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151 lines
5.6 KiB
Markdown
151 lines
5.6 KiB
Markdown
# DShot ESC
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DShot is an alternative ESC protocol that has several advantages over [PWM](../peripherals/pwm_escs_and_servo.md) or [OneShot](../peripherals/oneshot.md):
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- 지연 시간 감소
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- 체크섬을 통해 안정성이 향상되었습니다.
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- 프로토콜이 디지털 인코딩을 사용하므로, ESC 보정이 필요하지 않습니다.
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- 텔레메트리 피드백은 일부 ESC에서 사용 가능합니다.
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- 필요시 명령어로 모터 회전 방향을 병경할 수 있습니다 (물리적으로 와이어를 이동/재 납땜하는 대신).
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- 다른 유용한 명령어들이 지원됩니다.
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이 항목에서는 DShot ESC 연결과 설정 방법을 설명합니다.
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## Wiring/Connections {#wiring}
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DShot ESC are wired the same way as [PWM ESCs](pwm_escs_and_servo.md).
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The only difference is that they can only be connected to the FMU, and usually only to some subset of pins.
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:::info
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You may want to check the actuator configuration screen to see what pins are available for DShot on your controller before wiring up!
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:::
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Pixhawk controllers with both an FMU and an IO board usually label them as `AUX` (FMU) and `MAIN` (IO), respectively.
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These match the `PWM AUX` and `PWM MAIN` output tabs on the actuator configuration screen.
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For these controllers connect the DShot ESC to the `AUX` port.
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Controllers that don't have an IO board usually label the (single) output port as `MAIN`, and this is where you will connect your DShot ESC.
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If the controller without IO has its own firmware, the actuator assignment will be to the matching `PWM MAIN` outputs.
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However if the same firmware is used for hardware with/without the IO board, such as for the Pixhawk 4 and Pixhawk 4 Mini, then actuator assignment tab used is the same in both cases: `PWM AUX` (i.e. not matching the port label `MAIN` in the "mini" case).
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## 설정
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:::warning
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Remove propellers before changing ESC configuration parameters!
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:::
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Enable DShot for your required outputs in the [Actuator Configuration](../config/actuators.md).
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DShot comes with different speed options: _DShot150_, _DShot300_, _DShot600_ and _DShot1200_, where the number indicates the speed in kilo-bits/second.
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You should set the parameter to the highest speed supported by your ESC (according to its datasheet).
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그런 다음 배터리를 연결하고 기체의 시동을 켭니다.
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ESC가 초기화되고 모터가 올바른 방향으로 회전하여야 합니다.
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- If the motors do not spin in the correct direction (for the [selected airframe](../airframes/airframe_reference.md)) you can reverse them in the UI using the **Set Spin Direction** option (this option appears after you select DShot and assign motors).
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You can also reverse motors by sending an [ESC Command](#commands).
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## ESC Commands {#commands}
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Commands can be sent to the ESC via the [MAVLink shell](../debug/mavlink_shell.md).
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See [here](../modules/modules_driver.md#dshot) for a full reference of the supported commands.
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가장 중요한 것은 다음과 같습니다.
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- Make a motor connected to to FMU output pin 1 beep (helps with identifying motors)
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```sh
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dshot beep1 -m 1
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```
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- Retrieve ESC information (requires telemetry, see below):
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```sh
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nsh> dshot esc_info -m 2
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INFO [dshot] ESC Type: #TEKKO32_4in1#
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INFO [dshot] MCU Serial Number: xxxxxx-xxxxxx-xxxxxx-xxxxxx
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INFO [dshot] Firmware version: 32.60
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INFO [dshot] Rotation Direction: normal
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INFO [dshot] 3D Mode: off
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INFO [dshot] Low voltage Limit: off
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INFO [dshot] Current Limit: off
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INFO [dshot] LED 0: unsupported
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INFO [dshot] LED 1: unsupported
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INFO [dshot] LED 2: unsupported
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INFO [dshot] LED 3: unsupported
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```
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- Permanently set the spin direction of a motor connected to FMU output pin 1 (while motors are _not_ spinning):
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- Set spin direction to `reversed`:
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```sh
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dshot reverse -m 1
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dshot save -m 1
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```
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Retrieving ESC information will then show:
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```sh
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Rotation Direction: reversed
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```
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- Set spin direction to `normal`:
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```sh
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dshot normal -m 1
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dshot save -m 1
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```
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Retrieving ESC information will then show:
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```sh
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Rotation Direction: normal
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```
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:::note
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- The commands will have no effect if the motors are spinning, or if the ESC is already set to the corresponding direction.
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- The ESC will revert to its last saved direction (normal or reversed) on reboot if `save` is not called after changing the direction.
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:::
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## 텔레메트리
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일부 ESC는 다음을 포함하여 텔레메트리 측정데이터를 비행 콘트롤러로 재전송할 수 있습니다.
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- 온도
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- 전압
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- 전류
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- 누적 전류 소비
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- RPM 값
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이러한 DShot ESC에는 추가 텔레메트리 와이어가 있습니다.
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이 기능을 활성화하려면(지원 ESC에서) :
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1. 모든 ESC의 모든 원격 측정 와이어를 함께 연결한 다음, 사용하지 않는 비행 콘트롤러 직렬 포트의 RX핀 중 하나에 연결합니다.
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2. Enable telemetry on that serial port using [DSHOT_TEL_CFG](../advanced_config/parameter_reference.md#DSHOT_TEL_CFG).
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재부팅 후 다음을 사용하여 텔레메트리 작동 여부를 확인할 수 있습니다 (배터리가 연결되어 있는 지 확인).
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```sh
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dshot esc_info -m 1
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```
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:::tip
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You may have to configure [MOT_POLE_COUNT](../advanced_config/parameter_reference.md#MOT_POLE_COUNT) to get the correct RPM values.
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:::
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:::tip
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Not all DSHOT-capable ESCs support `[esc_info]`(e.g. APD 80F3x), even when telemetry is supported and enabled.
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결과 오류는 다음과 같습니다.
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```sh
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ERROR [dshot] No data received. If telemetry is setup correctly, try again.
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```
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세부 사항은 제조업체 문서를 확인하십시오.
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:::
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