From 7a169b9a307443ba6124fc85b3f6476598a66519 Mon Sep 17 00:00:00 2001 From: Jukka Laitinen Date: Thu, 19 Dec 2024 08:30:54 +0200 Subject: [PATCH] Add a small SLEW rate for SSRC X500 frame ESC control It has been observed that With higher frequency control loop the ESCs start behaving badly if PWM pulse width changes too rapidly. Take the motors moment of inertia into account and just restrict the change Signed-off-by: Jukka Laitinen --- ROMFS/px4fmu_common/init.d/airframes/4400_ssrc_fog_x | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/ROMFS/px4fmu_common/init.d/airframes/4400_ssrc_fog_x b/ROMFS/px4fmu_common/init.d/airframes/4400_ssrc_fog_x index 035d2d527e15..ba14d6d8c57b 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4400_ssrc_fog_x +++ b/ROMFS/px4fmu_common/init.d/airframes/4400_ssrc_fog_x @@ -37,6 +37,13 @@ param set-default CA_ROTOR3_PX -0.175 param set-default CA_ROTOR3_PY 0.175 param set-default CA_ROTOR3_KM -0.05 +# Some slew rate is needed for ESCs if using +# high frequency control loops (e.g. with ADIS imus) +param set-default CA_R0_SLEW 0.1 +param set-default CA_R1_SLEW 0.1 +param set-default CA_R2_SLEW 0.1 +param set-default CA_R3_SLEW 0.1 + # PWM functions param set-default PWM_MAIN_FUNC1 101 param set-default PWM_MAIN_FUNC2 102