I’m asking out of curiosity, since I have found no info about how to connect a canbus ESC to control forward throttle on fixed wing or Quadplanes set-ups. So I want to ask if there is anything I missed, or, it’s in roadmap? Is there something I can do to help with that?
AFAIK it should work like any other servo/ESC.
But how? Where do you select it to control the forward throttle? Last time I checked it was a list of 32 numbered motors. I thought they were for VTOL
MotorX are mixer outputs names, there is a mixer output for forward throttle on VTOLs.
Really? What is the name?
Forward throttle or something like that. Auxiliary Functions — Plane documentation
That’s a 209 number that States:Manual forward motor throttle in QSTABILIZE, QACRO, and QHOVER modes.
I was wondering about the forward throttle motor ESC, the one that is setted via SERVOx_FUNCTION as 70 or if you use two as 73 and 74.
Those are set normally using Throttle (Left/Right) outputs like for any other VTOL.
I’m really not understanding how to control the forward throttle motor with the ESC can bus. I’m sorry.
I get it now, ESCx links with SERVOx function. Then why different naming?
I believe it works like this:
Put “Throttle” on one of your servo functions, typically this is #3, so SERVO3_FUNCTION = 70.
Then include ESC#3 in your CAN_D1_UC_ESC_BM. I think this means +4.
I have my VTOL motors on #5, 6, 7 and 8, so my bitmap ends up being 244. So if you wanted to enable the Forward Motor (Output 3) and the Quad Motors (Outputs 5, 6, 7, 8).
-
Output 3: 4
-
Output 5: 16
-
Output 6: 32
-
Output 7: 64
-
Output 8: 128
Total: 244
4 +16 +32 +64 +128 =𝟐𝟒𝟒
The last thing you need to do is set the CAN ESC parameter ESC_INDEX for each motor to match, the tricky thing here is the ESC_INDEX is zero based, so
| Throttle (Fwd) | Output 3 | 70 (Throttle) | CAN (ESC_INDEX = 2) |
|---|---|---|---|
| M1 (FR) | Output 5 | 33 (Motor 1) | CAN (ESC_INDEX = 4) |
| M2 (RL) | Output 6 | 34 (Motor 2) | CAN (ESC_INDEX = 5) |
| M3 (FL) | Output 7 | 35 (Motor 3) | CAN (ESC_INDEX = 6) |
| M4 (RR) | Output 8 | 36 (Motor 4) | CAN (ESC_INDEX = 7) |
This is in the parameters for the ESC, so you need to access it using a CAN interface, either Mission Planner, the CAN GUI tool, or the Web based CAN tool.
Thanks for the detailed steps with normal configuration. I will try this then I update for my own setup. (It easier to debug 1,2,3,4,5 instead of 3,5,6,7,8).
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