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59 lines
3.3 KiB
Markdown
59 lines
3.3 KiB
Markdown
# VESC ESCs (DroneCAN)
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The [VESC project](https://vesc-project.com/) is a fully open source hardware and software design for advanced FOC motor controllers.
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While it can be controlled using traditional PWM input, it also supports being connected over CAN bus using [DroneCAN](../dronecan/index.md).
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## Де купити
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[Vesc Project > Hardware](https://vesc-project.com/Hardware)
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## Налаштування програмного забезпечення
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### Підключення
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ЕСС підключені до шини CAN за допомогою роз'єму CAN VESC. Note that this is _not_ the Pixhawk standard 4 pin JST GH connector. For more information, refer to the [CAN Wiring](../can/index.md#wiring) instructions. Порядок ESC не має значення.
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## Налаштування прошивки
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The preferred tool for motor enumeration is the [VESC tool](https://vesc-project.com/vesc_tool).
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Крім звичайної конфігурації двигуна, яку вам потрібно буде налаштувати в інструменті VESC, вам також потрібно належним чином налаштувати конфігурацію додатка.
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Рекомендоване налаштування додатку виглядає наступним чином:
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| Параметр | Опції |
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| ------------------------------------ | ---------------------- |
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| Додаток для використання | `No App` |
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| VESC ID | `1,2,...` |
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| Режим повідомлення статусу Can | `CAN_STATUS_1_2_3_4_5` |
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| Швидкість передачі даних по шині CAN | `CAN_BAUD_500K` |
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| CAN режим | `UAVCAN` |
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| Індекс UAVCAN ESC | `0,1,...` |
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VESC ID should have the same motor numbering as in PX4 convention, starting at `1` for top-right motor, `2` for bottom-left motor etc.
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However the `UAVCAN ESC Index` starts from `0`, and as such it is always one index lower than the `VESC ID`.
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For example, in a quadcopter the bottom left motor will have `VESC ID = 2` and `UAVCAN ESC Index = 1`.
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Finally the `CAN Baud Rate` must match the value set in [UAVCAN_BITRATE](../advanced_config/parameter_reference.md#UAVCAN_BITRATE).
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## Налаштування польотного контролера
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### Увімкнути DroneCAN
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Підключіть ESC до шини CAN Pixhawk. Power up the entire vehicle using a battery or power supply (not just the flight controller over USB) and enable the DroneCAN driver by setting the parameter [UAVCAN_ENABLE](../advanced_config/parameter_reference.md#UAVCAN_ENABLE) to `3` to enable both dynamic node ID allocation and DroneCAN ESC output.
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### Конфігурація PX4
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Assign motors to outputs using the [Acutator](../config/actuators.md#actuator-testing) configuration screen.
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<!-- removed as there is no info for it in linked doc -->
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<!--
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## Troubleshooting
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See DroneCAN Troubleshooting - (index.md#troubleshooting).
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-->
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## Подальша інформація
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- [VESC Project ESCs](https://vesc-project.com/)
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- [Benjamin Vedder's blog](http://vedder.se) (project owner)
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