From 08683d696d664e563052152688c7f621d8ce5661 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Fri, 1 May 2026 15:26:59 +0300 Subject: [PATCH] Some updates in the usage doc --- docs/usage.md | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/docs/usage.md b/docs/usage.md index 18493e8..723f8dc 100644 --- a/docs/usage.md +++ b/docs/usage.md @@ -112,7 +112,7 @@ You can also work with parameters using `p` command in the console. Parameter na ### Define IMU orientation -Use parameters, to define the IMU board axes orientation relative to the drone's axes: `IMU_ROT_ROLL`, `IMU_ROT_PITCH`, and `IMU_ROT_YAW`. +The IMU orientation (relative to the drone's axes) is defined using the parameters: `IMU_ROT_ROLL`, `IMU_ROT_PITCH`, and `IMU_ROT_YAW`. The drone has *X* axis pointing forward, *Y* axis pointing left, and *Z* axis pointing up, and the supported IMU boards have *X* axis pointing to the pins side and *Z* axis pointing up from the component side: @@ -138,6 +138,8 @@ Before flight you need to calibrate the accelerometer: If using non-default motor pins, set the pin numbers using the parameters: `MOTOR_PIN_FL`, `MOTOR_PIN_FR`, `MOTOR_PIN_RL`, `MOTOR_PIN_RR` (front-left, front-right, rear-left, rear-right respectively). +Certain ESP32 models (such as ESP32-S3) support a lower maximum PWM frequency; on these boards the parameter `MOT_PWM_FREQ` should be set to 40000 Hz. + If using brushless motors and ESCs: 1. Set the appropriate PWM using the parameters: `MOT_PWM_STOP`, `MOT_PWM_MIN`, and `MOT_PWM_MAX` (1000, 1000, and 2000 is typical).