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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:

55
flix/motors.ino
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@@ -1,24 +1,19 @@
// Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
// Repository: https://github.com/okalachev/flix
// Motors output control using MOSFETs
// In case of using ESCs, change PWM_STOP, PWM_MIN and PWM_MAX to appropriate values in μs, decrease PWM_FREQUENCY (to 400)
// PWM control for motors
#include "util.h"
#define MOTOR_0_PIN 12 // rear left
#define MOTOR_1_PIN 13 // rear right
#define MOTOR_2_PIN 14 // front right
#define MOTOR_3_PIN 15 // front left
#define PWM_FREQUENCY 78000
#define PWM_RESOLUTION 10
#define PWM_STOP 0
#define PWM_MIN 0
#define PWM_MAX 1000000 / PWM_FREQUENCY
float motors[4]; // normalized motor thrusts in range [0..1]
int motorPins[4] = {12, 13, 14, 15}; // default pin numbers
int pwmFrequency = 78000;
int pwmResolution = 10;
int pwmStop = 0;
int pwmMin = 0;
int pwmMax = -1; // -1 means duty cycle mode
const int MOTOR_REAR_LEFT = 0;
const int MOTOR_REAR_RIGHT = 1;
const int MOTOR_FRONT_RIGHT = 2;
@@ -26,30 +21,30 @@ const int MOTOR_FRONT_LEFT = 3;
void setupMotors() {
print("Setup Motors\n");
// configure pins
ledcAttach(MOTOR_0_PIN, PWM_FREQUENCY, PWM_RESOLUTION);
ledcAttach(MOTOR_1_PIN, PWM_FREQUENCY, PWM_RESOLUTION);
ledcAttach(MOTOR_2_PIN, PWM_FREQUENCY, PWM_RESOLUTION);
ledcAttach(MOTOR_3_PIN, PWM_FREQUENCY, PWM_RESOLUTION);
for (int i = 0; i < 4; i++) {
ledcAttach(motorPins[i], pwmFrequency, pwmResolution);
}
sendMotors();
print("Motors initialized\n");
}
int getDutyCycle(float value) {
value = constrain(value, 0, 1);
float pwm = mapf(value, 0, 1, PWM_MIN, PWM_MAX);
if (value == 0) pwm = PWM_STOP;
float duty = mapf(pwm, 0, 1000000 / PWM_FREQUENCY, 0, (1 << PWM_RESOLUTION) - 1);
return round(duty);
void sendMotors() {
for (int i = 0; i < 4; i++) {
ledcWrite(motorPins[i], getDutyCycle(motors[i]));
}
}
void sendMotors() {
ledcWrite(MOTOR_0_PIN, getDutyCycle(motors[0]));
ledcWrite(MOTOR_1_PIN, getDutyCycle(motors[1]));
ledcWrite(MOTOR_2_PIN, getDutyCycle(motors[2]));
ledcWrite(MOTOR_3_PIN, getDutyCycle(motors[3]));
int getDutyCycle(float value) {
value = constrain(value, 0, 1);
if (pwmMax >= 0) { // pwm mode
float pwm = mapf(value, 0, 1, pwmMin, pwmMax);
if (value == 0) pwm = pwmStop;
float duty = mapf(pwm, 0, 1000000 / pwmFrequency, 0, (1 << pwmResolution) - 1);
return round(duty);
} else { // duty cycle mode
return round(value * ((1 << pwmResolution) - 1));
}
}
bool motorsActive() {

10
flix/parameters.ino
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@@ -63,6 +63,16 @@ Parameter parameters[] = {
// estimate
{"EST_ACC_WEIGHT", &accWeight},
{"EST_RATES_LPF_A", &ratesFilter.alpha},
// motors
{"MOT_PIN_FL", &motorPins[MOTOR_FRONT_LEFT]},
{"MOT_PIN_FR", &motorPins[MOTOR_FRONT_RIGHT]},
{"MOT_PIN_RL", &motorPins[MOTOR_REAR_LEFT]},
{"MOT_PIN_RR", &motorPins[MOTOR_REAR_RIGHT]},
{"MOT_PWM_FREQ", &pwmFrequency},
{"MOT_PWM_RES", &pwmResolution},
{"MOT_PWM_STOP", &pwmStop},
{"MOT_PWM_MIN", &pwmMin},
{"MOT_PWM_MAX", &pwmMax},
// rc
{"RC_ZERO_0", &channelZero[0]},
{"RC_ZERO_1", &channelZero[1]},

1
gazebo/flix.h
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@@ -32,6 +32,7 @@ void controlRates();
void controlTorque();
const char* getModeName();
void sendMotors();
int getDutyCycle(float value);
bool motorsActive();
void testMotor(int n);
void print(const char* format, ...);