).
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## Where to Buy
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Order this module from:
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- [4IN1 ESC (with connectors)](https://arkelectron.com/product/ark-4in1-esc/) (ARK Electronics - US)
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- [ARK Electronics (without connectors)](https://arkelectron.com/product/ark-4in1-esc-cons/) (ARK Electronics US)
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## Hardware Specifications
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- Battery Voltage: 3-8s
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- 6V Minimum
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- 65V Absolute Maximum
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- Current Rating: 50A Continuous, 75A Burst Per Motor
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- [STM32F0](https://www.st.com/en/microcontrollers-microprocessors/stm32f0-series.html)
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- [AM32 Firmware](https://github.com/am32-firmware/AM32/pull/27)
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- Onboard Current Sensor, Serial Telemetry
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- 100V/A
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- Input Protocols
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- DShot (300, 600)
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- Bi-directional DShot
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- KISS Serial Telemetry
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- PWM
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- 8 Pin JST-SH Input/Output
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- 10 Pin JST-SH Debug
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- Motor & Battery Connectors (with-connector version)
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- MR30 Connector Limit Per Motor: 30A Continuous, 40A Burst
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- Four MR30 Motor Connectors
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- Dimensions (with connectors)
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- Size: 77.00mm x 42.00mm x 9.43mm
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- Mounting Pattern: 30.5mm
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- Weight: 24g
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- Dimensions (without connectors)
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- Size: 43.00mm x 40.50mm x 7.60mm
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- Mounting Pattern: 30.5mm
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- Weight: 14.5g
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Other
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- Made in the USA
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- Open source AM32 firmware
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- [DIU Blue Framework Listed](https://www.diu.mil/blue-uas/framework)
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## See Also
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- [ARK 4IN1 ESC CONS](https://docs.arkelectron.com/electronic-speed-controller/ark-4in1-esc) (ARK Docs)
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docs/en/esc/esc_protocols.md
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# ESC Protocols
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This topic lists the main [Electronic Speed Controller (ESC)](../peripherals/esc_motors.md) protocols supported by PX4.
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## DShot
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[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.
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It has reduced latency and is more robust than both [PWM](#pwm) and [OneShot](#oneshot-125).
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In addition it does not require ESC calibration, telemetry is available from some ESCs, and you can reverse motor spin directions.
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PX4 configuration is done in the [Actuator Configuration](../config/actuators.md).
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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).
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Setup:
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- [ESC Wiring](../peripherals/pwm_escs_and_servo.md) (same as for PWM ESCs)
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- [DShot](../peripherals/dshot.md) also contains information about how to send commands etc.
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## DroneCAN
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[DroneCAN ESCs](../dronecan/escs.md) are recommended when DroneCAN is the primary bus used for your vehicle.
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The PX4 implementation is currently limited to update rates of 200 Hz.
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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.
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[DroneCAN ESCs](../dronecan/escs.md) are connected via the DroneCAN bus (setup and configuration are covered at that link).
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## PWM
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[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).
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PWM ESCs communicate using a periodic pulse, where the _width_ of the pulse indicates the desired speed.
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The pulse width typically ranges between 1000 μs for zero power and 2000 μs for full power.
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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).
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A higher rate is better for ESCs, in particular where a rapid response to setpoint changes is needed.
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For PWM servos 50 Hz is usually sufficient, and many don't support higher rates.
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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.
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Unlike [DShot](#dshot) and [DroneCAN ESC](#dronecan) they do not have the ability to provide telemetry and feedback on ESC (or servo) state.
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Setup:
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- [ESC Wiring](../peripherals/pwm_escs_and_servo.md)
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- [PX4 Configuration](../peripherals/pwm_escs_and_servo.md#px4-configuration)
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- [ESC Calibration](../advanced_config/esc_calibration.md)
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## OneShot 125
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[OneShot 125 ESCs](../peripherals/oneshot.md) are usually much faster than PWM ESCs, and hence more responsive and easier to tune.
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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).
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There are a number of variants of the OneShot protocol, which support different rates.
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PX4 only supports OneShot 125.
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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).
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This allows OneShot 125 ESCs to have a much shorter duty cycle/higher rate.
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For PWM the theoretical maximum is close to 500 Hz while for OneShot it approaches 4 kHz.
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The actual supported rate depends on the ESC used.
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Setup:
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- [ESC Wiring](../peripherals/pwm_escs_and_servo.md) (same as for PWM ESCs)
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- [PX4 Configuration](../peripherals/oneshot.md#px4-configuration)
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- [ESC Calibration](../advanced_config/esc_calibration.md)
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@ -3,80 +3,42 @@
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Many PX4 drones use brushless motors that are driven by the flight controller via an Electronic Speed Controller (ESC).
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The ESC takes a signal from the flight controller and uses it to set control the level of power delivered to the motor.
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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).
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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).
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## Supported ESC
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The following list is non-exhaustive.
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| ESC Device | Protocols | Firmwares | Notes |
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| ---------------------------- | ------------------------------------ | ------------------------ | ----------------------------------------------------- |
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| [ARK 4IN1 ESC] | [Dshot], [PWM] | [AM32] | Has versions with/without connnectors |
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| [Holybro Kotleta 20] | [DroneCAN], [PWM] | [PX4 Sapog ESC Firmware] | |
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| [Vertiq Motor & ESC modules] | [Dshot], [OneShot], Multishot, [PWM] | Vertiq firmware | Larger modules support DroneCAN, ESC and Motor in one |
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| [VESC ESCs] | [DroneCAN], [PWM] | VESC project firmware | |
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| [Zubax Telega] | [DroneCAN], [PWM] | Telega-based | ESC and Motor in one |
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<!-- Links for table above -->
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[ARK 4IN1 ESC]: ../esc/ark_4in1_esc.md
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[AM32]: https://am32.ca/
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[PX4 Sapog ESC Firmware]: ../dronecan/sapog.md
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[VESC ESCs]: ../peripherals/vesc.md
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[DroneCAN]: ../dronecan/escs.md
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[Dshot]: ../peripherals/dshot.md
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[OneShot]: ../peripherals/oneshot.md
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[PWM]: ../peripherals/pwm_escs_and_servo.md
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[Holybro Kotleta 20]: ../dronecan/holybro_kotleta.md
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[Vertiq Motor & ESC modules]: ../peripherals/vertiq.md
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[Zubax Telega]: ../dronecan/zubax_telega.md
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## See Also
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For more information see:
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- [ESC Protocols](../esc/esc_protocols.md) — overview of main ESC/Servo protocols supported by PX4
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- [PWM ESCs and Servos](../peripherals/pwm_escs_and_servo.md)
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- [OneShot ESCs and Servos](../peripherals/oneshot.md)
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- [DShot](../peripherals/dshot.md)
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- [DroneCAN ESCs](../dronecan/escs.md)
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- [ESC Calibration](../advanced_config/esc_calibration.md)
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- [ESC Firmware and Protocols Overview](https://oscarliang.com/esc-firmware-protocols/) (oscarliang.com)
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A high level overview of the main ESC/Servo protocols supported by PX4 is given below.
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## ESC Protocols
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### PWM
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[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).
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PWM ESCs communicate using a periodic pulse, where the _width_ of the pulse indicates the desired power level.
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The pulse wdith typically ranges between 1000uS for zero power and 2000uS for full power.
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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).
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A higher rate is better for ESCs, in particular where a rapid response to setpoint changes is needed.
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For PWM servos 50Hz is usually sufficient, and many don't support higher rates.
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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.
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Unlike [dshot](#dshot) and [DroneCAN ESC](#dronecan) they do not have the ability to provide telemetry and feedback on ESC (or servo) state.
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Setup:
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- [ESC Wiring](../peripherals/pwm_escs_and_servo.md)
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- [PX4 Configuration](../peripherals/pwm_escs_and_servo.md#px4-configuration)
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- [ESC Calibration](../advanced_config/esc_calibration.md)
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### Oneshot 125
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[OneShot 125 ESCs](../peripherals/oneshot.md) are usually much faster than PWM ESCs, and hence more responsive and easier to tune.
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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).
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There are a number of variants of the OneShot protocol, which support different rates.
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PX4 only supports OneShot 125.
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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).
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This allows OneShot 125 ESCs to have a much shorter duty cycle/higher rate.
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For PWM the theoretical maximum is close to 500 Hz while for OneShot it approaches 4 kHz.
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The actual supported rate depends on the ESC used.
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Setup:
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- [ESC Wiring](../peripherals/pwm_escs_and_servo.md) (same as for PWM ESCs)
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- [PX4 Configuration](../peripherals/oneshot.md#px4-configuration)
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- [ESC Calibration](../advanced_config/esc_calibration.md)
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### DShot
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[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.
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It has reduced latency and is more robust than both [PWM](#pwm) and [OneShot](#oneshot-125).
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In addition it does not require ESC calibration, telemetry is available from some ESCs, and you can revers motor spin directions
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PX4 configuration is done in the [Actuator Configuration](../config/actuators.md).
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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).
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Setup:
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- [ESC Wiring](../peripherals/pwm_escs_and_servo.md) (same as for PWM ESCs)
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- [DShot](../peripherals/dshot.md) also contains information about how to send commands etc.
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### DroneCAN
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[DroneCAN ESCs](../dronecan/escs.md) are recommended when DroneCAN is the primary bus used for your vehicle.
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The PX4 implementation is currently limited to update rates of 200Hz.
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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.
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[DroneCAN ESCs](../dronecan/escs.md) are connected via the DroneCAN bus (setup and configuration are covered at that link).
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