# Ardupilot setup for power boards

## Quadcopter setup (Default)

### ESC settings

#### Motor order

It is based on the basic Ardupilot settings for the motor map

* Ardupilot motor ID (X-frame) with Powerboard
  * A,B,C,D are for the needs of the GCS software
  * M1..M4 are servo functions for ESC control
  * ESC0..ESC3 are ESC addresses on the Powerboard

```
      D(M3)                  A(M1)
(ESC Addr: 0) +        + (ESC Addr: 3)
               \      /
                \    /
                 \/\/
                 |  |
                 |__|
                 /  \
                /    \
               /      \
(ESC Addr: 1) +        + (ESC Addr: 2)
      C(M2)                  B(M4)
```

* The addresses for the ESC are linked to the *SERVOx\_FUNCTION* parameter
  * ESC Addr: 0 -> *SERVO1\_FUNCTION*
  * ESC Addr: 1 -> *SERVO2\_FUNCTION*
  * ESC Addr: 2 -> *SERVO3\_FUNCTION*
  * ESC Addr: 3 -> *SERVO4\_FUNCTION*
  * In the case of another frame, the procedure is analogous
* Powerboard ESC map in Ardupilot (X-frame)
  * `SERVO1_FUNCTION` = 35 (*Motor3*)
  * `SERVO2_FUNCTION` = 34 (*Motor2*)
  * `SERVO3_FUNCTION` = 36 (*Motor4*)
  * `SERVO4_FUNCTION` = 33 (*Motor1*)

#### CAN bus

* Necessarily set drivers to display additional parameters (reboot Ardupilot)
* Setting up virtual drivers for physical ports
  * In the case of the same setting, the input is redundant
  * PowerBoard for ESC connection has only physical port CAN2
  * `CAN_P1_DRIVER` = 2
  * `CAN_P2_DRIVER` = 2
* Set CAN protocol for virtual driver
  * `CAN_D2_PROTOCOL` = 1
  * `CAN_D2_UC_NODE`
    * ID device on CAN bus
    * Use default (*Recommanded*)
    * Forbidden IDs: 50-53 (used by PowerBoard)
  * `CAN_D2_UC_ESC_BM` = 15
    * Enabling individual ESC
    * Value = 15 => 4 motors (ESC1 - ESC4)

#### PWM range

* PWM output
  * Type
    * `MOT_PWM_TYPE` = 0 (*Normal*)
      * Output has adjusted range
      * Usage range 1000-2000us (*Set by param lower*)
  * Min and max PWM
    * `MOT_PWM_MIN` = 1000 (*Match with settings in AMC Manager*)
      * Represents lower limit
    * `MOT_PWM_MAX` = 2000 (*Match with settings in AMC Manager*)
      * Represents upper limit
* PWM level for ESC control
  * Dead-zone of ESC = 50 us (*Match with settings in AMC Manager*)
  * `MOT_SPIN_ARM` = 0.07
    * Motor speed when to be armed
    * Use dead-zone from ESC
    * Equals (the percentage dead-zone from pwm range + 2%) / 100
  * `MOT_SPIN_MIN` = 0.1
    * Lower limit when motor never stop spinning
    * At least 0.03 higher than `MOTOR_SPIN_ARM`
  * `MOTOR_SPIN_MAX` = 1.0
    * Equals value which generally produces no additional thrust
* Thrust correction
  * `MOT_THST_EXPO` = 0.8
    * The value depended on the ESC, which linearizes the output

### Battery settings

#### Monitor

* Use CAN settings from \[ESC settings]\(## CAN bus)
* `BATT_MONITOR` = 8 (*UAVCan*)

## Octocopter setup

### ESC setting (changes compared to default)

#### Motor order

**ESC links to the \_SERVOx\_FUNCTION :**\_

* **.Power board main**
  * ESC0 (Motor 1 connector) = SERVO1\_FUNCTION
  * ESC1 (Motor 2 connector) = SERVO2\_FUNCTION
  * ESC2 (Motor 3 connector) = SERVO3\_FUNCTION
  * ESC3 (Motor 4 connector) = SERVO4\_FUNCTION
* **.Power board secondary**
  * ESC0 (Motor 1 connector) = SERVO5\_FUNCTION
  * ESC1 (Motor 2 connector) = SERVO6\_FUNCTION
  * ESC2 (Motor 3 connector) = SERVO7\_FUNCTION
  * ESC3 (Motor 4 connector) = SERVO8\_FUNCTION

{% hint style="info" %}
User needs to match servo output function numbers according to used configuration and frame type
{% endhint %}

#### CAN bus

* Set CAN protocol for virtual driver
  * `CAN_D2_UC_ESC_BM` = 255
    * Enabling individual ESC
    * Value = 255 => 8 motors (ESC1 - ESC8)

### Battery settings (changes compared to default)

#### Monitor

* `BATT_MONITOR` = 8
* `BATT_SERIAL_NUM` = 174
* `BATT2_MONITOR` = 8
* `BATT2_SERIAL_NUM` = 175
* `BATT2_VOLT_MULT` = 1
* `BATT2_VOLT_PIN` = -1
* `BATT2_CURR_PIN` = -1


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