3 Speed controller bandwidth Speed controller bandwidth, in Hz. Higher values result in faster speed and current rise times, but may result in overshoot and higher current consumption. For fixed-wing aircraft, this value should be less than 50 Hz; for multirotors, values up to 100 Hz may provide improvements in responsiveness. Hz 10 250 Reverse direction Motor spin direction as detected during initial enumeration. Use 0 or 1 to reverse direction. 0 1 Speed (RPM) controller gain Speed (RPM) controller gain. Determines controller aggressiveness; units are amp-seconds per radian. Systems with higher rotational inertia (large props) will need gain increased; systems with low rotational inertia (small props) may need gain decreased. Higher values result in faster response, but may result in oscillation and excessive overshoot. Lower values result in a slower, smoother response. C/rad 3 0.00 1.00 Idle speed (e Hz) Idle speed (e Hz) Hz 3 0.0 100.0 Spin-up rate (e Hz/s) Spin-up rate (e Hz/s) 1/s^2 5 1000 Index of this ESC in throttle command messages. Index of this ESC in throttle command messages. 0 15 Extended status ID Extended status ID 1 1000000 Extended status interval (µs) Extended status interval (µs) us 0 1000000 ESC status interval (µs) ESC status interval (µs) us 1000000 Motor current limit in amps Motor current limit in amps. This determines the maximum current controller setpoint, as well as the maximum allowable current setpoint slew rate. This value should generally be set to the continuous current rating listed in the motor’s specification sheet, or set equal to the motor’s specified continuous power divided by the motor voltage limit. A 3 1 80 Motor Kv in RPM per volt Motor Kv in RPM per volt. This can be taken from the motor’s specification sheet; accuracy will help control performance but some deviation from the specified value is acceptable. rpm/V 0 4000 READ ONLY: Motor inductance in henries. READ ONLY: Motor inductance in henries. This is measured on start-up. H 3 Number of motor poles. Number of motor poles. Used to convert mechanical speeds to electrical speeds. This number should be taken from the motor’s specification sheet. 2 40 READ ONLY: Motor resistance in ohms READ ONLY: Motor resistance in ohms. This is measured on start-up. When tuning a new motor, check that this value is approximately equal to the value shown in the motor’s specification sheet. Ohm 3 Acceleration limit (V) Acceleration limit (V) V 3 0.01 1.00 Motor voltage limit in volts Motor voltage limit in volts. The current controller’s commanded voltage will never exceed this value. Note that this may safely be above the nominal voltage of the motor; to determine the actual motor voltage limit, divide the motor’s rated power by the motor current limit. V 3 0 device health warning Set the device health to Warning if the dimensionality of the GNSS solution is less than this value. 3 for the full (3D) solution, 2 for planar (2D) solution, 1 for time-only solution, 0 disables the feature. 0 3 disables the feature time-only solution planar (2D) solution full (3D) solution Set the device health to Warning if the number of satellites used in the GNSS solution is below this threshold. Zero disables the feature GNSS dynamic model Dynamic model used in the GNSS positioning engine. 0 – Automotive, 1 – Sea, 2 – Airborne. 0 2 Automotive Sea Airborne Broadcast old GNSS fix message Broadcast the old (deprecated) GNSS fix message uavcan.equipment.gnss.Fix alongside the new alternative uavcan.equipment.gnss.Fix2. It is recommended to disable this feature to reduce the CAN bus traffic. 0 1 Fix2 Fix and Fix2 Set the device health to Warning if the number of satellites used in the GNSS solution is below this threshold. Zero disables the feature us 0 1000000