mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
77 lines
3.2 KiB
YAML
77 lines
3.2 KiB
YAML
module_name: DShot Driver
|
|
serial_config:
|
|
- command: dshot telemetry ${SERIAL_DEV}
|
|
port_config_param:
|
|
name: DSHOT_TEL_CFG
|
|
group: DShot
|
|
|
|
parameters:
|
|
- group: DShot
|
|
definitions:
|
|
DSHOT_MIN:
|
|
description:
|
|
short: Minimum DShot Motor Output
|
|
long: |
|
|
Minimum Output Value for DShot in percent. The value depends on the ESC. Make
|
|
sure to set this high enough so that the motors are always spinning while
|
|
armed.
|
|
type: float
|
|
unit: '%'
|
|
min: 0
|
|
max: 1
|
|
decimal: 2
|
|
increment: 0.01
|
|
default: 0.055
|
|
DSHOT_3D_ENABLE:
|
|
description:
|
|
short: Allows for 3d mode when using DShot and suitable mixer
|
|
long: |
|
|
WARNING: ESC must be configured for 3D mode, and DSHOT_MIN set to 0.
|
|
This splits the throttle ranges in two.
|
|
Direction 1) 48 is the slowest, 1047 is the fastest.
|
|
Direction 2) 1049 is the slowest, 2047 is the fastest.
|
|
When mixer outputs 1000 or value inside DSHOT 3D deadband, DShot 0 is sent.
|
|
type: boolean
|
|
default: 0
|
|
DSHOT_BIDIR_EN:
|
|
description:
|
|
short: Enable bidirectional DShot
|
|
long: |
|
|
This parameter enables bidirectional DShot which provides RPM feedback.
|
|
Note that this requires ESCs that support bidirectional DSHot, e.g. BlHeli32.
|
|
This is not the same as DShot telemetry which requires an additional serial connection.
|
|
type: boolean
|
|
default: 0
|
|
reboot_required: true
|
|
DSHOT_3D_DEAD_H:
|
|
description:
|
|
short: DSHOT 3D deadband high
|
|
long: |
|
|
When the actuator_output is between DSHOT_3D_DEAD_L and DSHOT_3D_DEAD_H, motor will not spin.
|
|
This value is with respect to the mixer_module range (0-1999), not the DSHOT values.
|
|
type: int32
|
|
min: 1000
|
|
max: 1999
|
|
default: 1000
|
|
DSHOT_3D_DEAD_L:
|
|
description:
|
|
short: DSHOT 3D deadband low
|
|
long: |
|
|
When the actuator_output is between DSHOT_3D_DEAD_L and DSHOT_3D_DEAD_H, motor will not spin.
|
|
This value is with respect to the mixer_module range (0-1999), not the DSHOT values.
|
|
type: int32
|
|
min: 0
|
|
max: 1000
|
|
default: 1000
|
|
MOT_POLE_COUNT: # only used by dshot so far, so keep it under the dshot group
|
|
description:
|
|
short: Number of magnetic poles of the motors
|
|
long: |
|
|
Specify the number of magnetic poles of the motors.
|
|
It is required to compute the RPM value from the eRPM returned with the ESC telemetry.
|
|
|
|
Either get the number from the motor spec sheet or count the magnets on the bell of the motor (not the stator magnets).
|
|
Typical motors for 5 inch props have 14 poles.
|
|
type: int32
|
|
default: 14
|