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35 lines
1.9 KiB
Markdown
35 lines
1.9 KiB
Markdown
# OneShot Servos and ESCs (Motor Controllers)
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PX4 support OneShot 125 ESCs (only).
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These are typically faster and more responsive than [PWM ESCs](../peripherals/pwm_escs_and_servo.md) but share the same wiring setup (all you need to do is set some different parameters)
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::: info
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[DShot](../peripherals/dshot.md) should always be used instead of OneShot where possible, as it is more responsive, more robust, does not required calibration, and may support telemetry.
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The only reason not to use DShot would be hardware limitations (insufficient DShot pins available or using an ESC that does not support DShot).
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:::
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## Overview
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OneShot is essentially a version of [PWM](../peripherals/pwm_escs_and_servo.md) that can be, in theory, up to 8 times faster.
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Both PWM and OneShot communicate using a periodic pulse, where the width of the pulse indicates the desired power level.
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For PWM the pulse length typically ranges between 1000us (zero) and 2000us (full power), while for OneShot 125 the pulse widths are 8 times shorter, ranging from 125us (zero power) to 250us (full power).
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The theoretical maximum rate at which pulses can be sent, and hence the responsiveness, depends on the width of the largest pulse.
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For PWM this rate is close to 500 Hz while for OneShot it approaches 4 kHz.
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In practice the actual maximum rate for OneShot ESCs is typically between 1 kHz and 2 kHz, depending on the ESC used.
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## Setup
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### Wiring
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Wiring is exactly the same as for [PWM ESCs](../peripherals/pwm_escs_and_servo.md) (and dshot).
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### PX4 Configuration
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To enable OneShot select the protocol for a group of outputs during [Actuator Configuration](../config/actuators.md).
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Note that the output range values are set to values in the normal PWM range (nominally `1000` to `2000`).
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These are scaled internally to output appropriate pulse-widths for Oneshot.
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Then perform [ESC Calibration](../advanced_config/esc_calibration.md).
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