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Make motor subsystem configurable using parameters

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Motor pins: MOT_PIN_FL, MOT_PIN_FR, MOT_PIN_RL, MOT_PIN_RR.
PWM configuration: MOT_PWM_FREQ, MOT_PWM_RES, MOT_PWM_STOP, MOT_PWM_MIN, MOT_PWM_MAX.
MOT_PWM_MAX = -1 chooses duty cycle mode for brushed motors (default).
This commit is contained in:
Oleg Kalachev
2026-01-27 08:40:52 +03:00
parent 7d74f3d5cd
commit 40bdaacedb
4 changed files with 50 additions and 30 deletions
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14
docs/usage.md
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@@ -134,6 +134,20 @@ Before flight you need to calibrate the accelerometer:
1. Access the console using QGroundControl (recommended) or Serial Monitor.
2. Type `ca` command there and follow the instructions.
### Setup motors
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).
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).
2. Decrease the PWM frequency using the `MOT_PWM_FREQ` parameter (400 is typical).
Reboot the drone to apply the changes.
> [!CAUTION]
> **Remove the props when configuring the motors!** If improperly configured, you may not be able to stop them.
### Check everything works
1. Check the IMU is working: perform `imu` command and check its output: