Flycolor 4in1-30A User Manual - Page 2

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F3 flight control modes
PWM mode
Buzzer
蜂鸣器
1
Receiver
3
接收机
4
8
+ -
RX TX
RX TX
USB
GND 5V
TX RX
RX TX 5V GND
GND 5V
TX RX
OSD
GPS
05
Programming parameter value
Programming parameters below in table that can be accessed from the flight control parameter software via computer or configuration software (BLHeliSuite):
Function
1
1 - Closed loop P gain
0.13
2 - Closed loop I gain
0.13
3 - Closed loop mode
HiRange
4 - Multi gain
0.75
5 - Star tup power**
0.031
6 - Commutation timing
Low
7 - Pwm frequency
High
8 - Pwm dither***
Off
9 - Demag compensation
Off
10 - Rotation direction
Normal
11 - Input pwm polarity
Positive
Default values are marked in dark gray.
*:Only enabled for some ESCs. From code rev 14.4, damped light is default on the ESCs that suppor t it. For prior code revisions, high is default.
**: Default star tup power varies by ESC. Generally the default power is lower for larger ESCs.
***:For code revs 14.4 and before, dither range was 7/15/31/63.
1. Closed loop P gain sets the propor tional gain for the rpm control loop. This setting controls the gain from speed error to motor power.
2. Closed loop I gain sets the integral gain for the rpm control loop. This setting controls the gain from integrated speed error (summed over time) to motor power.
3. Closed loop mode sets the range of speeds that the control loop can operate on.
- For the high range, throttle values from 0% to 100% linearly correspond to rpm targets from 0 to 200000 electrical rpm
- For the middle range, throttle values from 0% to 100% linearly correspond to rpm targets from 0 to 100000 electrical rpm
- For the low range, throttle values from 0% to 100% linearly correspond to rpm targets from 0 to 50000 electrical rpm
- When closed loop mode is set to off, the control loop is disabled.
4.Multi gain scales the power applied to the motor for a given input. Note that this is only for PWM input, for PPM input it has no effect. Beware that a low multi gain will also limit the maximum power to the motor.
5. Star tup is always done with the direct star tup method, which runs the motor using back emf detection from the very star t. In this mode power is given by the throttle used, but limited to a maximum level.
This maximum level can be controlled with the star tup power parameter. Beware that setting star tup power too high can cause excessive loading on ESC or motor!
6. Commutation timing can be adjusted in three steps. Low is about 0°, mediumlow 8°, medium 15°, mediumhigh 23° and high 30°. Typically a medium setting will work fine, but if the motor stutters it can be
beneficial to change timing.
7.Pwm frequency:
-High: High pwm frequency is around 20kHz.
-Low: Low pwm frequency is around 8kHz.
-Damped light : This mode adds loss to the motor for faster retardation. Damped light mode always uses high pwm frequency. This mode is only suppor ted on some ESCs (where fet switching is sufficiently fast).
8.Pwm dither is a parameter that adds some variation to the motor pwm off cycle length. This can reduce problems (like throttle steps or vibration) in rpm regions where the pwm frequency is equal to harmonics of
the motor commutation frequency, and it can reduce the step to full throttle. It is primarily beneficial when running damped light mode. Dither is not applied in closed loop mode.
9.Demag compensation is a feature to protect from motor stalls caused by long winding demagnetization time after commutation. The typical symptom is motor stop or stutter upon quick throttle increase,
par ticularly when running at a low rpm. As described earlier, setting high commutation timing normally helps, but at the cost of efficiency.
Generally, a higher value of the compensation parameter gives better protection. If demag compensation is set too high, maximum power can be somewhat reduced.
10. The rotation direction setting can be used to reverse motor rotation.
11.The input pwm polarity setting can be used to inverse the throttle behaviour. This is intended to be used with receivers that provide negative pwm. When using PPM input it must be set to positive.
Programming parameters that can only be accessed from configuration software (BLHeliSuite):
- Throttle minimum and maximum values for PPM input (will also be changed by doing a throttle calibration).
- Throttle center value for bidirectional operation with PPM.
- Beep strength, beacon strength and beacon delay.
- Programming by TX. If disabled, the TX can not be used to change parameter values (default is enabled).
- Thermal protection can be enabled or disabled (default is enabled).
Temperature is above 140℃, motor power is limited to 75%;Above 145℃, motor power is limited to 50%;Above 150℃, motor power is limited to 25%.Above 155℃, motor power is limited to 0%.
- PWM input can be enabled or disabled (default is disabled). If disabled, only 1-2ms PPM and 125-250us OneShot125 are accepted as valid
input signals.
- Power limiting for low RPMs can be enabled or disabled (default is enabled). Disabling it can be necessary in order to achieve full power on some low kV motors running on a low supply voltage. However, disabling
it increases the risk of toasting motor or ESC.
- Brake on stop can be enabled or disabled (from rev14.5 ,default is disabled),When enabled, brake will be applied when throttle is zero. For nonzero throttle, this setting has no effect.
07
Notice
●
After the ESC connected to the flight system, it will automatically detect the input throttle signals every time it powered on, and then execute the corresponding signal-receiving mode.
●
User need to calibrate the throttle range when star ting to use a new ESC or another transmitter.
● BLHeli open-source firmware,
● User also can connect the flight control to the computer to update the firmware or change the setup via
● Please contact Flycolor sales or technical suppor t for more information.
7 LED
6
6
8
5
5
4
4
Receiver
3
3
接收机
4
2
1
3
1
+ -
2
1
7
DIN 5V GND
LED
SBUS
mode
GND 5V
RX TX 5V GND
GND 5V
OSD
GPS
2
3
4
0.17
0.25
0.38
0.17
0.25
0.38
MidRange
LoRange
Off
0.88
1.00
1.12
0.047
0.063
0.094
MediumHigh
MediumLow
Medium
*DampedLight
/
Low
3
7
15
High
Low
/
/
Reversed
Bidirectional
Negative
/
/
when some abnormality occurs in ESC driving the motor or need the motor to reach a higher RPM, user can try to change the timing.
Buzzer
蜂鸣器
1
8
7
1
8
2
+ -
+ -
RX TX
RX TX
1
USB
TX RX
+ -
TX RX
SBUS
SBUS
Receiver
SBUS 接收机
5
6
7
0.50
0.75
1.00
0.50
0.75
1.00
/
/
/
/
/
1.25
0.125
0.188
0.25
High
/
/
/
/
/
/
/
/
/
/
31
/
/
/
/
/
/
/
/
/
/
/
/
configuration software (BLHeliSuite)
Shenzhen Flycolor Electronic Co.,Ltd
TEL：0755-86321853
FAX：0755-86321852
Web: www.flycolor.net
PPM mode
Buzzer
蜂鸣器
1
8
+ -
RX TX
RX TX
USB
GND 5V
TX RX
RX TX 5V GND
GND 5V
TX RX
OSD
GPS
DIN
5V
LED
GND
8
9
10
1.5
2.0
3.0
1.5
2.0
3.0
/
/
/
/
/
/
0.38
0.50
0.75
/
/
/
/
/
/
/
/
/
/
/
/
/
/
/
/
/
/
/
/
/
/
/
/
.
8
7 LED
1
3
PPM
PPM Receiver
+ -
2
接收机
1
7
DIN 5V GND
LED
11
12
13
4.0
6.0
8.0
4.0
6.0
8.0
/
/
/
/
/
/
1.00
1.25
1.50
/
/
/
/
/
/
/
/
/
/
/
/
/
/
/
/
/
/
251400-1043-EN, V 1.1