forked from Archive/PX4-Autopilot
138 lines
6.2 KiB
XML
138 lines
6.2 KiB
XML
<?xml version='1.0' encoding='UTF-8'?>
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<parameters>
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<version>3</version>
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<group name="UAVCAN Motor Parameters" no_code_generation="true">
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<parameter default="75" name="ctl_bw" type="INT32">
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<short_desc>Speed controller bandwidth</short_desc>
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<long_desc>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.</long_desc>
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<unit>Hertz</unit>
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<min>10</min>
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<max>250</max>
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</parameter>
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<parameter default="1" name="ctl_dir" type="INT32">
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<short_desc>Reverse direction</short_desc>
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<long_desc>Motor spin direction as detected during initial enumeration. Use 0 or 1 to reverse direction.</long_desc>
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<min>0</min>
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<max>1</max>
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</parameter>
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<parameter default="1" name="ctl_gain" type="FLOAT">
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<short_desc>Speed (RPM) controller gain</short_desc>
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<long_desc>Speed (RPM) controller gain. Determines controller
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aggressiveness; units are amp-seconds per radian. Systems with
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higher rotational inertia (large props) will need gain increased;
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systems with low rotational inertia (small props) may need gain
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decreased. Higher values result in faster response, but may result
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in oscillation and excessive overshoot. Lower values result in a
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slower, smoother response.</long_desc>
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<unit>amp-seconds per radian</unit>
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<decimal>3</decimal>
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<min>0.00</min>
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<max>1.00</max>
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</parameter>
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<parameter default="3.5" name="ctl_hz_idle" type="FLOAT">
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<short_desc>Idle speed (e Hz)</short_desc>
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<long_desc>Idle speed (e Hz)</long_desc>
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<unit>Hertz</unit>
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<decimal>3</decimal>
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<min>0.0</min>
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<max>100.0</max>
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</parameter>
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<parameter default="25" name="ctl_start_rate" type="INT32">
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<short_desc>Spin-up rate (e Hz/s)</short_desc>
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<long_desc>Spin-up rate (e Hz/s)</long_desc>
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<unit>Hz/s</unit>
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<min>5</min>
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<max>1000</max>
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</parameter>
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<parameter default="0" name="esc_index" type="INT32">
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<short_desc>Index of this ESC in throttle command messages.</short_desc>
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<long_desc>Index of this ESC in throttle command messages.</long_desc>
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<unit>Index</unit>
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<min>0</min>
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<max>15</max>
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</parameter>
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<parameter default="20034" name="id_ext_status" type="INT32">
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<short_desc>Extended status ID</short_desc>
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<long_desc>Extended status ID</long_desc>
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<min>1</min>
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<max>1000000</max>
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</parameter>
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<parameter default="50000" name="int_ext_status" type="INT32">
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<short_desc>Extended status interval (µs)</short_desc>
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<long_desc>Extended status interval (µs)</long_desc>
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<unit>µs</unit>
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<min>0</min>
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<max>1000000</max>
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</parameter>
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<parameter default="50000" name="int_status" type="INT32">
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<short_desc>ESC status interval (µs)</short_desc>
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<long_desc>ESC status interval (µs)</long_desc>
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<unit>µs</unit>
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<max>1000000</max>
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</parameter>
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<parameter default="12" name="mot_i_max" type="FLOAT">
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<short_desc>Motor current limit in amps</short_desc>
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<long_desc>Motor current limit in amps. This determines the maximum
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current controller setpoint, as well as the maximum allowable
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current setpoint slew rate. This value should generally be set to
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the continuous current rating listed in the motor’s specification
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sheet, or set equal to the motor’s specified continuous power
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divided by the motor voltage limit.</long_desc>
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<unit>Amps</unit>
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<decimal>3</decimal>
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<min>1</min>
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<max>80</max>
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</parameter>
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<parameter default="2300" name="mot_kv" type="INT32">
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<short_desc>Motor Kv in RPM per volt</short_desc>
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<long_desc>Motor Kv in RPM per volt. This can be taken from the motor’s
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specification sheet; accuracy will help control performance but
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some deviation from the specified value is acceptable.</long_desc>
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<unit>RPM/v</unit>
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<min>0</min>
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<max>4000</max>
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</parameter>
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<parameter default="0.0" name="mot_ls" type="FLOAT">
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<short_desc>READ ONLY: Motor inductance in henries.</short_desc>
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<long_desc>READ ONLY: Motor inductance in henries. This is measured on start-up.</long_desc>
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<unit>henries</unit>
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<decimal>3</decimal>
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</parameter>
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<parameter default="14" name="mot_num_poles" type="INT32">
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<short_desc>Number of motor poles.</short_desc>
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<long_desc>Number of motor poles. Used to convert mechanical speeds to
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electrical speeds. This number should be taken from the motor’s
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specification sheet.</long_desc>
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<unit>Poles</unit>
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<min>2</min>
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<max>40</max>
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</parameter>
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<parameter default="0.0" name="mot_rs" type="FLOAT">
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<short_desc>READ ONLY: Motor resistance in ohms</short_desc>
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<long_desc>READ ONLY: Motor resistance in ohms. This is measured on start-up. When
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tuning a new motor, check that this value is approximately equal
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to the value shown in the motor’s specification sheet.</long_desc>
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<unit>Ohms</unit>
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<decimal>3</decimal>
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</parameter>
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<parameter default="0.5" name="mot_v_accel" type="FLOAT">
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<short_desc>Acceleration limit (V)</short_desc>
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<long_desc>Acceleration limit (V)</long_desc>
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<unit>Volts</unit>
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<decimal>3</decimal>
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<min>0.01</min>
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<max>1.00</max>
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</parameter>
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<parameter default="14.8" name="mot_v_max" type="FLOAT">
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<short_desc>Motor voltage limit in volts</short_desc>
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<long_desc>Motor voltage limit in volts. The current controller’s
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commanded voltage will never exceed this value. Note that this may
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safely be above the nominal voltage of the motor; to determine the
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actual motor voltage limit, divide the motor’s rated power by the
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motor current limit.</long_desc>
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<unit>Volts</unit>
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<decimal>3</decimal>
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<min>0</min>
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</parameter>
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</group>
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</parameters> |