Settings

This page corresponds to the latest firmware revision. Previous versions of this page can be found here.

arm: 1

Wait for 250ms zero throttle on startup:

• 0: off
• 1: on

damp: 1

Damped mode (complementary PWM, active freewheeling):

• 0: off
• 1: on

revdir: 0

Reversed motor direction:

• 0: off
• 1: on

brushed: 0

Brushed mode:

• 0: off
• 1: on

In this mode, the ESC can be used with brushed motors connected to phases A and B (or C and B). The following settings have no effect: timing, sine_range, sine_power, freq_max, duty_spup.

timing: 4

Motor timing (3.75*X degrees) [1..7].

sine_range: 0

Sine startup range (%) [0 - off, 5..25]. This value sets the portion of throttle range dedicated to sine startup mode (crawler mode). Additionally, increasing duty_min a notch can help smooth out transition between sine startup and normal drive. Damped mode must be enabled (the default) before sine startup mode can be activated.

sine_power: 8

Sine startup power (%) [1..15]. Use caution because higher values may lead to overheating.

freq_min: 24

Minimum PWM frequency (kHz) [16..48].

freq_max: 48

Maximum PWM frequency (kHz) [16..96]. Smooth transition from minimum to maximum PWM frequency happens across [30..60] kERPM range.

duty_min: 1

Minimum duty cycle (%) [1..100]. This value sets power level at minimum throttle.

duty_max: 100

Maximum duty cycle (%) [1..100]. This value sets power level at maximum throttle.

duty_spup: 10

Maximum duty cycle during spin-up (%) [1..50]. Higher values give more power to the motor until the first sync'ed revolution, yet may increase the risk of overheating should the motor get jammed during a full throttle punch. Do not exceed the default value unless you know what you are doing.

duty_ramp: 0

Maximum duty cycle ramp (kERPM) [0..100]. This value enables maximum power limiting between duty_spup and 100% based on RPM. It is most useful for taming a throttle punch at lower RPM.

duty_rate: 25

Acceleration slew rate (0.1*X %/ms) [1..100]. This value controls the speed of power increase during acceleration. Should the motor stutter on a full throttle punch, try decreasing this value. Alternatively, you can try increasing timing albeit at the cost of efficiency and torque.

duty_drag: 0

Drag brake amount when the motor is stopped (%) [0..100]. This value is also a starting brake amount in proportional brake mode (RC car mode).

throt_mode: 0

Throttle mode:

• 0: forward
• 1: forward/reverse
• 2: forward/brake/reverse (proportional brake mode)

throt_set: 0

Preset throttle (%) [0..100]. This value also serves as minimum throttle in analog mode. Arming must be disabled before a non-zero value can be set. For example:

set arm 0
set volume 0
set throt_set 10

throt_cal: 1

Automatic throttle calibration for standard servo PWM frequencies, e.g. 50Hz, 100Hz, 125Hz, 200Hz, 250Hz, 333Hz:

• 0: off
• 1: on

This mode works by aligning the internal clock with servo PWM period that is a multiple of 1000µs, i.e. for servo PWM frequency F=1000/n where n=3..20. It must be disabled should a non-standard servo PWM signal be used.

throt_min: 1000

Minimum throttle setpoint (µs).

throt_mid: 1500

Middle throttle setpoint (µs).

throt_max: 2000

Maximum throttle setpoint (µs).

input_mode: 0

Input mode:

• 0: servo/Oneshot125/DSHOT
• 1: analog
• 2: serial
• 3: iBUS
• 4: SBUS/SBUS2
• 5: CRSF

Analog mode:

• Available on ESCs with PA2/PA6 input pin.
• Throttle is unidirectional.
• Minimum throttle is 0.1V (anything below is zero throttle).
• Maximum throttle is 3.2V and above.

Serial mode:

• Available on ESCs with PA2 input pin.
• 460800 baud, 8 data bits, no parity, 1 stop bit.
• Update rate is 40Hz or higher.
• Inbound frame format:
  • Byte0: descriptor
    • Low nibble: value type
      • 0x0: none
      • 0x1: throttle [-2000...2000]
      • 0x2: reversed motor direction [0..1]
      • 0x3: drag brake amount [0..100]
      • 0x4: LED on/off bits [0..15]
    • High nibble: request type
      • 0x0: none
      • 0x8: combined telemetry
      • 0x9: electrical revolution time (µs)
      • 0xA: temperature (˚C)
      • 0xB: voltage (V/100)
      • 0xC: current (A/100)
      • 0xD: consumption (mAh)
  • Byte1: value (low byte)
  • Byte2: value (high byte)
  • Byte3: CRC8 (byte0..byte2)
• Outbound frame format:
  • Combined telemetry (0x8):
    • Byte0: temperature
    • Byte1: voltage (low byte)
    • Byte2: voltage (high byte)
    • Byte3: current (low byte)
    • Byte4: current (high byte)
    • Byte5: consumption (low byte)
    • Byte6: consumption (high byte)
    • Byte7: electrical revolution time (low byte)
    • Byte8: electrical revolution time (high byte)
    • Byte9: CRC8 (byte0..byte8)
  • Individual telemetry values (0x9..0xD):
    • Byte0: value (low byte)
    • Byte1: value (high byte)
    • Byte2: CRC8 (byte0..byte1)

SBUS/SBUS2 is uninverted on AT32F421 MCU. To enable SBUS2 telemetry, telem_mode must be set to 0 (KISS), and a non-zero physical ID must be assigned using telem_phid to determine telemetry slot range:

ID	Slots
1	3..7
2	11..15
3	19..23
4	27..31

Three sensors are exposed on the bus by the firmware (ID=1 as an example):

1. SBS-01T - slot 3 (temperature)
2. SBS-01R - slot 4 (RPM)
3. SBS-01C - slot 5 (current), slot 6 (voltage), slot 7 (consumption)

input_chid: 0

Serial channel ID [0 - off, 1..14 - iBUS, 1..16 - SBUS/SBUS2/CRSF].

telem_mode: 0

Telemetry mode:

• 0: KISS
• 1: KISS auto
• 2: iBUS
• 3: S.Port
• 4: CRSF

In KISS auto and CRSF mode, telemetry data is sent every 32ms.

S.Port is uninverted on AT32F421 MCU.

telem_phid: 0

Telemetry physical ID [0 - off, 1..3 - iBUS, 1..28 - S.Port, 1..4 - SBUS2].

telem_poles: 14

Number of motor poles for RPM telemetry [2..100].

prot_temp: 0

Temperature threshold (˚C) [0 - off, 60..140]. If enabled, maximum power is reduced when the ESC becomes hotter than this temperature. The maximum power reduction is 75% (50% during sine startup) at 15˚C above the theshold.

prot_volt: 0

Low voltage cutoff per battery cell (V/10) [0 - off, 28..38].

prot_cells: 0

Number of battery cells [0 - auto, 1..16].

prot_curr: 0

Maximum current (A) [0..255].

music

Startup music. A sequence of characters is translated into music in the following way:

• An optional number in the beginning defines tempo (BPM);
• _ (underscore) is a pause;
• cdefgab are low notes;
• CDEFGAB are high notes;
• # (pound) after a note makes it a sharp note;
• n (number) after a note or pause is a duration: 1 - 1/16 (default), 2 - 1/8, 3 - 3/16, 4 - 1/4, etc.
• + (plus) enables octave shift;
• - (minus) disables octave shift;

volume: 25

Sound volume (%) [0..100].

beacon: 50

Beacon volume (%) [0..100].

bec: 0

BEC voltage control (if equipped):

• 0: 5.5V
• 1: 6.5V
• 2: 7.4V
• 3: 8.4V

led: 0

LED on/off bits [0..15].