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Runtime parameters

The brushless and flight control programs have dynamic parameters that can be tuned with the tk3-flash utility (see Install section).

Brushless ESC parameters

Name Default value Description

id

0

Defines the motor number on your robot, in the range [1-15]. A value of 0 (the default) means to compute the motor number from the solderings on the hardware board.

rotation

1

The direction of rotation of the motor. 1 means anticlockwise (or trigonometric) and -1 mean clockwise.

poles

14

The number of magnetic poles of the motor.

max-current

9000

The maximum current (in milliampere) after which the software starts decreasing the spinning velocity.

watchdog

500

Time (in millisecond) after which the spinning velocity is reset to the minimum value if no spinning velocity message is received.

start-pwm

8

The startup PWM (in %).

start-delay

400

The rotor alignment time (in milliseconds) before startup (or reversing).

start-period

16384

The initial commutation time (in microseconds) for motor startup. The motor is slowly accelerated from this value until closed loop control can be achieved.

post

1

Power-on self tests. A boolean that can deactivate the startup tones of the motor and the 2s delay associated with it, for a faster startup.

uart

500000

The UART baud rate. Available values are between 9600 and 500000, but your operating system may not be able to communicate at all speeds. Typical useful values are 57600, 115200 or 500000 (the default).

clock-adj

0

RC oscillator calibration offset. This changes the value of the OSCCAL AVR register for calibrating the internal clock. Positive values increase the clock speed, while negative values decrease it. This is typically not set by hand, but rather automatically by sending timestamp messages to the ESC. This is important to get a precise velocity measurement.

Flight Controller parameters

Name Default value Description

version

0

The flight control board version: 21, 22 or 25. 0 means to determine it automatically.

robot-id

0

A number that must be unique among a fleet of robots.

motors

4

The number of attached motors.

uart

500000

The UART baud rate. Available values are between 9600 and 500000, but your operating system may not be able to communicate at all speeds. Typical useful values are 57600, 115200 or 500000 (the default).