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AM32 Dronecan Arduplane Setup

Video Tutorial

Common Important AM32 params

  • MOTOR_KV set your motor kv. ie set 1400 for 1400kv
  • MOTOR_POLES set your motor poles value. ie 14 for 12N14P motor. (Wrong value will make rpm value not correct)
  • ADVANCE_LEVEL # set your motor advance angle, Range 0-4, 1 for per 7.5 degree
  • DIR_REVERSED # toggle if your need to reversed motor direction
  • STARTUP_POWER # default 100, increase for heavy load

Single Motor Plane Setup

Setup Ardupilot params

CAN_P1_DRIVER    1.0         # First driver
CAN_D1_PROTOCOL  1           # DroneCAN
CAN_D1_UC_ESC_BM 4           # ESC 3
CAN_D1_UC_ESC_OF 2           # Offset to remove 1,2 index
SERVO3_FUNCTION  70          # Throttle

Setup AM32 params

ESC_INDEX 0

Twin Motor Plane Setup (With Different Thrust Yaw)

Hardware Change Logs

Setup Ardupilot params

CAN_P1_DRIVER    1.0         # First driver
CAN_D1_PROTOCOL  1           # DroneCAN
CAN_D1_UC_ESC_BM 48          # ESC 5|ESC 6
CAN_D1_UC_ESC_OF 4           # Offset to remove 1,2,3,5 index
SERVO5_FUNCTION  73          # ThrottleLeft
SERVO6_FUNCTION  74          # ThrottleRight

Setup AM32 params

First/Left ESC
ESC_INDEX 0
Second/Right ESC
ESC_INDEX 1

Startup Tone Not Sync

when you have more than one AM32 ESC on aircraft, you may find the start tone is not playing in the same time, especially when you have setup custom melody, to solve this please set fixed CAN_NODE to your esc ie. CAN_NODE 100 for first one, 101 for second one, and make sure the esc thrust command is in high rate, ie default 400hz in ardupilot is good

Reverse Thrust Setup

Wiki

Setup AM32 params

Common AM32 params
BI_DIRECTIONAL  Enable

Setup Ardupilot params

Single Motor
CAN_D1_UC_ESC_RV 4           # ESC 3
Twin Motor
CAN_D1_UC_ESC_RV 48          # ESC 5|ESC 6
Common Ardupilot params
THR_MIN          -100 # Set negative value, ie -100 for 100% in reverse direction 
RC6_OPTION       64          # Reverse Throttle, change 6 for your Remote Controller input channel, toggle stick to set forward/backward thrust