| file | parameter | suffix | min | max | default | name | description |
|---|---|---|---|---|---|---|---|
| info | app_adc.info | App ADC Information | The cruise control button will maintain the current speed while pressed when current control is used and no throttle is given. The reverse button is used to reverse the throttle when one of the corresponding control modes is used. When only the ADC app is used, the TX pin is used for the cruise control button and the RX pin is used for the reverse button. When the ADC and UART apps are used at the same time, the servo input will be used as the button. In this case it will be used for the reverse button when a control mode with button is selected, otherwise it will be used for the cruise control button. | ||||
| app | app_adc_conf.buttons | Enable Cruise Control | Button Inputs | A cruise control and a reverse button can be used with the ADC app. The reverse button is only used on the control modes that have button in their name, but cruise control can be used on all control modes when enabled. The buttons can be connected as follows: Comm TX: Cruise Control Comm RX: Reverse If the UART app is active the PPM-input is used for the button instead. That means you only have one button, which will be the reverse button for the button-modes (not cruise control available) or cruise control for non-button control modes. By default the button inputs have a pull-up resistor and are active low. Enable Cruise Control Enable cruise control button input. Invert CC Button Invert the polarity of the cruise control button. Invert Reverse Button Invert the polarity of the reverse button. | |||
| app | app_adc_conf.ctrl_type | Current No Reverse Brake ADC2 | Control Type | Off The output is switched off regardless of the input. Current Current control. The output is off when the input is at minimum. Current Reverse Center Current control. The output is off when the input is centered. Input less than center brakes until the motor stops, at which point it it starts in the reverse direction. Current Reverse Button Current control with a button for reversing the throttle. The output is off when the input is at minimum. Current Reverse ADC2 Brake Button Current control with a button for reversing the throttle. The output is off when the input is at minimum. The second ADC channel acs as a brake. ADC_CTRL_TYPE_CURRENT_REV_BUTTON_BRAKE_CENTER Current control with a button for reversing throttle. The output is off when the input is centered. Input less than center brakes until the motor stops, but not further. Current No Reverse Brake Center Current control. The output is off when the input is centered. Input less than center brakes until the motor stops, but not further. Current No Reverse Brake Button Current control with a button for turning the throttle into a brake. The output is off when the input is at minimum. Current No Reverse Brake ADC2 Current control with one separate throttle connected to ADC2 for braking. Duty Cycle Duty cycle control. The output is off when the input is at minimum. Duty Cycle Reverse Center Current control. The output is off when the input is centered. Input less than center gives negative duty cycle. Duty Cycle Reverse Button Duty cycle control with a button on UART RX for inverting the throttle. The output is off when the input is at minimum. PID Speed PID speed control. The speed setpoint is mapped between 0 and the configured maximum motor speed limit. PID Speed Reverse Center PID speed control. The output is mapped between the minimum and maximum motor speed limits. Throttle center corresponds to 0 speed. PID Speed Reverse Button PID speed control with a button for reversing the throttle. The speed setpoint is mapped between 0 and the configured maximum motor speed limit, or between 0 and the minimum motor speed limit when the UART RX input is high. | |||
| app | app_adc_conf.hyst | % | 0 | 1 | 0.05 | Input Deadband | Deadband region for the input. |
| app | app_adc_conf.multi_esc | 1 | Multiple VESCs Over CAN | Listen for other VESCs on the CAN-bus and send the same control commands to them. Notice that the application only has to be set up on the master VESC. | |||
| app | app_adc_conf.ramp_time_neg | s | 0 | 1000 | 0.1 | Negative Ramping Time | Negative ramping time constant. This filters the input with ramping. This constant represents the amount of secods it takes to ramp from full output (acceleration or braking) back to zero. |
| app | app_adc_conf.ramp_time_pos | s | 0 | 1000 | 0.3 | Positive Ramping Time | Positive ramping time constant. This filters the input with ramping. This constant represents the amount of secods it takes to ramp from zero to full output. |
| app | app_adc_conf.safe_start | Regular | Safe Start | Prevent motor from starting in some unsafe conditions. Modes: Disabled Motor can always start. Regular Only allow starting the motor when the input has beed zero for long enough after boot, after configuration updates and after faults. No Faults Same as regular, but the motor can start directly after fault codes are cleared. | |||
| app | app_adc_conf.tc | 0 | Traction Control | Enable traction control between multiple VESCs connected over CAN-bus. This is only is only used for current control modes. | |||
| app | app_adc_conf.tc_max_diff | 0 | 100000 | 3000 | TC Max ERPM Difference | The ERPM difference at which the fastest motor gets swtiched off completely. If the difference in ERPM is lower than that the current to faster motors is scaled down proportionally to the difference. | |
| app | app_adc_conf.throttle_exp | -5 | 5 | -0.5 | Throttle Expo | Exponential gain for the throttle. Zero (0) Linear throttle Negative (<0) The throttle is softer close to 0 and increases exponentially towards full throttle. Positive (>0) The throttle reacts fast around 0 and decreases exponentially towards full throttle. Increasing the magnitude of this value will increase the exponential effect. The full throttle curve can be seen in the throttle curve plot. | |
| app | app_adc_conf.throttle_exp_brake | -5 | 5 | 0 | Throttle Expo Brake | Exponential gain for the throttle. Zero (0) Linear throttle Negative (<0) The throttle is softer close to 0 and increases exponentially towards full throttle. Positive (>0) The throttle reacts fast around 0 and decreases exponentially towards full throttle. Increasing the magnitude of this value will increase the exponential effect. The full throttle curve can be seen in the throttle curve plot. | |
| app | app_adc_conf.throttle_exp_mode | Polynomial | Throttle Expo Mode | The throttle curve mode. Exponential y = x^(1 + c) Natural y = (e^(cx) - 1) / (e^c - 1) Polynomial y = x / (1 + c(1 - x)) where y: output x: input c: curve The curve parameter, offsets and signs are mapped accordingly for each mode. | |||
| app | app_adc_conf.update_rate_hz | Hz | 0 | 100000 | 500 | Update Rate | Rate at which the input is sampled. |
| app | app_adc_conf.use_filter | 1 | Use Filter | Use a low-pass filter to reject noise. This will introduce a slight delay. | |||
| app | app_adc_conf.voltage2_end | V | 0 | 3.3 | 2 | ADC2 End Voltage | Input voltage at the end of the throttle range for ADC2. Can be checked by enabling display and giving the maximum input. If Control Type is set to off while doing that the motor won't turn. |
| app | app_adc_conf.voltage2_inverted | 1 | Invert ADC2 Voltage | Invert the voltage from ADC2. | |||
| app | app_adc_conf.voltage2_start | V | 0 | 3.3 | 0 | ADC2 Start Voltage | Input voltage at the start of the throttle range for ADC2. Can be checked by enabling display and giving the minimum input. If Control Type is set to off while doing that the motor won't turn. |
| app | app_adc_conf.voltage_center | V | 0 | 3.3 | 0.6 | ADC1 Center Voltage | Input voltage at the center of the throttle range for ADC1. Can be checked by enabling display and centering the input. If Control Type is set to off while doing that the motor won't turn. Notice that this parameter only is used for the contered control types. For the other types the voltage will always be mapped linearly between start and end. |
| app | app_adc_conf.voltage_end | V | 0 | 3.3 | 2.54 | ADC1 End Voltage | Input voltage at the end of the throttle range for ADC1. Can be checked by enabling display and giving the maximum input. If Control Type is set to off while doing that the motor won't turn. |
| app | app_adc_conf.voltage_inverted | 0 | Invert ADC1 Voltage | Invert the voltage from ADC1. | |||
| app | app_adc_conf.voltage_max | V | 0 | 3.6 | 3.6 | ADC1 Abs Max Voltage | Maximum valid voltage on ADC1. If the voltage is above this value the motor will be stopped and if safe start is activated the throttle must be returned to 0 before the motor is allowed to run again. |
| app | app_adc_conf.voltage_min | V | 0 | 3.3 | 0 | ADC1 Abs Min Voltage | Minimum valid voltage on ADC1. If the voltage is below this value the motor will be stopped and if safe start is activated the throttle must be returned to 0 before the motor is allowed to run again. |
| app | app_adc_conf.voltage_start | V | 0 | 3.3 | 0.6 | ADC1 Start Voltage | Input voltage at the start of the throttle range for ADC1. Can be checked by enabling display and giving the minimum input. If Control Type is set to off while doing that the motor won't turn. |
| info | app_adc_mapping_help | ADC Voltage Mapping | ADC voltage mapping is used to map the minimum and maximum throttle values from the analog throttle to the minimum and maximum throttle values of the motor controller. The following procedure can be used: Activate the ADC app and write the app configuration. Set the ADC control mode to disabled to avoid motor movement and write the configuration. Connect the throttle(s). Activate realtime app data streaming in the main toolbar. The input displays should show the decoded input value and voltage if the throttle is connected. Move the throttle between the minimum and maximum values to get them sampled. Apply the result. Activate the desired control mode. Write the app configuration. | ||||
| info | app_chuk.info | Chuk Info | This app has been tested with the wireless Nyko Kama nunchuk. The receiver can be connected directly to the I2C port on the ESC. The y-axis on the joystick is used for acceleration/braking. The buttons have the following functions: C-Button: Cruise control. If the C-button is pressed, the ESC will maintail the current speed with a PID control loop. The joystick can still be used to accelerate and brake, but as soon as it is returned to the center position the new speed will be maintained, as long as the C-button remains pressed. Z-Button: The Z-button is used to change the direction of the motor if reverse is activated. Without reverse, Z has no effect. There is also a safety function. If nothing received from the nunchuk (including the accelerometers) changes for longer than the timeout value in the APP General page, the timeout function will be activated and either release the motor or brake with the current specified next to the timeout value. | ||||
| app | app_chuk_conf.ctrl_type | Current | Control Type | Off The output is switched off regardless of the input. Current Current control. The output is off when the joystick is centered. Positive input gives acceleration and negative input braking. To go reverse the Z button can be used to toggle direction. Current No Reverse Current control. The output is off when the joystick is centered. Positive input gives acceleration and negative input braking. The reverse function of the Z button is disabled. Current Bidirectional Current control. The output is off when the joystick is centered. Positive input always gives forward current and negative current always gives reverse current. This means that when current is applied through 0 speed, the motor will accelerate in the other direction. | |||
| app | app_chuk_conf.hyst | % | 0 | 1 | 0.15 | Input Deadband | Deadband region for the input. |
| app | app_chuk_conf.multi_esc | 1 | Multiple VESCs Over CAN | Listen for other VESCs on the CAN-bus and send the same control commands to them. Notice that the application only has to be set up on the master VESC. | |||
| app | app_chuk_conf.ramp_time_neg | s | 0 | 1000 | 0.2 | Negative Ramping Time | Negative ramping time constant. This filters the joystick input with ramping. This constant represents the amount of secods it takes to ramp from full output (acceleration or braking) back to zero. |
| app | app_chuk_conf.ramp_time_pos | s | 0 | 1000 | 0.4 | Positive Ramping Time | Positive ramping time constant. This filters the joystick input with ramping. This constant represents the amount of secods it takes to ramp from zero to full output. |
| app | app_chuk_conf.smart_rev_max_duty | 0 | 1 | 0.07 | Smart Reverse Max Duty Cycle | Maximum duty cycle to use in smart reverse mode. | |
| app | app_chuk_conf.smart_rev_ramp_time | s | 0 | 100 | 3 | Smart Reverse Ramp Time | Time to ramp to maximum duty cycle in smart reverse mode. |
| app | app_chuk_conf.stick_erpm_per_s_in_cc | 0 | 1e+06 | 3000 | ERPM Per Second Cruise Control | The amount of ERPM per second the setpoint changes when giving full joystick input with criuse control activated. | |
| app | app_chuk_conf.tc | 0 | Traction Control | Enable traction control between multiple VESCs connected over CAN-bus. This is only is only used for current control modes. | |||
| app | app_chuk_conf.tc_max_diff | 0 | 100000 | 3000 | TC Max ERPM Difference | The ERPM difference at which the fastest motor gets swtiched off completely. If the difference in ERPM is lower than that the current to faster motors is scaled down proportionally to the difference. | |
| app | app_chuk_conf.throttle_exp | -5 | 5 | 0 | Throttle Expo | Exponential gain for the throttle. Zero (0) Linear throttle Negative (<0) The throttle is softer close to 0 and increases exponentially towards full throttle. Positive (>0) The throttle reacts fast around 0 and decreases exponentially towards full throttle. Increasing the magnitude of this value will increase the exponential effect. The full throttle curve can be seen in the throttle curve plot. | |
| app | app_chuk_conf.throttle_exp_brake | -5 | 5 | 0 | Throttle Expo Brake | Exponential gain for the throttle. Zero (0) Linear throttle Negative (<0) The throttle is softer close to 0 and increases exponentially towards full throttle. Positive (>0) The throttle reacts fast around 0 and decreases exponentially towards full throttle. Increasing the magnitude of this value will increase the exponential effect. The full throttle curve can be seen in the throttle curve plot. | |
| app | app_chuk_conf.throttle_exp_mode | Polynomial | Throttle Expo Mode | The throttle curve mode. Exponential y = x^(1 + c) Natural y = (e^(cx) - 1) / (e^c - 1) Polynomial y = x / (1 + c(1 - x)) where y: output x: input c: curve The curve parameter, offsets and signs are mapped accordingly for each mode. | |||
| app | app_chuk_conf.use_smart_rev | 1 | Use Smart Reverse | Use smart reverse function. If enabled, holding full brake will switch to duty cycle mode in the reverse direction when the speed is so low that not enough brake torque can be produced. This is useful when trying to stop downhill where you normally would roll forwards slowly even at full brake. Instead, the board will start to go reverse slowly in duty cycle mode if this mode is activated. | |||
| app | app_nrf_conf.address__0 | 0 | 255 | 198 | Address 0 | Address byte 0. | |
| app | app_nrf_conf.address__1 | 0 | 255 | 199 | Address 1 | Address byte 1. | |
| app | app_nrf_conf.address__2 | 0 | 255 | 0 | Address 2 | Address byte 2. | |
| app | app_nrf_conf.channel | 0 | 125 | 76 | Radio Channel | Radio channel. | |
| app | app_nrf_conf.crc_type | 1 Byte | CRC | CRC checksum type. | |||
| app | app_nrf_conf.power | 0 dBm | TX Power | Transmit power or power off setting. | |||
| app | app_nrf_conf.retries | 0 | 15 | 3 | Retries | Maximum number of retries when no ack is received before giving up on the current packet. | |
| app | app_nrf_conf.retry_delay | 250 µS | Retry Delay | Delay between retries when no ack is received. If the speed is lower than 2MBit, at least 500 µS should be used. | |||
| app | app_nrf_conf.send_crc_ack | 1 | Send ACK | Send ACK when valid packets are received. | |||
| app | app_nrf_conf.speed | 1 MBit/s | Speed | The air bit rate. | |||
| app | app_pas_conf.ctrl_type | Cadence | Control Type | Off The output is switched off regardless of the input. Cadence Cadence control. The output is proportional to the pedalling speed, off when there is no pedalling. Constant Torque Constant Torque control. Pedalling provides constant output, off when no pedalling. Suited for gearless setup. | |||
| app | app_pas_conf.current_scaling | 0 | 1 | 0.08 | PAS Max Current | Maximum PAS output current will be limited to this percentage of the global output current. | |
| app | app_pas_conf.invert_pedal_direction | 0 | Invert Pedal Direction | Inverts pedal direction | |||
| app | app_pas_conf.magnets | 6 | 128 | 24 | Sensor Magnets | How many magnets the PAS sensor assembly has. 24 magnets would provide 24 pulses per pedal revolution. 12 and 24 magnet setups are typical. | |
| app | app_pas_conf.pedal_rpm_end | 1 | 300 | 120 | Pedal RPM End | Pedal RPM at which the assist stops increasing. Above this pedal speed the assist output will stay at its maximum. | |
| app | app_pas_conf.pedal_rpm_start | 1 | 200 | 10 | Pedal RPM Start | Pedal RPM at which the assist starts. Below this value the output current is zero. | |
| app | app_pas_conf.ramp_time_neg | s | 0.2 | 5 | 0.2 | Negative Ramping Time | Negative ramping time constant. This filters the PAS input with ramping and represents the amount of secods it takes to ramp from full to zero output. |
| app | app_pas_conf.ramp_time_pos | s | 0.2 | 5 | 0.3 | Positive Ramping Time | Positive ramping time constant. This filters the PAS input with ramping and represents the amount of secods it takes to ramp from zero to full output. |
| app | app_pas_conf.sensor_type | Q | Sensor Type | Quadrature This interface provides 2 signals that can be decoded to know the pedalling direction (forward of backwards). | |||
| app | app_pas_conf.update_rate_hz | Hz | 10 | 1000 | 500 | Update Rate | Frequency at which the PAS control loop is executed |
| app | app_pas_conf.use_filter | 1 | Use Filter | Use a low pass filter in the PAS input signal | |||
| app | app_ppm_conf.ctrl_type | Off | Control Type | Off The output is switched off regardless of the input. Current Current control. The output is off when the input is centered. Input less than center brakes until the motor stops, at which point it starts in the reverse direction. Current No Reverse Current control. The output is off when the input is at minimum. Current No Reverse With Brake Current control. The output is off when the input is centered. Input less than center brakes until the motor stops, but not further. Duty Cycle Current control. The output is off when the input is centered. Input less than center gives negative duty cycle. Duty Cycle No Reverse Duty cycle control. The output is off when the input is at minimum. PID Speed Control PID speed control. The output is off when the input is centered. Input less than center gives negative set speed. PID Speed Control No Reverse Duty cycle control. The output is off when the input is at minimum. Current Hyst Reverse With Brake Current Hyst Reverse With Brake. The output is off when the input is centered. Input less than center brakes until the motor stops, at which point it starts in the reverse direction, but if Max dir switch ERPM is enabled it will stop the reverse when it reaches the Max ERPM for direction switch. Current Smart Reverse Similar to the Current No Reverse With Brake mode, but holding full brake will switch to duty cycle mode in the reverse direction when the speed is so low that not enough brake torque can be produced. This is useful when trying to stop downhill where you normally would roll forwards slowly even at full brake. Instead, the board will start to go reverse slowly in duty cycle mode if this mode is activated. PID Position Control: 180° Maps servo input to (-180° <> +180°) rotation. Remote should center at “Pulselegth Center” value. Motor will rotate ±180° from the starting position. PID Position Control: 360°Maps servo input to (+0 <> +360°) rotation. Remote should center at “Pulselegth Start” value.Motor will rotate up to +360° from the starting position. It will only rotate in the "positive" direction from the starting position. PID Position Control notes:Servo like position control of motor. Works best with an encoder, but can work with HFI. Angle division: To get multiple turns of the motor for full stick movement, adjust: “Motor Settings” -> “PID Controllers” -> “Position Angle Division” to greater than 1. For setups with angle division > 1, you will need to “home” your motor manually to the right “zero” rotation before power on. To get less than 1 full turn, set “Position Angle Division” to less than 1. Starting position: To adjust the starting position of the motor, adjust: “Motor Settings” -> “PID Controllers” -> “Position PID Offset Angle”. This will change the zero angle AFTER the angle division has been applied. To change the angle by 90° with an angle division of 2, this should be 45°. Safe Start: Safe start still works with PID Position Control, with an additional safety step. To start the motor with Safe Start, you must: Set ppm to your “center” value: “Pulselegth Center” for 180 mode. “Pulselegth Start” for 360 mode. Note: disabling "Safe Start" will eliminate this step but not the second step. Bring your commanded angle close to the actual motor angle. This can be done by sweeping the stick the full range until the motor starts tracking. This is done to prevent a rapid movement at start to a far off commanded pid angle. | |||
| app | app_ppm_conf.hyst | % | 0 | 1 | 0.15 | Input Deadband | Deadband region for the input. |
| app | app_ppm_conf.max_erpm_for_dir | 0 | 30000 | 4000 | Max ERPM for direction switch | The Max ERPM where the direction can be switched to reverse by braking 2 times. | |
| app | app_ppm_conf.median_filter | 1 | Median Filter | Use a median filter on the decoded pulses. Will delay the signal slightly, but rejects outliers caused by noise. | |||
| app | app_ppm_conf.multi_esc | 1 | Multiple VESCs Over CAN | Listen for other VESCs on the CAN-bus and send the same control commands to them. Notice that the application only has to be set up on the master VESC. | |||
| app | app_ppm_conf.pid_max_erpm | 0 | 1e+06 | 15000 | PID Max ERPM | The ERPM setpoint corresponding to max input when using PID Speed Control. | |
| app | app_ppm_conf.pulse_center | ms | 0 | 100 | 1.5 | Pulselength Center | The PPM input in milliseconds at which the throttle is centered. Can be checked by enabling display and leaving the throttle centered. This setting has no effect in control modes where the output is not off when the stick is centered. |
| app | app_ppm_conf.pulse_end | ms | 0 | 100 | 2 | Pulselength End | The longest pulse length for the PPM input in milliseconds. Can be checked by enabling display and giving the maximum input. |
| app | app_ppm_conf.pulse_start | ms | 0 | 100 | 1 | Pulselength Start | The shortest pulse length for the PPM input in milliseconds. Can be checked by enabling display and giving the minimum input. |
| app | app_ppm_conf.ramp_time_neg | s | 0 | 1000 | 0.2 | Negative Ramping Time | Negative ramping time constant. This filters the input with ramping. This constant represents the amount of secods it takes to ramp from full output (acceleration or braking) back to zero. |
| app | app_ppm_conf.ramp_time_pos | s | 0 | 1000 | 0.4 | Positive Ramping Time | Positive ramping time constant. This filters the input with ramping. This constant represents the amount of secods it takes to ramp from zero to full output. |
| app | app_ppm_conf.safe_start | Regular | Safe Start | Prevent motor from starting in some unsafe conditions. Modes: Disabled Motor can always start. Regular Only allow starting the motor when the input has beed zero for long enough after boot, after configuration updates and after faults. No Faults Same as regular, but the motor can start directly after fault codes are cleared. | |||
| app | app_ppm_conf.smart_rev_max_duty | 0 | 1 | 0.07 | Smart Reverse Max Duty Cycle | Maximum duty cycle to use in smart reverse mode. | |
| app | app_ppm_conf.smart_rev_ramp_time | s | 0 | 100 | 3 | Smart Reverse Ramp Time | Time to ramp to maximum duty cycle in smart reverse mode. |
| app | app_ppm_conf.tc | 0 | Traction Control | Enable traction control between multiple VESCs connected over CAN-bus. This is only used for current control modes. | |||
| app | app_ppm_conf.tc_max_diff | 0 | 100000 | 3000 | TC Max ERPM Difference | The ERPM difference at which the fastest motor gets swtiched off completely. If the difference in ERPM is lower than that the current to faster motors is scaled down proportionally to the difference. | |
| app | app_ppm_conf.throttle_exp | -5 | 5 | 0 | Throttle Expo | Exponential gain for the throttle. Zero (0) Linear throttle Negative (<0) The throttle is softer close to 0 and increases exponentially towards full throttle. Positive (>0) The throttle reacts fast around 0 and decreases exponentially towards full throttle. Increasing the magnitude of this value will increase the exponential effect. The full throttle curve can be seen in the throttle curve plot. | |
| app | app_ppm_conf.throttle_exp_brake | -5 | 5 | 0 | Throttle Expo Brake | Exponential gain for the throttle. Zero (0) Linear throttle Negative (<0) The throttle is softer close to 0 and increases exponentially towards full throttle. Positive (>0) The throttle reacts fast around 0 and decreases exponentially towards full throttle. Increasing the magnitude of this value will increase the exponential effect. The full throttle curve can be seen in the throttle curve plot. | |
| app | app_ppm_conf.throttle_exp_mode | Polynomial | Throttle Expo Mode | The throttle curve mode. Exponential y = x^(1 + c) Natural y = (e^(cx) - 1) / (e^c - 1) Polynomial y = x / (1 + c(1 - x)) where y: output x: input c: curve The curve parameter, offsets and signs are mapped accordingly for each mode. | |||
| info | app_ppm_mapping_help | PPM Pulselength Mapping | PPM pulselength mapping is used to map the minimum and maximum throttle values from the PPM remote to the minimum and maximum throttle values of the motor controller. The following procedure can be used: Activate the PPM app and write the configuration. Set the PPM control mode to disabled to avoid motor movement and write the configuration. Connect the remote. Activate app realtime data streaming in the main toolbar. The input display should show the decoded input value and pulse length if the remote is connected and on. Move the throttle between the minimum and maximum values to get them sampled. Apply the result. Write the configuration. Input mapping should also be usable for those oneshot pulselengths that are popular for some multirotor flight controllers that don't have support for proper ESC communication such as CAN-bus or UART. | ||||
| info | app_setting_description | App Setting Description | App Settings This is where you can edit your app settings. The VESC can run one or more apps, and the apps are used to enable different functions on the communication interfaces of the VESC. If you are going to use your VESC with USB or CAN-bus you don't have to change the app configuration since these interfaces always are active. If you want to use conventional input devices such as nunchuks, ebike throttles or RC remote controllers you have to configure the apps accordingly. The easiest way to configure your VESC for conventional input devices is to use the Input Setup Wizard. This wizard can be accessed from the welcome page, from the help menu or using the button at the bottom of this page. The app settings are stored in their own configuration structure. Every time you make changes to the app configuration you have to write the configuration to the VESC in order to apply the new settings. Reading/writing the app configuration can be done using the buttons on the toolbar to the right. The functions of these toolbar buttons are the following: Read App Configuration. This button will read the current app configuration from the VESC to VESC Tool. Warning: All of the app settings currently in VESC Tool will be overwritten by pressing this button. Read Default App Configuration. This button will read the default app configuration from the VESC to VESC Tool. The default configuration is hard-coded in firmware, and is how the VESC is configured right after uploading new firmware. Warning: All of the app settings currently in VESC Tool will be overwritten by pressing this button. Write App Configuration. This button will write the app configuration that currently is in VESC Tool to the VESC. Every time you make a change to the app configuration in VESC Tool you must use this button to apply the new settings. The new settings will be used as soon as you write them to the VESC, and they will be stored in the flash memory of the VESC persistently. Every app setting has three small buttons to the right of its value. They have the following functions: Read Current Value. This button will read the current value for this setting from the VESC. Read Default Value. This button will read the default value for this setting from the VESC. Show Help. This button will show a help dialog describing what this setting does. If you are not sure about a setting the help dialog can be very useful. The full app configuration can also be written to and read from XML files using the File menu. This is a good way to keep your settings when going between different VESC Tool versions, to share your settings and to store your configuration in general. Notice that uploading new firmware to the VESC will reset all its settings to their default values for that firmware. This means that after uploading firmware to the VESC you have to perform the app configuration again. | ||||
| app | app_to_use | UART | APP to Use | The APP to use. With multiple VESC connected over CAN only the master needs to have an app to use set up. Notice that using the NRF nunchuk needs the NRF app. | |||
| app | app_uart_baudrate | bps | 0 | 20000000 | 115200 | Baudrate | UART Baudrate. |
| float | atr_amps_accel_ratio | 5 | 30 | 9 | Amps to Acceleration Ratio | Determines how to effectively calculate Expected Acceleration from amps. Higher values mean weaker response (lower Expected Acceleration). *NOTE: NOT MEANT TO BE MESSED WITH! This value should be kept constant and not taken advantage of for tuning, as it is meant to be used to account for motor efficiency, not weight or other factors. Recommended Hypercore Motor Value: 9 Recommended Values: 8-18 | |
| refloat | atr_amps_accel_ratio | 5 | 30 | 9 | Amps to Acceleration Ratio | Determines how to effectively calculate Expected Acceleration from amps. Higher values mean weaker response (lower Expected Acceleration). *NOTE: NOT MEANT TO BE MESSED WITH! This value should be kept constant and not taken advantage of for tuning, as it is meant to be used to account for motor efficiency, not weight or other factors. Recommended Hypercore Motor Value: 9 Recommended Values: 8-18 | |
| float | atr_amps_decel_ratio | 4 | 30 | 8 | Amps to Deceleration Ratio | Determines how to effectively calculate Expected Deceleration (Braking) from amps. Higher values mean weaker response (lower Expected Acceleration). *NOTE: NOT MEANT TO BE MESSED WITH! This value should be kept constant and not taken advantage of for tuning, as it is meant to be used to account for motor efficiency, not weight or other factors. Recommended Hypercore Motor Value: 8 Recommended Values: 6-18 | |
| refloat | atr_amps_decel_ratio | 4 | 30 | 8 | Amps to Deceleration Ratio | Determines how to effectively calculate Expected Deceleration (Braking) from amps. Higher values mean weaker response (lower Expected Acceleration). *NOTE: NOT MEANT TO BE MESSED WITH! This value should be kept constant and not taken advantage of for tuning, as it is meant to be used to account for motor efficiency, not weight or other factors. Recommended Hypercore Motor Value: 8 Recommended Values: 6-18 | |
| float | atr_angle_limit | ° | 0 | 30 | 8 | Tilitback Angle Limit | Maximum angle to which ATR is permitted to tilt. |
| refloat | atr_angle_limit | ° | 0 | 30 | 8 | Tilitback Angle Limit | Maximum angle to which ATR is permitted to tilt. |
| float | atr_filter | Hz | 0 | 20 | 5 | Current Filter | Biquad Low-pass Filter on the current used for calculating ATR. Setting a lower value here helps smooth out spikes in the current, and prevents ATR from being twitchy. Setting a high value here improves responsiveness, but can lead to overreacting ATR during normal acceleration. |
| refloat | atr_filter | Hz | 0 | 20 | 5 | Current Filter | Biquad Low-pass Filter on the current used for calculating ATR. Setting a lower value here helps smooth out spikes in the current, and prevents ATR from being twitchy. Setting a high value here improves responsiveness, but can lead to overreacting ATR during normal acceleration. |
| float | atr_off_speed | °/s | 0 | 100 | 3 | Max Tiltback Release Speed | Max Rate at which ATR will release from the desired angle back to 0. |
| refloat | atr_off_speed | °/s | 0 | 100 | 3 | Max Tiltback Release Speed | Max Rate at which ATR will release from the desired angle back to 0. |
| float | atr_on_speed | °/s | 0 | 100 | 4 | Max Tiltback Speed | Max Rate at which ATR will tilt to the desired angle. |
| refloat | atr_on_speed | °/s | 0 | 100 | 4 | Max Tiltback Speed | Max Rate at which ATR will tilt to the desired angle. |
| float | atr_response_boost | x | 1 | 2 | 1.5 | Tiltback Response Boost | React more quickly to ATR responses when at high speeds. When you're riding fast and ATR increases, then you also want it to respond faster. Boost is applied twice: at 2500 and 6000 ERPM. *Note: ERPM = RPM * (Motor Poles / 2)For an 11" Tire on a Hypercore Motor (30 Poles): 2500 ERPM ≈ 5.5 mph ≈ 9 km/h 6000 ERPM ≈ 13 mph ≈ 21 km/h |
| refloat | atr_response_boost | x | 1 | 2 | 1.5 | Tiltback Response Boost | React more quickly to ATR responses when at high speeds. When you're riding fast and ATR increases, then you also want it to respond faster. Boost is applied twice: at 2500 and 6000 ERPM. *Note: ERPM = RPM * (Motor Poles / 2)For an 11" Tire on a Hypercore Motor (30 Poles): 2500 ERPM ≈ 5.5 mph ≈ 9 km/h 6000 ERPM ≈ 13 mph ≈ 21 km/h |
| float | atr_speed_boost | % | -1 | 1 | 0.3 | Speed Boost | Increase in ATR response at higher speeds. Torque response at higher speed needs to be more intense; this lets you control that. |
| refloat | atr_speed_boost | % | -1 | 1 | 0.3 | Speed Boost | Defines how ATR response changes at higher speeds. Set to negative numbers to lower the response as speed increases. |
| float | atr_strength_down | 0 | 3.5 | 1 | ATR Downhill Strength | How much Nose Lowering should be applied based on ATR Response. Rather than judging based purely on current like Torque Tiltback does, ATR (Adaptive Torque Response) determines its behavior based on a calculation of Acceleration Difference (Expected Acceleration - Measured Acceleration). This can produce more consistent results for tilt response to uphills and downhills. It can also influence the overall ride feel, and can produce an appropriate stronger/weaker response for heavier/lighter riders, allowing riders of vastly different weights to effectively utilize the same PID tune and still experience similar behavior. Recommended Values: 1.0 - 2.5 (Extreme!) *Note: The values used for this parameter in previous firmware versions (5.3 ATR) are now scaled up 10x (i.e. a previous ATR Strength of 0.10, is now a strength of 1.0). | |
| refloat | atr_strength_down | 0 | 3.5 | 0 | ATR Downhill Strength | How much Nose Lowering should be applied based on ATR Response. Rather than judging based purely on current like Torque Tiltback does, ATR (Adaptive Torque Response) determines its behavior based on a calculation of Acceleration Difference (Expected Acceleration - Measured Acceleration). This can produce more consistent results for tilt response to uphills and downhills. It can also influence the overall ride feel, and can produce an appropriate stronger/weaker response for heavier/lighter riders, allowing riders of vastly different weights to effectively utilize the same PID tune and still experience similar behavior. Recommended Values: 1.0 - 2.5 (Extreme!) *Note: The values used for this parameter in previous firmware versions (5.3 ATR) are now scaled up 10x (i.e. a previous ATR Strength of 0.10, is now a strength of 1.0). | |
| float | atr_strength_up | 0 | 3.5 | 1 | ATR Uphill Strength | How much Nose Lift should be applied based on ATR Response.Rather than judging based purely on current like Torque Tiltback does, ATR (Adaptive Torque Response) determines its behavior based on a calculation of Acceleration Difference (Expected Acceleration - Measured Acceleration). This can produce more consistent results for tilt response to uphills and downhills. It can also influence the overall ride feel, and can produce an appropriate stronger/weaker response for heavier/lighter riders, allowing riders of vastly different weights to effectively utilize the same PID tune and still experience similar behavior. Recommended Values: 1.0 - 2.5 (Extreme!) *Note: The values used for this parameter in previous firmware versions (5.3 ATR) are now scaled up 10x (i.e. a previous ATR Strength of 0.10, is now a strength of 1.0). | |
| refloat | atr_strength_up | 0 | 3.5 | 0 | ATR Uphill Strength | How much Nose Lift should be applied based on ATR Response.Rather than judging based purely on current like Torque Tiltback does, ATR (Adaptive Torque Response) determines its behavior based on a calculation of Acceleration Difference (Expected Acceleration - Measured Acceleration). This can produce more consistent results for tilt response to uphills and downhills. It can also influence the overall ride feel, and can produce an appropriate stronger/weaker response for heavier/lighter riders, allowing riders of vastly different weights to effectively utilize the same PID tune and still experience similar behavior. Recommended Values: 1.0 - 2.5 (Extreme!) *Note: The values used for this parameter in previous firmware versions (5.3 ATR) are now scaled up 10x (i.e. a previous ATR Strength of 0.10, is now a strength of 1.0). | |
| float | atr_test1 | 0 | 255 | 0 | Test1 | Please ignore - used for testing/development purposes only | |
| float | atr_test2 | 0 | 100 | 0 | Test2 | Please ignore - used for testing/development purposes only | |
| float | atr_test3 | 0 | 100 | 0 | Test3 | Please ignore - used for testing/development purposes only | |
| float | atr_threshold_down | ° | 0 | 5 | 1.5 | Threshold Angle Down | Threshold angle for braking/downhills below which no setpoint change is triggered. This means that if the computed ATR angle is below this threshold the setpoint will not be changed, producing a more predictable behavior in mellow terrain. Once the ATR target angle exceeds the threshold, setpoint changes will be produced. Example: If the threshold is 2 and the computed ATR angle is 3 then a 1 degree setpoint adjustment will be performed. |
| refloat | atr_threshold_down | ° | 0 | 5 | 1.5 | Threshold Angle Down | Threshold angle for braking/downhills below which no setpoint change is triggered. This means that if the computed ATR angle is below this threshold the setpoint will not be changed, producing a more predictable behavior in mellow terrain. Once the ATR target angle exceeds the threshold, setpoint changes will be produced. Example: If the threshold is 2 and the computed ATR angle is 3 then a 1 degree setpoint adjustment will be performed. |
| float | atr_threshold_up | ° | 0 | 5 | 1.5 | Threshold Angle Up | Threshold angle for acceleration/uphills below which no setpoint change is triggered. This means that if the computed ATR angle is below this threshold the setpoint will not be changed, producing a more predictable behavior in mellow terrain. Once the ATR target angle exceeds the threshold, setpoint changes will be produced. Example: If the threshold is 2 and the computed ATR angle is 3 then a 1 degree setpoint adjustment will be performed. |
| refloat | atr_threshold_up | ° | 0 | 5 | 1.5 | Threshold Angle Up | Threshold angle for acceleration/uphills below which no setpoint change is triggered. This means that if the computed ATR angle is below this threshold the setpoint will not be changed, producing a more predictable behavior in mellow terrain. Once the ATR target angle exceeds the threshold, setpoint changes will be produced. Example: If the threshold is 2 and the computed ATR angle is 3 then a 1 degree setpoint adjustment will be performed. |
| float | atr_transition_boost | x | 1 | 10 | 3 | Tiltback Transition Boost | Release faster during transitions. When ATR reverses (dip or peak), the slow release speed can cause a long delay for the nose/tail to get back to normal. This should help resolve this. |
| refloat | atr_transition_boost | x | 1 | 10 | 3 | Tiltback Transition Boost | Release faster during transitions. When ATR reverses (dip or peak), the slow release speed can cause a long delay for the nose/tail to get back to normal. This should help resolve this. |
| refloat | bf_accel_confidence_decay | 0 | 10 | 0.02 | Accelerometer Confidence Decay | Note: It is not advised to change this setting. It will be removed in the next version of Refloat. Sets how fast the accelerometer confidence will be decreased if the acceleration vector differs from 1.0. | |
| motor | bms.fwd_can_mode | Disabled | Forward CAN to Local | Forward CAN-frames to local device as they are received. This is useful when many BMSes are connected on a CAN-bus to avoid polling the state from each one of them. This can cause a lot of data if there are many BMSes on the CAN-bus, so it is recommended to only do it over the USB-connection. Options: Disabled This function is disabled. USB Only Only forward frames to device connected over USB. Any Interface Forward frames to device connected using any interface. | |||
| motor | bms.limit_mode | VCell Max | BMS Limit Mode | Choose how to limit the motor current based on data from the BMS. Overtemp Decrease the input and regen current as the battery gets too hot. SOC Decrease the input current as the state of charge (SOC) gets too low. VCell Min Decrease the input current as the lowest cell voltage gets too low. VCell Max Decrease the input regen current as the highest cell voltage gets too high. | |||
| motor | bms.soc_limit_end | 0 | 1 | 0 | SOC Limit End | The battery state of charge (SOC) below which battery current is not allowed anymore. If there is more than one BMS on the CAN-bus, the one with the lowest value will be ued. | |
| motor | bms.soc_limit_start | 0 | 1 | 0.05 | SOC Limit Start | The battery state of charge (SOC) below which battery current starts to get reduced. If there is more than one BMS on the CAN-bus, the one with the lowest value will be ued. | |
| motor | bms.t_limit_end | °C | 0 | 99 | 65 | Temperature Limit End | The battery temperature above which battery current is not allowed and a fault is thrown. If there is more than one BMS on the CAN-bus, the one with the highest value will be ued. |
| motor | bms.t_limit_start | °C | 0 | 99 | 45 | Temperature Limit Start | The battery temperature above which battery current starts to get reduced. If there is more than one BMS on the CAN-bus, the one with the highest value will be used. |
| motor | bms.type | VESC BMS | BMS Type | Type of BMS. This determines how BMS-related messages on the CAN-bus are interpreted. Options are: None: No BMS is used. All messages on the CAN-bus are ignored by the BMS module. VESC BMS: The VESC BMS is used. | |||
| motor | bms.vmax_limit_end | V | 0 | 6 | 4.3 | VCell Max Limit End | The maximum cell voltage above which regen current is not allowed anymore. If there is more than one BMS on the CAN-bus, the one with the highest value will be ued. |
| motor | bms.vmax_limit_start | V | 0 | 6 | 4.2 | VCell Max Limit Start | The maximum cell voltage above which regen current starts to get reduced. If there is more than one BMS on the CAN-bus, the one with the highest value will be ued. |
| motor | bms.vmin_limit_end | V | 0 | 6 | 2.5 | VCell Min Limit End | The minimum cell voltage below which battery current is not allowed anymore. If there is more than one BMS on the CAN-bus, the one with the lowest value will be ued. |
| motor | bms.vmin_limit_start | V | 0 | 6 | 2.9 | VCell Min Limit Start | The minimum cell voltage below which battery current starts to get reduced. If there is more than one BMS on the CAN-bus, the one with the lowest value will be ued. |
| balance | booster_angle | ° | 0 | 80 | 8 | Start Angle | Angle at which booster is applied (actually measued as absolute deviation from setpoint). |
| float | booster_angle | ° | 0 | 15 | 8 | Start Angle | Angle (+/-) from which onward booster current is applied when accelerating, in relation to the setpoint. *NOTE: Based on True Pitch (uses Mahony KP 0.2), rather than Pitch filtered by your set Mahony KP (likely heavily filtered and inaccurate). |
| refloat | booster_angle | ° | 0 | 15 | 8 | Start Angle | Angle (+/-) from which onward booster current is applied when accelerating, in relation to the setpoint. *NOTE: Based on True Pitch (uses Mahony KP 0.2), rather than Pitch filtered by your set Mahony KP (likely heavily filtered and inaccurate). |
| balance | booster_current | A | 0 | 100 | 0 | Current Boost | Extra current to be applied when booster angle is reached. |
| float | booster_current | A | 0 | 100 | 0 | Current Boost | Extra current added to PID Loop, to be applied when accelerating when booster angle is reached (in relation to Setpoint). Can strengthen the board response at a desired specific angle when pushing the nose down. |
| refloat | booster_current | A | 0 | 100 | 0 | Current Boost | Extra current added to PID Loop, to be applied when accelerating when booster angle is reached (in relation to Setpoint). Can strengthen the board response at a desired specific angle when pushing the nose down. |
| balance | booster_ramp | ° | 1 | 80 | 1 | Ramp Up | Degrees over which booster will ramp from 0A to the Configured Current, starting at start Angle. |
| float | booster_ramp | ° | 1 | 10 | 4 | Ramp Up | Degrees over which booster will ramp from 0A to the configured Current when accelerating, starting at Start Angle (i.e. Start Angle of 8° and Ramp Up of 4° means Booster will begin at 8° nose down and strengthen to max current as the board angle approaches 12° nose down from setpoint). *NOTE: Based on True Pitch |
| refloat | booster_ramp | ° | 1 | 10 | 4 | Ramp Up | Degrees over which booster will ramp from 0A to the configured Current when accelerating, starting at Start Angle (i.e. Start Angle of 8° and Ramp Up of 4° means Booster will begin at 8° nose down and strengthen to max current as the board angle approaches 12° nose down from setpoint). *NOTE: Based on True Pitch |
| balance | brake_current | A | 0 | 100 | 0 | Brake Current | Breaking current to be applied when balance app is not actively balancing. |
| float | brake_current | A | 0 | 100 | 6 | Brake Current | Brake current to be applied when board is not actively engaged (only applied when an outside force causes motor to move). |
| refloat | brake_current | A | 0 | 100 | 6 | Brake Current | Brake current to be applied when board is not actively engaged (only applied when an outside force causes motor to move). |
| tnt | brake_current | A | 0 | 100 | 6 | Brake Current | Brake current to be applied when board is not actively engaged (only applied when an outside force causes motor to move). |
| tnt | brake_curve | 0 | Enable Brake Curve | When enabled a separate braking curve is used, defined below. When disabled the inputs from Acceleration define the braking curve. The filter factors from Acceleration are also used for braking | |||
| tnt | brake_kp0 | 0 | 100 | 0 | Pitch Kp0 | Pitch kp0 is multiplied by board pitch (in degrees) to determine current demand. If there are no currents defined the board will only use kp0, or else it will scale between kp0 and current1. If kp0 is too high for current 1, the kp resulting from current1/pitch1 will be prioritized. | |
| balance | brake_timeout | s | 0 | 10000 | 10 | Brake Timeout | Turn off the brake after this many seconds. It will automatically reactivate if the motor moves. 0 = Disabled. |
| tnt | brakecurrent1 | A | -500 | 500 | 1 | Pitch 1 Current | The unmodified current output at pitch 1. |
| tnt | brakecurrent2 | A | -500 | 500 | 5 | Pitch 2 Current | The unmodified current output at pitch 2. |
| tnt | brakecurrent3 | A | -500 | 500 | 140 | Pitch 3 Current | The unmodified current output at pitch 3. |
| tnt | brakecurrent4 | A | -500 | 500 | 0 | Pitch 4 Current | The unmodified current output at pitch 4 |
| tnt | brakecurrent5 | A | -500 | 500 | 0 | Pitch 5 Current | The unmodified current output at pitch 5 |
| tnt | brakecurrent6 | A | -500 | 500 | 0 | Pitch 6 Current | The unmodified current output at pitch 6. |
| tnt | brakekp_rate | 0 | 1 | 0.45 | Pitch Rate Kp | The proportional gain multiplied by the negative pitch gyro to modify the current output of the board. Higher values produce a more stable and race-like feel, while lower values are looser and more playful. | |
| tnt | brakepitch1 | ° | 0 | 25 | 0.3 | Pitch 1 | Defines the pitch where current1 will be applied. |
| tnt | brakepitch2 | ° | 0 | 25 | 0.7 | Pitch 2 | Defines the pitch where current2 will be applied. |
| tnt | brakepitch3 | ° | 0 | 25 | 3 | Pitch 3 | Defines the pitch where current3 will be applied. |
| tnt | brakepitch4 | ° | 0 | 25 | 4 | Pitch 4 | Defines the pitch where current4 will be applied. |
| tnt | brakepitch5 | ° | 0 | 25 | 5 | Pitch 5 | Defines the pitch where current5 will be applied. |
| tnt | brakepitch6 | ° | 0 | 25 | 6 | Pitch 6 | Defines the pitch where current6 will be applied. |
| float | braketilt_lingering | 1 | 5 | 2 | Brake Tilt Lingering | How long it takes for Brake Tiltback to disappear; 1 is quick, 5 is real slow. Recommended Value: 2 | |
| refloat | braketilt_lingering | 1 | 5 | 2 | Brake Tilt Lingering | How long it takes for Brake Tiltback to disappear; 1 is quick, 5 is real slow. Recommended Value: 2 | |
| float | braketilt_strength | 0 | 20 | 0 | Brake Tilt Strength | Produce a slight noselift on braking to make clearing big obstacles easier (an attempt to mimic Mission behavior). 0 disables Brake Tiltback, 20 is max intensity. Recommended Values: 7-10 | |
| refloat | braketilt_strength | 0 | 20 | 0 | Brake Tilt Strength | Produce a slight noselift on braking to make clearing big obstacles easier (an attempt to mimic Mission behavior). 0 disables Brake Tiltback, 20 is max intensity. Recommended Values: 7-10 | |
| float | brkbooster_angle | ° | 0 | 15 | 8 | Start Angle | Angle (+/-) from which onward booster regen current is applied when braking, in relation to the setpoint. *NOTE: Based on True Pitch |
| refloat | brkbooster_angle | ° | 0 | 15 | 8 | Start Angle | Angle (+/-) from which onward booster regen current is applied when braking, in relation to the setpoint. *NOTE: Based on True Pitch |
| float | brkbooster_current | A | 0 | 100 | 0 | Current Boost | Extra current added to PID Loop, to be applied when braking when booster angle is reached (in relation to Setpoint). Can strengthen the braking intensity at a desired specific angle when raising the nose / lowering the tail. |
| refloat | brkbooster_current | A | 0 | 100 | 0 | Current Boost | Extra current added to PID Loop, to be applied when braking when booster angle is reached (in relation to Setpoint). Can strengthen the braking intensity at a desired specific angle when raising the nose / lowering the tail. |
| float | brkbooster_ramp | ° | 1 | 10 | 4 | Ramp Up | Degrees over which brake-booster will ramp from 0A to the configured Regen Current, starting at Start Angle (i.e. Start Angle of 8° and Ramp Up of 4° means Brake Booster will begin at 8° nose up and strengthen to max current as the board angle approaches 12° nose up from setpoint). *NOTE: Based on True Pitch |
| refloat | brkbooster_ramp | ° | 1 | 10 | 4 | Ramp Up | Degrees over which brake-booster will ramp from 0A to the configured Regen Current, starting at Start Angle (i.e. Start Angle of 8° and Ramp Up of 4° means Brake Booster will begin at 8° nose up and strengthen to max current as the board angle approaches 12° nose up from setpoint). *NOTE: Based on True Pitch |
| tnt | brkroll1 | ° | 0 | 90 | 5 | Level 1 Roll Angle Braking | Brake roll kp acts similar to roll kp. The difference is that brake roll acts to reduce current output while acceleration roll kp increases it. For this reason high values of brake roll kp should be used with caution. 1.0 brake roll kp will reduce current output to zero at the brake roll angle. |
| tnt | brkroll2 | ° | 0 | 90 | 35 | Level 2 Roll Angle Braking | Brake roll kp acts similar to roll kp. The difference is that brake roll acts to reduce current output while acceleration roll kp increases it. For this reason high values of brake roll kp should be used with caution. 1.0 brake roll kp will reduce current output to zero at the brake roll angle. |
| tnt | brkroll3 | ° | 0 | 90 | 0 | Level 3 Roll Angle Braking | Brake roll kp acts similar to roll kp. The difference is that brake roll acts to reduce current output while acceleration roll kp increases it. For this reason high values of brake roll kp should be used with caution. 1.0 brake roll kp will reduce current output to zero at the brake roll angle. |
| tnt | brkroll_kp1 | 0 | 5 | 0 | Level 1 Roll Kp Braking | Brake roll kp acts similar to roll kp. The difference is that brake roll acts to reduce current output while acceleration roll kp increases it. For this reason high values of brake roll kp should be used with caution. 1.0 brake roll kp will reduce current output to zero at the brake roll angle. | |
| tnt | brkroll_kp2 | 0 | 5 | 0.2 | Level 2 Roll Kp Braking | Brake roll kp acts similar to roll kp. The difference is that brake roll acts to reduce current output while acceleration roll kp increases it. For this reason high values of brake roll kp should be used with caution. 1.0 brake roll kp will reduce current output to zero at the brake roll angle. | |
| tnt | brkroll_kp3 | 0 | 5 | 0 | Level 3 Roll Kp Braking | Brake roll kp acts similar to roll kp. The difference is that brake roll acts to reduce current output while acceleration roll kp increases it. For this reason high values of brake roll kp should be used with caution. 1.0 brake roll kp will reduce current output to zero at the brake roll angle. | |
| tnt | brkyaw1 | °/s | 0 | 5000 | 120 | Level 1 Yaw Angle Braking | Brake yaw kp acts similar to yaw kp. The difference is that brake yaw acts to reduce current output while acceleration yaw kp increases it. For this reason high values of brake yaw kp should be used with caution. 1.0 brake yaw kp will reduce current output to zero at the brake yaw angle. |
| tnt | brkyaw2 | °/s | 0 | 5000 | 500 | Level 2 Yaw Angle Braking | Brake yaw kp acts similar to yaw kp. The difference is that brake yaw acts to reduce current output while acceleration yaw kp increases it. For this reason high values of brake yaw kp should be used with caution. 1.0 brake yaw kp will reduce current output to zero at the brake yaw angle. |
| tnt | brkyaw3 | °/s | 0 | 5000 | 750 | Level 3 Yaw Angle Braking | Brake yaw kp acts similar to yaw kp. The difference is that brake yaw acts to reduce current output while acceleration yaw kp increases it. For this reason high values of brake yaw kp should be used with caution. 1.0 brake yaw kp will reduce current output to zero at the brake yaw angle. |
| tnt | brkyaw_kp1 | 0 | 5 | 0 | Level 1 Yaw Kp Braking | Brake yaw kp acts similar to yaw kp. The difference is that brake yaw acts to reduce current output while acceleration yaw kp increases it. For this reason high values of brake yaw kp should be used with caution. 1.0 brake yaw kp will reduce current output to zero at the brake yaw angle change. | |
| tnt | brkyaw_kp2 | 0 | 5 | 0.07 | Level 2 Yaw Kp Braking | Brake yaw kp acts similar to yaw kp. The difference is that brake yaw acts to reduce current output while acceleration yaw kp increases it. For this reason high values of brake yaw kp should be used with caution. 1.0 brake yaw kp will reduce current output to zero at the brake yaw angle change. | |
| tnt | brkyaw_kp3 | 0 | 5 | 0 | Level 3 Yaw Kp Braking | Brake yaw kp acts similar to yaw kp. The difference is that brake yaw acts to reduce current output while acceleration yaw kp increases it. For this reason high values of brake yaw kp should be used with caution. 1.0 brake yaw kp will reduce current output to zero at the brake yaw angle change. | |
| app | can_baud_rate | CAN_BAUD_500K | CAN Baud Rate | The baud rate of the CAN-Bus. Note that all devices on the bus must have the same baud rate. | |||
| app | can_mode | VESC | CAN Mode | CAN-bus mode. VESC Default VESC CAN-bus. Required for CAN forwarding and configuring multiple VESCs using VESC Tool. UAVCAN Basic implementation of UAVCAN. Currently needs some work. Comm Brigde Bridge CAN-bus to commands. Useful for using the VESC and VESC Tool as a generic CAN interface and debugger. Unused CAN-frames are not processed at all and just ignored. Custom applications and scripts can still process CAN-frames. This is very similar to Comm Bridge, but the received frames are not forwarded using commands. | |||
| app | can_status_msgs_r1 | Status 1 | Can Messages Rate 1 | Select which CAN status messages are sent are status rate 1. The messages contain: Status 1: RPM Current Duty Cucle Status 2: Ah Used Ah Charged Status 3: Wh Used Wh Charged Status 4: Temp FET Temp Motor Current In PID-position Now Status 5: Voltage In Tachometer Status 6: ADC1 ADC2 ADC3 PPM | |||
| app | can_status_msgs_r2 | Status 1 | Can Messages Rate 2 | Select which CAN status messages are sent are status rate 2. The messages contain: Status 1: RPM Current Duty Cucle Status 2: Ah Used Ah Charged Status 3: Wh Used Wh Charged Status 4: Temp FET Temp Motor Current In PID-position Now Status 5: Voltage In Tachometer Status 6: ADC1 ADC2 ADC3 PPM | |||
| app | can_status_rate_1 | Hz | 0 | 10000 | 50 | Can Status Rate 1 | Rate 1 at which CAN status messages are sent on the CAN-bus. |
| app | can_status_rate_2 | Hz | 0 | 10000 | 5 | Can Status Rate 2 | Rate 2 at which CAN status messages are sent on the CAN-bus. |
| motor | cc_gain | 0 | 5 | 0.0046 | Current Controller Gain | Gain for the BLDC and DC current controller. Should be lower for low inductance motors. | |
| motor | cc_min_current | A | 0 | 500 | 0.05 | Minimum Current | Minimum current used by the current controller. Commanded currents below this value will release the motor. |
| motor | cc_ramp_step_max | 0 | 1 | 0.04 | Current Control Ramp Step Max | Maximum duty cycle ramp step in current control mode for DC and BLDC motors. | |
| motor | cc_startup_boost_duty | 0 | 1 | 0.01 | Startup boost | Startup boost in current control. Essentially defines the lowest duty cycle to be used in current control mode, to give a bit more punch when starting. | |
| motor | comm_mode | Integrate | Commutation Mode | Delay This is what most cheap hobby ESCs use, which is detecting a BEMF zero crossing and adding a delay Integrate The back-EMF is sampled continuously after a zero crossing and the area under it is integrated. This is more robust and works better at low speed. For this mode the BEMF coupling and integration limit has to be know. The detect function can be used to measure these parameters. | |||
| balance | config_name | balance_config | none | ||||
| float | config_name | float_config | none | ||||
| refloat | config_name | RefloatConfig | none | ||||
| tnt | config_name | tnt_config | none | ||||
| app | controller_id | 0 | 255 | 74 | VESC ID | VESC ID. Used to identify this VESC on the CAN-bus. | |
| tnt | current1 | A | -500 | 500 | 1 | Pitch 1 Current | The unmodified current output at pitch 1. |
| tnt | current2 | A | -500 | 500 | 5 | Pitch 2 Current | The unmodified current output at pitch 2. |
| tnt | current3 | A | -500 | 500 | 140 | Pitch 3 Current | The unmodified current output at pitch 3. |
| tnt | current4 | A | -500 | 500 | 0 | Pitch 4 Current | The unmodified current output at pitch 4. |
| tnt | current5 | A | -500 | 500 | 0 | Pitch 5 Current | The unmodified current output at pitch 5. |
| tnt | current6 | A | -500 | 500 | 0 | Pitch 6 Current | The unmodified current output at pitch 6. |
| float | dark_pitch_offset | ° | -10 | 10 | 0 | Darkride Pitch Offset | How much to lift/lower the nose to make the board level when it's upside down for darkride. Shouldn't be needed with properly calibrated Gyro and Accelerometer |
| refloat | dark_pitch_offset | ° | -10 | 10 | 0 | Darkride Pitch Offset | How much to lift/lower the nose to make the board level when it's upside down for darkride. Shouldn't be needed with properly calibrated Gyro and Accelerometer |
| info | data_analysis_description | Data Analysis Description | Data Analysis Here you can stream and plot data from the VESC to analyze what is going on. Next to all plots the following buttons are available: If this button is toggled active (blue), scolling with the mouse on the graph will zoom the graph horizontally. If this button is toggled active (blue), scolling with the mouse on the graph will zoom the graph vertically. Often it is useful to deactivate this button and only zoom in the horizontal direction because the sampled data can be squeezed together horizontally for long sampling sequences. This is the auto fit button. If the toggle verion of the button is active (blue), new realtime data that drops in will cause a rezoom in the graph to fit all data. Deactivating this button can be useful of you want to zoom in on the realtime data manually while samples are dropping in. This is the non-toggle version of the auto fit button. Pressing it will zoom the plots so that all data fits in them. Realtime Data The realtime data page can be used to stream and plot filtered data continuously, which can be useful for visualizing things in real time while they are happening. For example, if you run a motor and put some load on it, you can see that reflected right away in the current and RPM graphs. Tuning the position and speed PID control parameters is also a lot easier when looking at the step response in a graph. In ordet to stream realtime data, the Stream realtime data button in the main toolbar to the right has to be activated: Sampled Data The sampled data page can be used to sample data at high rate internally on the VESC and send it back for plotting after that. This page can be used to visualize all samples taken by the ADCs to analyze the current and voltage waveforms in detail. Since this data is sampled at such a high rate it cannot be streamed in real time, which is why sampling and plotting has to be toggled manually. There are two buttons for starting the sampling in the lower toolbar in this page: Sample data now and send it when this is done. Sample data the next time the motor starts moving. This can be useful to analyze the startup behaviour in real time. There are also options to apply filters to the sampled data and/or to plot a FFT of all samples if desired. | ||||
| balance | deadzone | ° | 0 | 5 | 0 | Deadzone | Deadzone disables balancing at center. |
| info | dev_tools_description | Development Tool Description | VESC Development Tools Terminal This is a text command interface to some advanced and debug-functions of the hardware. Qml Scripting Qml is an extension of javascript that is used to make mobile applications in Qt. The mobile version of VESC Tool as well as the wizards in the desktop version are written in Qml. The Qml-editor in VESC Tool can be used to write custom user interface pages that are loaded and run in VESC Tool. There are many examples available that can be used as a starting point. Lisp Scripting The VESC motor control firmware as well as the VESC Express firmware have a built-in version of LispBM, which is a modern embedded scripting language based on lisp. Code written in LispBM runs directly on the hardware and can be used for custom functionality not covered by the basic applications. CAN Analyzer Simple CAN-bus tool that can read and send messages on the CAN-bus. Display Tool Graphic and font generation tool for displays supported by the VESC display driver, which is part of the Express firmware. Debug Console Debug messages from VESC Tool are printed here. | ||||
| tnt | disable_pkg | 0 | Disable Package | For Initial Setup Only! Use this option when you need to run the motor wizard or you want to troubleshoot your motor and run terminal commands. Riding won't be possible with this set to true. | |||
| refloat | disabled | 0 | Disable Package | For Initial Setup Only! Use this option when you need to run the motor wizard or you want to troubleshoot your motor and run terminal commands. Riding won't be possible with this set to true. | |||
| tnt | enable_speed_stability | 1 | Enable Speed Stability | Stablity increases the current output of the throttle/brake curves by a percentage. This can be activated with increasing speed or remote throttle control. If both are enabled the highest value prevails. | |||
| tnt | enable_throttle_stability | 0 | Enable Throttle Stability | Allows stability to be increased with a remote. Maximum throttle gives maximum stability. Activating this will disable input tilt, but sticky tilt can be used to set persistent stability values. If input tilt is set to a maximum of 10 degrees and sticky values 1 and 2 are 3 and 6 degrees, activating those sticky values will give you 30% and 60% x Stability Maximum Scale, respectively. | |||
| balance | fault_adc1 | V | 0 | 3.3 | 0 | ADC1 Switch Voltage | Voltage below this value will trigger a fault. To disable this switch set this value to 0. Hint: consider a pulldown resisitor! |
| float | fault_adc1 | V | 0 | 3.3 | 2 | ADC1 Switch Voltage | Voltage below this value will trigger a fault for the corresponding sensor zone. To disable this switch, set this value to 0. Hint: If voltage with no input does not settle near 0, consider a pulldown resisitor! |
| refloat | fault_adc1 | V | 0 | 3.3 | 2 | ADC1 Switch Voltage | Voltage below this value will trigger a fault for the corresponding sensor zone. To disable this switch, set this value to 0. Hint: If voltage with no input does not settle near 0, consider a pulldown resisitor! |
| tnt | fault_adc1 | V | 0 | 3.3 | 2.5 | ADC1 Switch Voltage | Voltage below this value will trigger a fault for the corresponding sensor zone. To disable this switch, set this value to 0. Hint: If voltage with no input does not settle near 0, consider a pulldown resisitor! |
| balance | fault_adc2 | V | 0 | 3.3 | 0 | ADC2 Switch Voltage | Voltage below this value will trigger a fault. To disable this switch set this value to 0. Hint: consider a pulldown resisitor! |
| float | fault_adc2 | V | 0 | 3.3 | 2 | ADC2 Switch Voltage | Voltage below this value will trigger a fault for the corresponding sensor zone. To disable this switch, set this value to 0. Hint: If voltage with no input does not settle near 0, consider a pulldown resisitor! |
| refloat | fault_adc2 | V | 0 | 3.3 | 2 | ADC2 Switch Voltage | Voltage below this value will trigger a fault for the corresponding sensor zone. To disable this switch, set this value to 0. Hint: If voltage with no input does not settle near 0, consider a pulldown resisitor! |
| tnt | fault_adc2 | V | 0 | 3.3 | 2.5 | ADC2 Switch Voltage | Voltage below this value will trigger a fault for the corresponding sensor zone. To disable this switch, set this value to 0. Hint: If voltage with no input does not settle near 0, consider a pulldown resisitor! |
| balance | fault_adc_half_erpm | ERPM | 0 | 100000 | 1000 | ADC Half State Fault ERPM | ERPM (absoulte value) below which a half state on the ADC switches will be considered a fault. |
| float | fault_adc_half_erpm | ERPM | 0 | 100000 | 200 | ADC Half State Fault ERPM | ERPM (absoulte value) below which a Half State on the ADC switches (sensor zones) will be considered a Fault. *Note: ERPM = RPM * (Motor Poles / 2)For an 11" Tire on a Hypercore Motor (30 Poles):1000 ERPM ≈ 2.2 mph ≈ 3.5 km/h |
| refloat | fault_adc_half_erpm | ERPM | 0 | 100000 | 200 | ADC Half State Fault ERPM | ERPM (absoulte value) below which a Half State on the ADC switches (sensor zones) will be considered a Fault. *Note: ERPM = RPM * (Motor Poles / 2)For an 11" Tire on a Hypercore Motor (30 Poles):1000 ERPM ≈ 2.2 mph ≈ 3.5 km/h |
| tnt | fault_adc_half_erpm | ERPM | 0 | 100000 | 200 | ADC Half State Fault ERPM | ERPM (absoulte value) below which a Half State on the ADC switches (sensor zones) will be considered a Fault. *Note: ERPM = RPM * (Motor Poles / 2)For an 11" Tire on a Hypercore Motor (30 Poles):1000 ERPM ≈ 2.2 mph ≈ 3.5 km/h |
| float | fault_darkride_enabled | 0 | Enable Darkride | Allows riding the board upside down without sensors. A primitive Reverse Stop (disengage when rolling backwards) is active when using Darkride to allow safe dismount and prevent ghosting. *DISCLAIMER: Requires correct speed calibration!! The board WILL ghost for sure if your normal speeds are negative!! | |||
| refloat | fault_darkride_enabled | 0 | Enable Darkride | Allows riding the board upside down without sensors. A primitive Reverse Stop (disengage when rolling backwards) is active when using Darkride to allow safe dismount and prevent ghosting. *DISCLAIMER: Requires correct speed calibration!! The board WILL ghost for sure if your normal speeds are negative!! | |||
| balance | fault_delay_duty | ms | 0 | 10000 | 0 | Duty Fault Delay | Duty cycle cutoff time delay in ms. |
| balance | fault_delay_pitch | ms | 0 | 10000 | 0 | Pitch Fault Delay | Pitch fault cutoff time delay in ms. |
| float | fault_delay_pitch | ms | 0 | 10000 | 250 | Pitch Fault Delay | Delay before cutoff, in milliseconds, once a Pitch Axis Fault is detected. |
| refloat | fault_delay_pitch | ms | 0 | 10000 | 250 | Pitch Fault Delay | Delay before cutoff, in milliseconds, once a Pitch Axis Fault is detected. |
| tnt | fault_delay_pitch | ms | 0 | 10000 | 250 | Angle Fault Delay | Delay before cutoff, in milliseconds, once a Pitch Axis Fault is detected. |
| balance | fault_delay_roll | ms | 0 | 10000 | 0 | Roll Fault Delay | Roll fault cutoff time delay in ms. |
| float | fault_delay_roll | ms | 0 | 10000 | 250 | Roll Fault Delay | Delay before cutoff, in milliseconds, once a Roll Axis Fault is detected. |
| refloat | fault_delay_roll | ms | 0 | 10000 | 250 | Roll Fault Delay | Delay before cutoff, in milliseconds, once a Roll Axis Fault is detected. |
| balance | fault_delay_switch_full | ms | 0 | 10000 | 0 | Full Switch Fault Delay | Full switch cutoff time delay in ms. |
| float | fault_delay_switch_full | ms | 0 | 10000 | 250 | Full Switch Fault Delay | Delay before cutoff, in milliseconds, once a Full Switch Fault is detected. |
| refloat | fault_delay_switch_full | ms | 0 | 10000 | 250 | Full Switch Fault Delay | Delay before cutoff, in milliseconds, once a Full Switch Fault is detected. |
| tnt | fault_delay_switch_full | ms | 0 | 10000 | 250 | Full Switch Fault Delay | Delay before cutoff, in milliseconds, once a Full Switch Fault is detected. |
| balance | fault_delay_switch_half | ms | 0 | 10000 | 0 | Half Switch Fault Delay | Half switch cutoff time delay in ms. |
| float | fault_delay_switch_half | ms | 0 | 10000 | 100 | Half Switch Fault Delay | Delay before cutoff, in milliseconds, once a Half Switch Fault is detected. |
| refloat | fault_delay_switch_half | ms | 0 | 10000 | 250 | Half Switch Fault Delay | Delay before cutoff, in milliseconds, once a Half Switch Fault is detected. |
| tnt | fault_delay_switch_half | ms | 0 | 10000 | 500 | Half Switch Fault Delay | Delay before cutoff, in milliseconds, once a Half Switch Fault is detected. |
| balance | fault_duty | 0 | 1 | 0.9 | Duty Cycle Fault Cutoff | Duty cycle value to trigger a safety cutoff 0-1% (This cutoff will lock the app untill another fault occurs). | |
| balance | fault_is_dual_switch | 0 | Treat both sensors as one | Treat both sensors as a single one, i.e. startup only requires one of the sensors, and heel lifts aren't possible (for advanced riders only!). | |||
| float | fault_is_dual_switch | 0 | Treat Both Sensors as One (Posi) | Treats both sensors as one single-zone sensor (a.k.a. Posi Sensor). Can help guarantee continued sensor engagement, especially at low speed, but disables the Half Switch Fault (Heel Lift dismount) and can present extra ghosting risk if a sensor is stuck. *Note: For Advanced Riders only! | |||
| refloat | fault_is_dual_switch | 0 | Treat Both Sensors as One (Posi) | Treats both sensors as one single-zone sensor (a.k.a. Posi Sensor). Can help guarantee continued sensor engagement, especially at low speed, but disables the Half Switch Fault (Heel Lift dismount) and can present extra ghosting risk if a sensor is stuck. *Note: For Advanced Riders only! | |||
| tnt | fault_is_dual_switch | 0 | Treat Both Sensors as One (Posi) | Treats both sensors as one single-zone sensor (a.k.a. Posi Sensor). Can help guarantee continued sensor engagement, especially at low speed, but disables the Half Switch Fault (Heel Lift dismount) and can present extra ghosting risk if a sensor is stuck. *Note: For Advanced Riders only! | |||
| float | fault_moving_fault_disabled | 0 | Disable Moving Faults | Disables ADC Faults completely as long as ERPM is positive (moving forward) and above the Half State Fault ERPM x2, as well as the Roll angle being within 40° of level. Outside of the threshold, the board will not disengage on its own, but rather just default to allowing ADC Faults to disengage the board. *DISCLAIMER: Requires correct speed calibration and Tail Heavy Board!! The board WILL ghost for sure if your normal speeds read as negative or if your board is nose heavy!! | |||
| refloat | fault_moving_fault_disabled | 0 | Disable Moving Faults | Disables ADC Faults completely as long as ERPM is positive (moving forward) and above the Half State Fault ERPM x2, as well as the Roll angle being within 40° of level. Outside of the threshold, the board will not disengage on its own, but rather just default to allowing ADC Faults to disengage the board. *DISCLAIMER: Requires correct speed calibration and Tail Heavy Board!! The board WILL ghost for sure if your normal speeds read as negative or if your board is nose heavy!! | |||
| tnt | fault_moving_fault_disabled | 0 | Disable Moving Faults | Disables ADC Faults completely as long as ERPM is positive (moving forward) and above the Half State Fault ERPM x2, as well as the Roll angle being within 40° of level. Outside of the threshold, the board will not disengage on its own, but rather just default to allowing ADC Faults to disengage the board. *DISCLAIMER: Requires correct speed calibration and Tail Heavy Board!! The board WILL ghost for sure if your normal speeds read as negative or if your board is nose heavy!! | |||
| balance | fault_pitch | ° | -180 | 180 | 20 | Pitch Axis Fault Cutoff | Angle to turn off driving (on the pitch axis). |
| float | fault_pitch | ° | -180 | 180 | 60 | Pitch Axis Fault Cutoff | Pitch Angle at which a fault is triggered and the board is disengaged. Can help potentially cut-off a runaway board with a stuck sensor (a.k.a "Ghosting"). |
| refloat | fault_pitch | ° | -180 | 180 | 60 | Pitch Axis Fault Cutoff | Pitch Angle at which a fault is triggered and the board is disengaged. Can help potentially cut-off a runaway board with a stuck sensor (a.k.a "Ghosting"). |
| tnt | fault_pitch | ° | 0 | 180 | 80 | Pitch Axis Fault Cutoff | Pitch Angle at which a fault is triggered and the board is disengaged. Can help potentially cut-off a runaway board with a stuck sensor (a.k.a "Ghosting"). |
| float | fault_reversestop_enabled | 0 | Enable Reverse Stop | Allows stopping the onewheel gently by going backwards a bit. Will slowly tilt until it exceeds 15 degrees, and then turn off. It will also stop if going in reverse and staying above 5 degrees tilt for 1+ seconds, or above 10 degrees tilt for 0.5+ seconds. *Note: With Reverse Stop enabled, it's much harder if not impossible to balance standing still *DISCLAIMER: Requires correct speed calibration!! You WON'T be able to go forward if your normal speeds are negative!! | |||
| refloat | fault_reversestop_enabled | 0 | Enable Reverse Stop | Allows stopping the onewheel gently by going backwards a bit. Will slowly tilt until it exceeds 15 degrees, and then turn off. It will also stop if going in reverse and staying above 5 degrees tilt for 1+ seconds, or above 10 degrees tilt for 0.5+ seconds. *Note: With Reverse Stop enabled, it's much harder if not impossible to balance standing still *DISCLAIMER: Requires correct speed calibration!! You WON'T be able to go forward if your normal speeds are negative!! | |||
| balance | fault_roll | ° | -180 | 180 | 45 | Roll Axis Fault Cutoff | Angle to turn off driving (on the roll axis). |
| float | fault_roll | ° | -180 | 180 | 60 | Roll Axis Fault Cutoff | Roll Angle at which a fault is triggered and the board is disengaged. Can help potentially cut-off a runaway board with a stuck sensor (a.k.a "Ghosting"). |
| refloat | fault_roll | ° | -180 | 180 | 60 | Roll Axis Fault Cutoff | Roll Angle at which a fault is triggered and the board is disengaged. Can help potentially cut-off a runaway board with a stuck sensor (a.k.a "Ghosting"). |
| tnt | fault_roll | ° | 0 | 180 | 80 | Roll Axis Fault Cutoff | Roll Angle at which a fault is triggered and the board is disengaged. Can help potentially cut-off a runaway board with a stuck sensor (a.k.a "Ghosting"). |
| float | float_disable | 0 | Disable Float Package | For Initial Setup Only! Use this option when you need to run the motor wizard or you want to troubleshoot your motor and run terminal commands. Riding won't be possible with this set to true. | |||
| float | float_version | 2 | 2 | 2 | Package Version | Version of the Float Package. | |
| motor | foc_cc_decoupling | FOC_CC_DECOUPLING_DISABLED | Current Controller Decoupling | FOC current controller decoupling using feed forward. This will make the current controller perform better during transient conditions; it may also introduce some noise. The available modes are: FOC_CC_DECOUPLING_DISABLED Decoupling is disabled FOC_CC_DECOUPLING_CROSS Cross decoupling between the D and Q axes is enabled. FOC_CC_DECOUPLING_BEMF Back EMF decoupling on the Q axis is enabled. This improves performance significantly if the motor speed changes rapidly, but makes the current controller depend on the speed tracker. FOC_CC_DECOUPLING_CROSS_BEMF Both options above are enabled. | |||
| motor | foc_control_sample_mode | V0 Only | Control Sample Mode | V0 Only Sample and run the control loop in V0 only. V0 and V7 Sample currents and voltages in both V0 and V7 and run the full control loop at twice the rate. Can be useful for high speed motors at limited switching frequency, or in order to decrease the modulation noise. Notice that this option will require twice the amount of computational power for a given switching frequency. This mode is only valid for hardware with phase shunts, such as the VESC Six. For other shunt configurations it is ignored. V0 and V7 Interpolation Regular sampling and control in V0 and advance the voltage vector with interpolation in V7. This can help motors run better at high speeds. | |||
| motor | foc_current_filter_const | 0 | 1 | 0.1 | Current Filter Constant | Constant for the filtered current in the FOC implementation. Will affect how fast the slow abs max current fault triggers. Range 0 to 1, where 0 is the slowest and 1 is no filtering. | |
| motor | foc_current_ki | 0 | 100000 | 11.85 | Current KI | Current controller integral gain. | |
| motor | foc_current_kp | 0 | 100000 | 0.0123 | Current KP | Current controller proportional gain. | |
| motor | foc_current_sample_mode | Longest Zero Time | Current Sample Mode | Longest Zero Time Pick the two sensors that spend the longest time in the zero vectors and calculate the third current from them. This can help reduce noise and gives low side shunt hardware more time to rise before the sample is taken on high modulation. All Sensors Combined Use all three current readings and make a full Clarke transform. This helps reject common mode noise and also reduces current offsets on motors with low inductance with high current ripple. High Current Choose the lowest currents during sampling to derive the highest current. Since the motor currents are balanced and sum to 0, two of the phase currents can be used to derive the third one. Enabling this option will make the current measurement compare all motor currents and derive the highest one from the two lower currents. This way higher currents can be measured than the ADC gain allows by a factor of 2 / sqrt(3), or roughly 1.15. For example, for the VESC6 this increases the current measurement capability from 165A to roughly 190A. Note This parameter is only valid for hardware with three shunts, such as the VESC Six. For other shunt configurations it is ignored. | |||
| motor | foc_d_gain_scale_max_mod | 0 | 1 | 0.2 | D Axis Gain Scaling at Max Mod | D axis current controller gain at maximum modulation. | |
| motor | foc_d_gain_scale_start | 0 | 1 | 0.9 | D Axis Gain Scaling Start | Start decreasing the D axis current controller gain at this modulation. | |
| motor | foc_dt_us | µS | 0 | 1000 | 0.12 | Dead Time Compensation | Compensation for dead time distortion. Makes some difference at low speed. |
| motor | foc_duty_dowmramp_ki | 0 | 1e+06 | 1000 | Duty Downramp Ki | The integral gain for the duty downramp controller. This controller is used in duty cycle mode when the duty cycle is decreased. Since this is done by limiting the modulation, very large current spikes can be caused. By using a controller these current spikes can be limited. | |
| motor | foc_duty_dowmramp_kp | 0 | 1e+06 | 50 | Duty Downramp Kp | The proportional gain for the duty downramp controller. This controller is used in duty cycle mode when the duty cycle is decreased. Since this is done by limiting the modulation, very large current spikes can be caused. By using a controller these current spikes can be limited. | |
| motor | foc_encoder_inverted | 0 | Encoder Inverted | The encoder is inverted if it counts backwards while the motor is turning forwards. | |||
| motor | foc_encoder_offset | 0 | 360 | 180 | Encoder Offset | Offset between the encoder zero and motor zero points. | |
| motor | foc_encoder_ratio | 0 | 10000 | 7 | Encoder Ratio | Ratio between encoder and motor. E.g. a 14 pole motor with a directly attached encoder has ratio 7. | |
| motor | foc_f_zv | kHz | 0 | 150000 | 30000 | Zero Vector Frequency | The frequency at which the output toggles between the zero vectors (V0 and V7) in the space vector modulation. The controllers and estimators run at half of this frequency. If the option Sample in V0 and V7 is active the controllers and estimators run at the full zero vector frequency, but this option is only available on hardware with phase shunts. NOTE There has been some confusion on what the zero vector frequency is referring to. It is the rate between the zero vectors V0 (when all low-side switches are on) and V7 (when all high-side switches are on). If you scope one of the phases you will see a signal at half the set frequency, which is what the timer runs at. That is because the motor phases will be shorted both when the signal is low and when it is high. This is one of the core concepts of space-vector modulation and how you can effectively double the switching frequency with the same amount of switching. There is also some frequency content at half of this frequency depending on the modulated vector, but it is mainly at the set switching frequency and this is also what matters when e.g. calculating ripple current due to motor inductance. Some links to discussions about this: https://vesc-project.com/node/3278 https://github.com/vedderb/bldc/pull/397 |
| motor | foc_fw_current_max | A | 0 | 5000 | 0 | Field Weakening Current Max | Maximum field weakening (FW) current. |
| motor | foc_fw_duty_start | % | 0 | 1 | 0.9 | Field Weakening Duty Start | Start field weakening at this fraction of maximum duty cycle. |
| motor | foc_fw_q_current_factor | % | 0 | 1 | 0.02 | Q Axis Current Factor | Give the q axis current this much of the field weakening current as braking current (opposite to the current direction). This helps slow the motor down when commanding 0 current in case the position has an offset and the field weakening current contributes with torque. |
| motor | foc_fw_ramp_time | ms | 0 | 30 | 0.2 | Field Weakening Ramp Time | Minimum time to ramp the field weakening current. Setting this to 0 will make the field weakening respond instantly (limited by the D axis current controller). |
| motor | foc_hall_interp_erpm | 0 | 1e+06 | 500 | Hall Interpolation ERPM | ERPM above which hall sensors are interpolated. | |
| motor | foc_hall_table__0 | 0 | 255 | 255 | Hall Table [0] | Hall sensor table entry for sensor output 0. | |
| motor | foc_hall_table__1 | 0 | 255 | 255 | Hall Table [1] | Hall sensor table entry for sensor output 1. | |
| motor | foc_hall_table__2 | 0 | 255 | 255 | Hall Table [2] | Hall sensor table entry for sensor output 2. | |
| motor | foc_hall_table__3 | 0 | 255 | 255 | Hall Table [3] | Hall sensor table entry for sensor output 3. | |
| motor | foc_hall_table__4 | 0 | 255 | 255 | Hall Table [4] | Hall sensor table entry for sensor output 4. | |
| motor | foc_hall_table__5 | 0 | 255 | 255 | Hall Table [5] | Hall sensor table entry for sensor output 5. | |
| motor | foc_hall_table__6 | 0 | 255 | 255 | Hall Table [6] | Hall sensor table entry for sensor output 6. | |
| motor | foc_hall_table__7 | 0 | 255 | 255 | Hall Table [7] | Hall sensor table entry for sensor output 7. | |
| motor | foc_hfi_gain | 0 | 99 | 0.3 | HFI Gain | Correction gain for the silent HFI mode. Higher values are better at handling sudden changes in speed, but also make the position tracking noisier. | |
| motor | foc_hfi_hyst | A | 0 | 500 | 0 | HFI Current Hysteresis | Current hysteresis for the silent HFI mode. This sets above which current magnitude the injected voltage vector changes phase. Always setting the phase opposite of the set current is best for tracking, but every phase change causes a small click that can be heard. This hysteresis reduces how often the phase is changed around 0 current at the cost of some performance. |
| motor | foc_hfi_max_err | 0.001 | 6 | 0.15 | HFI Max Error | Maximum HFI angle error. Lowe values help reject noise at high current, but do not keep up with too fast acceleration. | |
| motor | foc_hfi_obs_ovr_sec | ms | 0 | 5000 | 0.001 | HFI Observer Override Time | Override HFI position with observer position for this amount of time after dropping below the HFI ERPM threshold. This can prevent oscillating between the two at a transition. Setting this value too high can make HFI catch the motor 180 electrical degrees off, as the observer position might degrade too much. |
| motor | foc_hfi_samples | 16 | HFI Samples | Number of HFI samples for each motor revolution. This can't be an arbitrary number as the size of Fourier transforms and sine tables depends on it. Fewer samples will give noisier measurements, but allows estimating the position at a higher rate. The noise can be reduced by increasing the HFI voltage. | |||
| motor | foc_hfi_start_samples | 2 | 60000 | 5 | HFI Start Samples | Number of HFI samples to resolve ambiguity at start. Every sample takes a bit more than 0.5 ms, and no throttle can be applied during this time. The default value is barely noticeable. | |
| motor | foc_hfi_voltage_max | V | 0 | 700 | 6 | HFI Max Voltage | HFI voltage during operation, at maximum current. Increasing the voltage at higher currents helps with tracking. A higher voltage makes HFI noisier and wastes more power, which is why this option allows increasing it at high motor currents when it is needed. The HFI voltage is mapped between voltage_run and voltage_max, relative to the motor current. |
| motor | foc_hfi_voltage_run | V | 0 | 700 | 4 | HFI Run Voltage | HFI voltage during operation, after ambiguity has been resolved. |
| motor | foc_hfi_voltage_start | V | 0 | 700 | 20 | HFI Start Voltage | HFI voltage at start to resolve ambiguity. This voltage has to cause a current that is high enough to see signs of saturation in the motor. |
| motor | foc_motor_flux_linkage | mWb | 0 | 1000 | 0.004014 | Motor Flux Linkage (λ) | The flux linkage of the motor (λ) [mWb] |
| motor | foc_motor_l | µH | 0 | 10 | 1.227e-05 | Motor Inductance (L) | The average of LD and LQ inductance. |
| motor | foc_motor_ld_lq_diff | µH | -10 | 10 | 3.77e-06 | Motor Inductance Difference (Lq - Ld) | The difference between Ld and Lq inductance. It represents the motor saliency. This can be measured using the measure_ind terminal command, but the regular detection interface does not print it yet. |
| motor | foc_motor_r | mΩ | 0 | 1000 | 0.0118 | Motor Resistance (R) | The motor winding resistance. Should be half of what is measured between two motor wires. |
| motor | foc_mtpa_mode | Disabled | MTPA Algorithm Mode | This parameter will enable the Maximum Torque Per Amp (MTPA) algorithm that injects a negative d axis current to follow the optimum torque trajectory. This is specially valuable on Interior Permanent Magnet (IPM) motors because they have large saliency and can yield a substantial torque increase. The available modes are: Disabled This disables the MTPA algorithm. IQ Target The D-axis current is based on the set Q-axis current. This makes the target value less noisy, but relies on the current controller keeping keeping the Q-axis current close to the set value. This mode does not work well with duty cycle control. IQ Measured The D-axis current is based on the measured Q-axis current. The commanded D-axis current will be more affected by noise, but it does not rely on the Q-axis current controller to keep the current at the set value. Note: Only enable this feature if you know very well what you are doing. IPM motors are not popular and injecting negative id current can increase the motor speed. If id current suddenly collapses (under a fault condition for example) the DC Bus voltage can increase well beyond the powerstage rating causing a fire and maximum braking power at the motor shaft. | |||
| motor | foc_observer_gain | 0 | 2e+10 | 6.206e+07 | Observer Gain (x1M) | The observer gain. If the motor does not run smoothly with the calculated value, this value can be tweaked. Try with doubling or halving it in that case. | |
| motor | foc_observer_gain_slow | 0 | 1 | 0.05 | Observer Gain At Minimum Duty | The observer gain scaled at minimum duty cycle. Decreasing this parameter will make observer gain lower at lower modulation, which can help tracking the motor. Setting this parameter to 1 will make the observer gain constant at all modulations. | |
| motor | foc_observer_offset | -5 | 5 | -1 | Observer Offset | Observer offset in switching cycles. There is some delay between when the current ant voltage measurements are taken and when the output is applied. This will cause the observer phase to lag behind the motor phase at high speed when the zero vector frequency is low in comparison. This parameter adds an offset to the observer phase in multiples of the zero vector frequency to compensate for that delay. The default value should be good for most hardware, but if needed this value can be fine-tuned using and encoder and/or a power analyzer. Important Note Before changing this value, make sure that any phase delay is not caused by incorrect motor parameters or incorrect measurements. Only change this value if you have excluded other possible causes and you know what you are doing. | |
| motor | foc_observer_type | FOC_OBSERVER_MXLEMMING_LAMBDA_COMP | Observer Type | Type of rotor position observer for field oriented control (FOC). The options are: FOC_OBSERVER_ORTEGA_ORIGINAL The observer described here: http://cas.ensmp.fr/~praly/Telechargement/Journaux/2010-IEEE_TPEL-Lee-Hong-Nam-Ortega-Praly-Astolfi.pdf FOC_OBSERVER_MXLEMMING Observer by David Molony, also known as mxlemming. This observer does not rely on the observer gain parameter, which is a significant advantage. FOC_OBSERVER_MXV Same as MXLEMMING, but truncates the flux linkage in two dimensions. FOC_OBSERVER_ORTEGA_LAMBDA_COMP FOC_OBSERVER_MXLEMMING_LAMBDA_COMP FOC_OBSERVER_MXV_LAMBDA_COMP Same as the others, but with flux linkage tracking. The flux linkage tracker uses the observer gain for both observers, but it is less critical to get it right here as the flux linkage is mostly DC (unless the current is high and the motor starts to saturate). FOC_OBSERVER_MXV_LAMBDA_COMP_LIN Uses linear lambda compensation instead of squares. | |||
| motor | foc_offsets_cal_on_boot | 1 | Run calibration at boot | Run calibration every boot. | |||
| motor | foc_offsets_current__0 | 0 | 8192 | 2047.39 | Current Offset 0 | Current channel 0 offset in ADC counts. | |
| motor | foc_offsets_current__1 | 0 | 8192 | 2048.29 | Current Offset 1 | Current channel 1 offset in ADC counts. | |
| motor | foc_offsets_current__2 | 0 | 8192 | 2048.89 | Current Offset 2 | Current channel 2 offset in ADC counts. | |
| motor | foc_offsets_voltage__0 | V | -2 | 2 | 0.0002 | Voltage Offset 0 | Voltage channel 0 offset. This is at the ADC input, so it is not scaled with the voltage dividers. |
| motor | foc_offsets_voltage__1 | V | -2 | 2 | 0.0006 | Voltage Offset 1 | Voltage channel 1 offset. This is at the ADC input, so it is not scaled with the voltage dividers. |
| motor | foc_offsets_voltage__2 | V | -2 | 2 | -0.0009 | Voltage Offset 2 | Voltage channel 2 offset. This is at the ADC input, so it is not scaled with the voltage dividers. |
| motor | foc_offsets_voltage_undriven__0 | V | -2 | 2 | 0.0005 | Voltage Offset Undriven 0 | Voltage channel 0 offset when the motor is undriven. This is at the ADC input, so it is not scaled with the voltage dividers. |
| motor | foc_offsets_voltage_undriven__1 | V | -2 | 2 | -0.0003 | Voltage Offset Undriven 1 | Voltage channel 1 offset when the motor is undriven. This is at the ADC input, so it is not scaled with the voltage dividers. |
| motor | foc_offsets_voltage_undriven__2 | V | -2 | 2 | -0.0002 | Voltage Offset Undriven 2 | Voltage channel 2 offset when the motor is undriven. This is at the ADC input, so it is not scaled with the voltage dividers. |
| motor | foc_openloop_rpm | 0 | 1e+06 | 1500 | Openloop ERPM | ERPM below which openloop commutation is used when running sensorless. Can be tweaked for the best startup depending on e.g. the load inertia. | |
| motor | foc_openloop_rpm_low | 0 | 1 | 0 | Openloop ERPM at Min Current | Rationale With low current, the observer has an easier time locking onto the motor, as the `resistance_error * current` has to be low compared to the back-emf for the observer to work. Functional description The openloop ERPM is scaled with the motor current setpoint. This is the fraction of Openloop ERPM at 0A (i.e. minimum current). | |
| motor | foc_phase_filter_disable_fault | 1 | Disable Phase Filter Fault Code | Disable the phase filter fault code. This can be useful if the phase filter fault seems to trigger for no reason on some difficult motors. | |||
| motor | foc_phase_filter_enable | 1 | Enable Phase Filters | This enables the use of phase voltage filters on hardware that supports it. Instead of calculating the phase voltage from the input voltage and modulation, it is measured directly by low-pass filtering the power stage output. The advantage of doing so is that it eliminates dead-time distortion, which helps track the motor at very low speeds. It should also be very useful on hardware with an IGBT output stage, as it compensated for the effect of IGBT voltage drop too. | |||
| motor | foc_phase_filter_max_erpm | ERPM | 0 | 100000 | 4000 | Maximum ERPM for phase filters | Use the filtered phase voltage up until this ERPM, then use the value derived from the input voltage and the modulation. The delay and attenuation from the phase filters increases with the motor speed, while the dead-time distortion becomes less significant. The delay and attenuation is partly compensated for, but at some point it is still better to derive the phase voltages from the input voltage and modulation. This parameter sets that point. |
| motor | foc_pll_ki | 0 | 1e+06 | 30000 | Speed Tracker Ki | Speed tracker integral gain. The speed tracker estimates the motor speed by tracking the phase angle. | |
| motor | foc_pll_kp | 0 | 1e+06 | 2000 | Speed Tracker Kp | Speed tracker proportional gain. The speed tracker estimates the motor speed by tracking the phase angle. | |
| motor | foc_sat_comp | 0 | 1 | 0 | Saturation Compensation Factor | Stator saturation compensation. When using high currents the stator of the motor can get saturated. This will change the motor parameters, making it difficult for the sensorless observer to track the rotor position. The effect is most noticeable when running the motor with high current at low speed - it will get stuck and then "cog" when open loop operation tries to restart the motor. If you observe this behavior you can try to increase this parameter. This parameter attempts to compensate for effects of stator saturation, making it possible to run motors sensorlessly even at high current and low speed. Reasonable values for this parameters are 15 % or less. If going higher than that gives good results something else is most likely wrong in your configuration. Consider the following: Motors that run at low speed and high torque tend to get saturated, such as e-bike direct drive hub motors. Coreless motors should in theory never get saturated. The effect of this parameter is proportional to the maximum motor current limit, meaning that this parameter has no effect at zero current and full effect at full current. If you change the maximum motor current limit you have to adapt this parameter accordingly. | |
| motor | foc_sat_comp_mode | Lambda | Saturation Compensation Mode | Stator Saturation Compensation Mode: Disabled No saturation compensation is done. Factor The Saturation Compensation Factor is used to determine how much to decrease the inductance and flux linkage based on the current. Lambda The decrease in flux linkage is used to make a proportional decrease in inductance. This requires that one of the observers with Lambda Compensation is used. Lambda and Factor First the lambda compensation and then the factor is used. Also requires that one of the observers with Lambda Compensation is used. | |||
| motor | foc_sensor_mode | Sensorless | Sensor Mode | Sensor mode for the motor. Sensorless Don't use any position sensor on the motor and only rely on the observer and starting algorithm. Works well for most applications (not position control), but the start can be a bit delayed. Encoder Use an encoder on the motor shaft. Works well for position control applications such as CNC mills. Hall Sensors Use hall sensors with 60 or 120 degree spacing in the motor. Gives starts without any delay at all, but does not work that well for most position control applications. HFI High Frequency Injection. Track the position down to 0 speed by injecting voltage pulses and analyzing the response of the motor. Works on most motors that have enough difference in D-axis and Q-axis inductance. VSS Vedder Sensorless Start. Use HFI just after starting the motor to resolve the initial position and set the observer state to that position. This can help the observer track the motor correctly from 0 speed. As this also is based on saturation it can help start some motors with low saliency. 45 Deg V0V7 HFI (Silent) A different approach to HFI that is completely silent if the zero vector frequency is high enough (maximum around 32 kHz). It is also more stable under high load when configured properly. This implementation relies on a good inductance measurement (in addition to some difference in Lq and Ld), so if it does not work well you can try adjusting the inductance 1-5 % up and down. Note that phase shunts are required to make this mode silent, otherwise the sampling has to be done at half the frequency in V0 only. 45 Deg V0 HFI Same as above, but will only sample in V0. Coupled V0V7 HFI (Silent) Inject a voltage in the D axis and measure the response in the Q axis. It is much less sensitive to getting the average inductance correct as the coupling between the axes shows up without an offset in the response. It does not work as well as the 45 degree HFI under high load though. Credit: Elwin and David (mxlemming) on the VESC Discord channel. Coupled V0 HFI Same as above, but will only sample in V0. NOTE: HFI and VSS only work when the FOC switching frequency is at or below 30 KHz. NOTE2: Some of the HFI-methods will get a division by 0 if Ld - Lq is set to 0, which can make the CPU reboot. | |||
| motor | foc_short_ls_on_zero_duty | 0 | Short Low-Side FETs on Zero Duty | Short low-side FETs on 0 duty cycle. This will give a bit more braking torque when the motor is standing still and braking is requested. It also uses less power to drive the FETs. The downsides are that the low-side FETs will take all load by themselves and that the transition to and from full brake will be a bit more rough. | |||
| motor | foc_sl_erpm | 0 | 1e+06 | 3500 | Sensorless ERPM | ERPM above which sensorless commutation is used in sensored modes. | |
| motor | foc_sl_erpm_hfi | 0 | 1e+06 | 3000 | Sensorless ERPM HFI | ERPM below which HFI is used. | |
| motor | foc_sl_erpm_start | 0 | 1e+06 | 2500 | Sensored ERPM Start | ERPM below which only sensored commutation is used. Above this ERPM the observer will start to have impact on the position. | |
| motor | foc_sl_openloop_boost_q | A | 0 | 300 | 0 | Openloop Current Boost | Rationale Current boost can help the motor get over its initial cogging torque more easily, but it also potentially makes the start more jittery. Functional description Current boost in the Q-axis during the open loop procedure. For instance, if the commanded value is 1A and the boost is 10A, then it will run at `1A + 10A` for `Openloop lock time + Openloop ramp time + Openloop time` seconds. Then it will continue at 1A in closed-loop. |
| motor | foc_sl_openloop_hyst | S | 0 | 100 | 0.1 | Openloop Hysteresis | Go to openloop mode if the ERPM has been below the openloop RPM for this amount of time. |
| motor | foc_sl_openloop_max_q | A | -1 | 300 | -1 | Openloop Current Max | Limit the current during the openloop sequence to this value. Setting the boost current higher than this value means that the openloop current is a constant value (this one). A negative value means that this limit is disabled. |
| motor | foc_sl_openloop_time | S | 0 | 100 | 0.05 | Openloop Time | Stay in openloop for this amount of time after finishing the ramp. |
| motor | foc_sl_openloop_time_lock | S | 0 | 100 | 0 | Openloop Lock Time | Lock motor for this amount of time in the beginning of the open loop sequence. |
| motor | foc_sl_openloop_time_ramp | S | 0 | 100 | 0.1 | Openloop Ramp Time | Ramp up the openloop speed in the openloop sequence for this amount of time. |
| motor | foc_speed_soure | Corrected Position | Speed Tracker Position Source | Position source for the speed trackers. Corrected Position Use the derived motor control position from sensors, HFI and observer. Observer Use the observer position. This is usually less noisy than hall sensors or hfi, but it can drift slowly at 0 speed. | |||
| motor | foc_start_curr_dec | 0 | 1 | 1 | Start Current Decrease | Decrease the current limit to this percentage at start. This helps starting the motor as the observer can track it easier when the current is low. This setting will not give the full starting torque, but for some applications, such as propellers and pumps, that does not matter. | |
| motor | foc_start_curr_dec_rpm | 0 | 1e+06 | 2500 | Start Current Decrease ERPM | Above this ERPM the full current is available. | |
| motor | foc_temp_comp | 0 | Temp Comp | Use temperature compensation for the motor resistance used by the observer. Should help at low speed when the motor temperature is far away from the temperature at which the resistance was measured. | |||
| motor | foc_temp_comp_base_temp | °C | -120 | 120 | 25 | Temp Comp Base Temp | Motor temperature at which the motor resistance was measured. |
| info | fw_version | 6 | Firmware Version | The firmware version(s) that this version of VESC Tool supports. | |||
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If the program does terminal interaction, make it output a short notice like this when it starts in an interactive mode: <program> Copyright (C) <year> <name of author>This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.This is free software, and you are welcome to redistribute itunder certain conditions; type `show c' for details. The hypothetical commands `show w' and `show c' should show the appropriate parts of the General Public License. Of course, your program's commands might be different; for a GUI interface, you would use an “about box”. You should also get your employer (if you work as a programmer) or school, if any, to sign a “copyright disclaimer” for the program, if necessary. For more information on this, and how to apply and follow the GNU GPL, see <https://www.gnu.org/licenses/>. The GNU General Public License does not permit incorporating your program into proprietary programs. If your program is a subroutine library, you may consider it more useful to permit linking proprietary applications with the library. If this is what you want to do, use the GNU Lesser General Public License instead of this License. But first, please read <https://www.gnu.org/licenses/why-not-lgpl.html>. | ||||
| motor | hall_sl_erpm | 0 | 1e+06 | 2000 | Sensorless ERPM Hybrid | ERPM above which sensorless commutation is used in hybrid mode. | |
| motor | hall_table__0 | -1 | 6 | -1 | Hall Table [0] | Hall sensor table entry for sensor output 0. | |
| motor | hall_table__1 | -1 | 6 | 1 | Hall Table [1] | Hall sensor table entry for sensor output 1. | |
| motor | hall_table__2 | -1 | 6 | 3 | Hall Table [2] | Hall sensor table entry for sensor output 2. | |
| motor | hall_table__3 | -1 | 6 | 2 | Hall Table [3] | Hall sensor table entry for sensor output 3. | |
| motor | hall_table__4 | -1 | 6 | 5 | Hall Table [4] | Hall sensor table entry for sensor output 4. | |
| motor | hall_table__5 | -1 | 6 | 6 | Hall Table [5] | Hall sensor table entry for sensor output 5. | |
| motor | hall_table__6 | -1 | 6 | 4 | Hall Table [6] | Hall sensor table entry for sensor output 6. | |
| motor | hall_table__7 | -1 | 6 | -1 | Hall Table [7] | Hall sensor table entry for sensor output 7. | |
| float | haptic_buzz_bms | None | Haptic Buzz - BMS | The type of haptic buzz to use when the BMS reports an error | |||
| float | haptic_buzz_current | None | Haptic Buzz - Current Limits | The type of haptic buzz to use when exceeding the configured motor current or continuous current limits | |||
| tnt | haptic_buzz_current | 1 | Enable High Current Haptic Buzz | The type of haptic buzz to use when exceeding the maximum current threshold configured in Tune Modifiers. | |||
| float | haptic_buzz_duty | None | Haptic Buzz | The type of haptic buzz to use when duty cycle exceeds the threshold. | |||
| tnt | haptic_buzz_duty | 1 | Enable High Duty Haptic Buzz | The type of haptic buzz to use when exceeding the maximum current threshold configured in Tune Modifiers. | |||
| float | haptic_buzz_hv | None | Haptic Buzz | The type of haptic buzz to use when voltage exceeds the upper threshold. | |||
| float | haptic_buzz_intensity | A | 0 | 30 | 0 | Haptic Buzz Intensity | Haptic buzz uses motor current oscillations to produce an audible or vibrating buzz. The intensity controls how much current to use for this effect. |
| tnt | haptic_buzz_intensity | A | 0 | 30 | 16 | Haptic Buzz Maximum Intensity | Haptic buzz uses motor current oscillations to produce an audible or vibrating buzz. The intensity controls how much current to use for this effect. |
| float | haptic_buzz_lv | None | Haptic Buzz | The type of haptic buzz to use when voltage exceeds the lower threshold. | |||
| float | haptic_buzz_min | A | 0 | 6 | 0 | Haptic Buzz Minimum Intensity | Haptic buzz uses motor current oscillations to produce an audible or vibrating buzz. The intensity controls how much current to use for this effect. At lower speeds the full intensity will be perceived as too harsh, so it needs to be scaled down. Recommended value for Hypercore is 3A, for SuperFlux/CannonCore is 5A |
| tnt | haptic_buzz_min | A | 0 | 30 | 12 | Haptic Buzz Minimum Intensity | Haptic buzz uses motor current oscillations to produce an audible or vibrating buzz. The intensity controls how much current to use for this effect. At lower speeds the full intensity will be perceived as too harsh, so it needs to be scaled down. Recommended value for Hypercore is 3A, for SuperFlux/CannonCore is 5A |
| float | haptic_buzz_temp | None | Haptic Buzz - Temperature | The type of haptic buzz to use when either controller or motor temperature gets within 3 degrees of the throttle start threshold (in Motor Config - General) | |||
| refloat | hardware.leds.color_order | GRB | LED Color Order | LED strip color order: GRB: WS2811, WS2812b, SK2812, SK6812 RGB: WS2815 Some strips have different color order, if your strip is not on the list, test which value works for you. | |||
| refloat | hardware.leds.front.count | 0 | 30 | 20 | Front LED Strip Length | The number of LEDs in your front LED strip. This strip must be the 2nd in your chain of LEDs, wired after the status LEDs and before the rear LEDs. Set to 0 if you don't have a front LED strip. Board restart required for changes to take effect. | |
| refloat | hardware.leds.front.reverse | 0 | Reverse Front LED Direction | Reverse the direction of the front LED strip. Board restart required for changes to take effect. | |||
| refloat | hardware.leds.pin | Dedicated LED pin | LED Pin | The pin to which the LEDs are connected on the VESC. PPM/Servo pin: Little FOCer v3.x, Tronic 250R, Ubox V2 75V/100V (pin B6) Dedicated LED pin: Little FOCer v4.x, Thor 300 (pin B7) Board restart required for changes to take effect. Note: For the PPM/Servo pin to work, you need to remove a capacitor from the VESC. For Little FOCer / Tronic it's the C3 capacitor. | |||
| refloat | hardware.leds.rear.count | 0 | 30 | 20 | Rear LED Strip Length | The number of LEDs in your rear LED strip. This strip must be the 3rd in your chain of LEDs, wired after the status LEDs and front LEDs. Set to 0 if you don't have a rear LED strip. Board restart required for changes to take effect. | |
| refloat | hardware.leds.rear.reverse | 0 | Reverse Rear LED Direction | Reverse the direction of the rear LED strip. Board restart required for changes to take effect. | |||
| refloat | hardware.leds.status.count | 0 | 20 | 10 | Status LED Strip Length | Number of LEDs in your status bar strip. The status bar strip must be the first in the chain of LEDs. If you dont have a status bar, set this to 0. Board restart required for changes to take effect. | |
| refloat | hardware.leds.status.reverse | 0 | Reverse Status LED Direction | Reverse the direction of the status bar LED strip. Board restart required for changes to take effect. | |||
| refloat | hardware.leds.type | None | LED Type | LED strip type: None: Disable LED controls RGB: 3 channel LEDs (WS2811, WS2812b, WS2815, etc.) RGBW: 4 channel LEDs with white channel (SK2812, SK6812, etc.) External Module: External LED control modules, such as the Floatwheel LCM External Module (LCM) External Modules have their own simple LED configuration, which uses three brightness levels: Brightness Brightness (Idle) Status Brightness For configuring these from Refloat, the following Refloat options will be used for the above LCM parameters respectively (for status, the one used depends on the Headlights On switch): Headlights Brightness Front Brightness Status Brightness (Headlights Off) Status Brightness (Headlights On) You can use the LEDs On switch to turn LCM lights on and off. You can toggle the Headlights On switch to have Headlights Brightness be used when engaged. When it's off, Front Brightness will be used regardless of whether the board is engaged or idle. Also, the corresponding Status Brightness will be used. The rest of the options is ignored for the External Module LED type. Board restart required for changes to take effect. Note: Pressing both footpad sensors when turning on the board will disable the LED initialization. Use if the LEDs break your VESC in a way that prevents you to connect and change configuration (e.g. due to an overcurrent). | |||
| info | help_battery_cutoff | Soft Battery Cutoff Calculator | Parameters for a soft battery cutoff can be calculated here. To do that, select the battery type and amount of cells. When the battery voltage is at the start value, the battery current will start to get reduced. At the end value battery current draw (and thus motor current) is disabled completely. In between the current is limited proportionally to where between the start and end values the input voltage is. Notice that braking always is possible, even when the battery current is limited. That is because braking does not draw any current from the battery, it only charges the battery. | ||||
| info | help_bldc_detect | Detect BLDC Parameters | Spin up the motor in delay commutation mode and try to measure the following parameters: Cycle Integrator Limit BEMF Coupling Hall Sensor Table The settings mean the following: Current (I) The current to use for spinning up the motor. ERPM (ω) The minimum speed for the delay commutation mode to start the motor. Duty (D) The duty cycle to measure the BEMF coupling at. This value should be as low as possible, but not so low that the motor cannot spin at the end of the detection sequence. If the motor is not able to spin up properly these settings can be tweaked. Symptoms: The motor starts to spin, but is too weak to reach enough speed. Increase the current setting. The motor cogs and is unable to spin up. Increase or decrease the current. If the motor has high inertia decrease ERPM. E-bike hub motors tend to have high inertia. If the motor has low inertia increase ERPM. The motor spins up properly, but does not spin at the end of the detection. Increase the duty and try again. This is usually needed for low KV motor when using low voltage, such as ebike motors. | ||||
| info | help_can_forward | CAN Forwarding | When CAN forwarding is enabled, all communication will be forwarded over CAN bus to the VESC with the ID selected in the ID box in the connection page. | ||||
| info | help_foc_detect | Detect FOC Parameters | Detect and calculate the necessary FOC motor and control parameters. The procedure is the following: Measure R and L and wait for the detection result. When the detection result arrives, KP, KI and Observer Gain will be calculated. Measure λ and wait for the detection result. If the detections fails, tweak I, D and ω as described below and try again until it works. Use the Apply button to apply the measured and calculated parameters. The following parameters are measured: Resistance (R) Inductance (L) Flux Linkage (λ) The following parameter are calculated from R and L: Proportional gain for the current controller (KP) Integral gain for the current controller (KI) Gain for the observer For measuring resistance and inductance, signals are injected into the motor. Nothing requires configuration for doing that and the motor does not need to spin up. For measuring the flux linkage the motor needs to spin up, which is controlled by the I, D and ω startup settings. Notice that the resistance has to be measured first. The startup settings mean the following: Current (I) The current to use for spinning up the motor. Duty (D) The duty cycle where to measure the flux linkage. ERPM (ω) The minimum speed for the delay commutation mode to start the motor. If the motor is not able to spin up properly these settings can be tweaked. Symptoms: The motor starts to spin, but is too weak to reach enough speed. Increase the current setting. If the load increases with speed (e.g. a propeller) you can decrease the duty cycle. This makes the detection slightly less accurate, but that does not matter in general. The motor cogs and is unable to spin up. Increase or decrease the current. If the motor has high inertia decrease ERPM. E-bike hub motors tend to have high inertia. If the motor has low inertia increase ERPM. After measuring the motor parameters, gain factors for the current PI control loop and the observer gain should be calculated. KP and KI are calculated based on a desired time constant of the current controller and the motor parameters R and L, which have to be measured first. The observer gain is calculated based on the motor inductance, which also has to be measured first. | ||||
| info | help_foc_encoder_detect | Detect FOC Encoder Parameters | Detect the following encoder parameters: Offset Ratio Inverted To do that, the motor is turned slowly in open loop while the encoder output is sampled, once for the ratio and once for the offset. This is done in both directions for one full mechanical revolution to get rid off possible offsets and nonlinearities. | ||||
| info | help_foc_hall_detect | Detect FOC Hall Sensor Parameters | Detect the hall sensor table. To do that, the motor is turned slowly in open loop while the hall sensor outputs are sampled. This is done in both directions to get rid of offsets. | ||||
| info | help_nrf_pair | NRF Pairing | Set the VESC in NRF pairing mode for the amount of time specified in the Time box (default 10 seconds). Afer that, you should put the device to pair in pairing mode before the time runs out. A popup should appear and show that pairing was successful, or that it timed out. After a sucessful pairing, the NRF settings will be updated according to the unique ID of the paired NRF device and stored to the VESC. NRF Nunchuk For pairing the NRF nunchuk, set the VESC in pairing mode and switch on a nunchuk (that was switched off previously) before the pairing time runs out. Notice that the unique ID of the NRF nunchuk is based on a hashed version of its microcontroller UUID, so the pairing should still be valid even after updating firmware. The chance of collisions between NRF nunchuks is practically non-existent. | ||||
| info | help_rt_logging | RT data logging | VESC Tool (mobile and desktop) can log realtime data to CSV files. The output directory has to be chosen, which is where the log files are stored. Each time the logging checkbox is checked, a new CSV file with the current date and time is created in the output directory. This means that toggling the box will store the current file create a new one, which can be convenient to split the logs. The output format is as follows: ms_today;v_in;temp_mos;temp_mos_1;temp_mos_2;temp_mos_3; temp_motor;current_motor;current_in;id;iq;rpm;duty_now;amp_hours; amp_hours_charged;watt_hours;watt_hours_charged;tachometer; tachometer_abs;position;fault_code;vesc_id The values mean the following: ms_today Time today in milliseconds. This time is sampled in VESC Tool, so it can contain jitter compared to the data values depending in transmission latency. temp_mos MOSFET temperature in °C. temp_mos_1, temp_mos_2, temp_mos_3 Individual MOSFET temperatures for the legs in the power stage in °C. Only available on hardware with individual temperature sensors, such as the VESC 75/300. temp_motor Motor temperature in °C. current_motor Motor current in A. The sign is the same as the input current, thus positive when the motor is driving and negative when the motor is generating. current_in Input current in A. id, iq D-axis and Q-axis current of the motor. Only available in FOC mode. rpm Motor speed in electrical rouds per minute. Has to be divided by the number of pole pairs to get the mechanical speed. duty_now Modulation, range -1.0 to 1.0 amp_hours Ampere hours consumed from the input. amp_hours_charged Ampere hours fed back to the input. watt_hours Watt hours consumed from the input. watt_hours_charged Watt hours fed back to the input. tachometer 1/6 electrical revolution counter. Will count 6 steps for every electrical revolution of the motor. Has to be multiplied by the number of pole pairs to get 6 times the counts per mechanical revolution. Will count backwards when the motor is turning backwards. tachometer_abs Same as tachometer, but couts the absolute value position Motor position in degrees. It is the mechanical position when using an encoder, the electrical position otherwise. In sensorless mode the position is not valid when the motor is not turning. fault_code Current fault code. vesc_id CAN ID of this VESC. | ||||
| balance | hertz | Hz | 50 | 4000 | 1000 | Loop Hertz | Loop Hertz. |
| float | hertz | Hz | 50 | 4000 | 832 | Loop Hertz | Frequency of Balance Loop Cycle Recommended Value: Same or multiple of IMU Sample Rate Little FOCer v3.1 (LSM6DS3): 832Hz Little FOCer v3 (BMI160): 800Hz |
| refloat | hertz | Hz | 50 | 4000 | 832 | Loop Hertz | Frequency of Balance Loop Cycle Recommended Value: Same or multiple of IMU Sample Rate Little FOCer v3.1 (LSM6DS3): 832Hz Little FOCer v3 (BMI160): 800Hz |
| tnt | hertz | Hz | 50 | 50000 | 832 | Loop Hertz | This is the frequency of the code cycle that runs the package. For example, 1000 Hz would be 1000 code cycles per second or 1 code cycle every millisecond. This value should correspond to the response rate of your IMU for the best results. Recommended Value: Same or multiple of IMU Sample Rate Little FOCer v3.1 (LSM6DS3): 832Hz Little FOCer v3 (BMI160): 800Hz |
| balance | hw_name | Balance Settings | This is the VESC Logging and Communication Module. | ||||
| float | hw_name | Float Cfg | This is the VESC Logging and Communication Module. | ||||
| refloat | hw_name | Refloat Cfg | This is the VESC Logging and Communication Module. | ||||
| tnt | hw_name | TNT Cfg | This is the VESC Logging and Communication Module. | ||||
| app | imu_conf.accel_confidence_decay | 0 | 999 | 1 | Accelerometer Confidence Decay | This factor sets how fast the accelerometer confidence will be decreased if the acceleration vector differs from 1.0. | |
| app | imu_conf.accel_lowpass_filter_x | Hz | 0 | 1000 | 0 | Accel lowpass filter X | Accelerometer lowpass filter Biquad lowpass filter applied to X axis. This is run on the ESC and will be applied regardless of IMU model. Setting the filter to 0Hz will disable it. |
| app | imu_conf.accel_lowpass_filter_y | Hz | 0 | 1000 | 0 | Accel lowpass filter Y | Accelerometer lowpass filter Biquad lowpass filter applied to Y axis. This is run on the ESC and will be applied regardless of IMU model. Setting the filter to 0Hz will disable it. |
| app | imu_conf.accel_lowpass_filter_z | Hz | 0 | 1000 | 0 | Accel lowpass filter Z | Accelerometer lowpass filter Biquad lowpass filter applied to Z axis. This is run on the ESC and will be applied regardless of IMU model. Setting the filter to 0Hz will disable it. |
| app | imu_conf.accel_offsets__0 | G | -16 | 16 | 0 | Accel Offset X | Accelerometer offset X. |
| app | imu_conf.accel_offsets__1 | G | -16 | 16 | 0 | Accel Offset Y | Accelerometer offset Y. |
| app | imu_conf.accel_offsets__2 | G | -16 | 16 | 0 | Accel Offset Z | Accelerometer offset Z. |
| app | imu_conf.filter | IMU_FILTER_LOW | Accel/Gyro Filter | Set the onboard accel/gyro filters. | |||
| app | imu_conf.gyro_lowpass_filter | Hz | 0 | 1000 | 0 | Gyro lowpass filter | Gyrosocpe lowpass filter Biquad lowpass filter applied to all 3 axes of the gyroscope. This is run on the ESC and will be applied regardless of IMU model. Setting the filter to 0Hz will disable it. |
| app | imu_conf.gyro_offsets__0 | °/s | -1000 | 1000 | 0 | Gyro Offset X | Gyro offset (drift) X. |
| app | imu_conf.gyro_offsets__1 | °/s | -1000 | 1000 | 0 | Gyro Offset Y | Gyro offset (drift) Y. |
| app | imu_conf.gyro_offsets__2 | °/s | -1000 | 1000 | 0 | Gyro Offset Z | Gyro offset (drift) Z. |
| app | imu_conf.madgwick_beta | 0 | 999 | 0.1 | Madgwick Beta | Beta for Madgwick filter. Decides how much the accelerometer is used for attitude estimation. Increasing this value helps against gyro offsets, but makes the output noisier. | |
| app | imu_conf.mahony_ki | 0 | 999 | 0 | Mahony KI | KI for Mahony filter. Integrates gyro offsets over time. | |
| app | imu_conf.mahony_kp | 0 | 999 | 0.3 | Mahony KP | KP for Mahony filter. Decides how much the accelerometer is used for attitude estimation. Increasing this value helps against gyro offsets, but makes the output noisier. | |
| app | imu_conf.mode | AHRS_MODE_MADGWICK | IMU AHRS Mode | Use the Madgwick or Mahony AHRS filter. | |||
| app | imu_conf.rot_pitch | ° | -360 | 360 | 0 | Imu Rotation Pitch | Pitch rotation of IMU. Can be adjusted if the IMU is not aligned with the vehicle. |
| app | imu_conf.rot_roll | ° | -360 | 360 | 0 | Imu Rotation Roll | Roll rotation of IMU. Can be adjusted if the IMU is not aligned with the vehicle. |
| app | imu_conf.rot_yaw | ° | -360 | 360 | 0 | Imu Rotation Yaw | Yaw rotation of IMU. Can be adjusted if the IMU is not aligned with the vehicle. |
| app | imu_conf.sample_rate_hz | Hz | 1 | 10000 | 200 | Sample Rate | IMU sample rate. Higher sample rates use more CPU cycles, but perform better. |
| app | imu_conf.type | IMU_TYPE_INTERNAL | IMU Type | IMU type. The internal IMU is only available if the hardware supports it. External IMUs can be connected to the SDA and SCL pins. If using an external IMU, make sure that no app that uses the same pins is selected. | |||
| app | imu_conf.use_magnetometer | 1 | Use magnetometer | Use magnetometer. | |||
| float | inputtilt_angle_limit | ° | 0 | 90 | 10 | Tiltback Angle Limit | Maximum angle to which Remote Tiltback will tilt. Determines the scaling of throttle-to-angle (i.e. Max Angle of 10° + 50% Throttle = 5° Tilt Angle). Note: Pitch Axis Faults and Quickstop will be disabled when Remote Tilt Setpoint is beyond 30°, making it safe to use for Vert. WARNING: Tilting the setpoint beyond the point of nose/tail dragging will cause the board to accelerate on its own (tail dragging forward). Additionally, a high maximum tilt angle can result in unintended nose/tail diving at speed when not used carefully. BE CAUTIOUS when using maximum angles beyond 20°! |
| refloat | inputtilt_angle_limit | ° | 0 | 90 | 10 | Tiltback Angle Limit | Maximum angle to which Remote Tiltback will tilt. Determines the scaling of throttle-to-angle (i.e. Max Angle of 10° + 50% Throttle = 5° Tilt Angle). Note: Pitch Axis Faults and Quickstop will be disabled when Remote Tilt Setpoint is beyond 30°, making it safe to use for Vert. WARNING: Tilting the setpoint beyond the point of nose/tail dragging will cause the board to accelerate on its own (tail dragging forward). Additionally, a high maximum tilt angle can result in unintended nose/tail diving at speed when not used carefully. BE CAUTIOUS when using maximum angles beyond 20°! |
| tnt | inputtilt_angle_limit | ° | 0 | 90 | 12 | Tiltback Angle Limit | Maximum angle to which Remote Tiltback will tilt. Determines the scaling of throttle-to-angle (i.e. Max Angle of 10° + 50% Throttle = 5° Tilt Angle). Note: Pitch Axis Faults and Quickstop will be disabled when Remote Tilt Setpoint is beyond 30°, making it safe to use for Vert. WARNING: Tilting the setpoint beyond the point of nose/tail dragging will cause the board to accelerate on its own (tail dragging forward). Additionally, a high maximum tilt angle can result in unintended nose/tail diving at speed when not used carefully. BE CAUTIOUS when using maximum angles beyond 20°! |
| float | inputtilt_deadband | % | 0 | 1 | 0.1 | Input Deadband | Deadband region for the center of the input throttle. Can assist with remotes that do not fully return to center. For example, a Deadband of 10% will only begin adjusting setpoint once the throttle reaches a value of +/- 10%. From there, it will scale as if 10% throttle was the center point (0%). |
| refloat | inputtilt_deadband | % | 0 | 1 | 0.1 | Input Deadband | Deadband region for the center of the input throttle. Can assist with remotes that do not fully return to center. For example, a Deadband of 10% will only begin adjusting setpoint once the throttle reaches a value of +/- 10%. From there, it will scale as if 10% throttle was the center point (0%). |
| tnt | inputtilt_deadband | % | 0 | 99 | 5 | Input Deadband | Deadband region for the center of the input throttle. Can assist with remotes that do not fully return to center. For example, a Deadband of 10% will only begin adjusting setpoint once the throttle reaches a value of +/- 10%. From there, it will scale as if 10% throttle was the center point (0%). |
| float | inputtilt_invert_throttle | 1 | Invert Throttle | False: Throttle Forward = Nose Lift Throttle Backward = Nose Lower True (Default): Throttle Forward = Nose Lower Throttle Backward = Nose Lift | |||
| refloat | inputtilt_invert_throttle | 1 | Invert Throttle | False: Throttle Forward = Nose Lift Throttle Backward = Nose Lower True (Default): Throttle Forward = Nose Lower Throttle Backward = Nose Lift | |||
| tnt | inputtilt_invert_throttle | 0 | Invert Throttle | False: Throttle Forward = Nose Lift Throttle Backward = Nose Lower True (Default): Throttle Forward = Nose Lower Throttle Backward = Nose Lift | |||
| float | inputtilt_remote_type | None | Remote Type | Select how the remote's reciever communicates with VESC (PPM or UART). Note: Remote Tiltback requires an input device (such as a UART/PPM Eskate remote)! If not applicable, the type should remain as "None." Note: For PPM, make sure to keep the Beeper DISABLED (under "Specs" tab) for proper functionality. A reboot may be required following the switch. | |||
| refloat | inputtilt_remote_type | None | Remote Type | Select how the remote's reciever communicates with VESC (PPM or UART). Note: Remote Tiltback requires an input device (such as a UART/PPM Eskate remote)! If not applicable, the type should remain as "None." Note: For PPM, make sure to keep the Beeper DISABLED (under "Specs" tab) for proper functionality. A reboot may be required following the switch. | |||
| tnt | inputtilt_remote_type | None | Remote Type | Select how the remote's reciever communicates with VESC (PPM or UART). Note: Remote Tiltback requires an input device (such as a UART/PPM Eskate remote)! If not applicable, the type should remain as "None." Note: For PPM, make sure to keep the Buzzer DISABLED (under "Specs" tab) for proper functionality. A reboot may be required following the switch. | |||
| float | inputtilt_smoothing_factor | 0 | 3 | 1 | Tiltback Smoothing Factor | Determines how much smoothing is added to Remote Tilt, such as when you start tilting and as you approach the target angle. 0 = No Smoothing 3 = Maximum Smoothing Recommended Values: 1-2 | |
| refloat | inputtilt_smoothing_factor | 0 | 3 | 1 | Tiltback Smoothing Factor | Determines how much smoothing is added to Remote Tilt, such as when you start tilting and as you approach the target angle. 0 = No Smoothing 3 = Maximum Smoothing Recommended Values: 1-2 | |
| tnt | inputtilt_smoothing_factor | 0 | 3 | 1 | Tiltback Smoothing Factor | Determines how much smoothing is added to Remote Tilt, such as when you start tilting and as you approach the target angle. 0 = No Smoothing 3 = Maximum Smoothing Recommended Values: 1-2 | |
| float | inputtilt_speed | °/s | 0 | 150 | 25 | Tiltback Speed | Rate at which Remote Tiltback will tilt to the desired angle. |
| refloat | inputtilt_speed | °/s | 0 | 150 | 25 | Tiltback Speed | Rate at which Remote Tiltback will tilt to the desired angle. |
| tnt | inputtilt_speed | °/s | 0 | 150 | 40 | Tiltback Speed | Rate at which Remote Tiltback will tilt to the desired angle. |
| info | ios_license_text | License | This app is distributed under the Apple EULA for this platform. This license is issued by Benjamin Vedder, Benjamin@vedder.se. Distribution and maintenance of the application is managed by Jeffrey Friesen and questions and correspondence should be directed to Jfriesen222@gmail.com. All source code for this application is also available open-source under the GPLv3 license and is available for compilation across many platforms here: https://github.com/vedderb/vesc_tool All libraries and appropriate licensing information can be found within this repository as well. More information regarding the VESC® Project can be found here: https://vesc-project.com/ | ||||
| float | is_beeper_enabled | 0 | Enable Beeper on Servo/PPM | Enable/disable beeper. Beeper is controlled by Servo/PPM. Active buzzer required, 3pin version recommended. | |||
| refloat | is_beeper_enabled | 0 | Enable Beeper on Servo/PPM | Enable/disable beeper. Beeper is controlled by Servo/PPM. Active beeper required, 3pin version recommended. | |||
| tnt | is_beeper_enabled | 0 | Enable Beeper on Servo/PPM | Enable/disable beeper. Beeper is controlled by Servo/PPM. Active beeper required, 3pin version recommended. | |||
| float | is_dutybeep_enabled | 0 | Beep on Duty Tiltback | Beep during duty cycle tiltback. It is recommended to disable this beep when enabling the surge beep or else it will be impossible to recognize the surge beep. Warning: beeper may not be easily audible at high speeds! | |||
| refloat | is_dutybeep_enabled | 0 | Beep on Duty Pushback | Beep during duty cycle pushback. It is recommended to disable this beep when enabling the surge beep or else it will be impossible to recognize the surge beep. Warning: beeper may not be easily audible at high speeds! | |||
| tnt | is_dutybeep_enabled | 0 | Beep on Duty Tiltback | Beep during duty cycle tiltback. It is recommended to disable this beep when enabling the surge beep or else it will be impossible to recognize the surge beep. Warning: buzzer may not be easily audible at high speeds! | |||
| float | is_footbeep_enabled | 1 | Beep on Sensor Fault | Beep when both sensors turn off above 2000erpm (beeps for as long as the sensor remains off) | |||
| refloat | is_footbeep_enabled | 1 | Beep on Sensor Fault | Beep when both sensors turn off above 2000erpm (beeps for as long as the sensor remains off) | |||
| tnt | is_footbeep_enabled | 1 | Beep on Sensor Fault | Beep when both sensors turn off above 2000erpm (beeps for as long as the sensor remains off) | |||
| tnt | is_stickytilt_enabled | 1 | Enable Stickytilt | Sticky tilt allows the remote to set a persistent offset. Once enabled just flick the throttle in the direction you would like to tilt and it will move to value 1 once the throttle returns to center. Flick the throttle in the same direction to move to value 2. If you flick the throttle in the opposite direction, it will return to center if you are at value 1 or 2. If you push the throttle to maximum it will not activate sticky tilt. | |||
| tnt | is_surge_enabled | 0 | Enable Surge | Surge engages maximum motor output when the High Current Threshold is reached. This is defined in the High Current section. | |||
| float | is_surgebeep_enabled | 1 | Beep when Surging | Beep whenever surge is triggered. Issues 1-3 beeps depending on whether the 1st, 2nd or 3rd stage surge got triggered. Helpful when practicing to recognize surge, but shouldn't be relied on as the beeper may not be easily audible at high speeds! | |||
| refloat | is_surgebeep_enabled | 1 | Beep when Surging | Beep whenever surge is triggered. Issues 1-3 beeps depending on whether the 1st, 2nd or 3rd stage surge got triggered. Helpful when practicing to recognize surge, but shouldn't be relied on as the beeper may not be easily audible at high speeds! | |||
| tnt | is_surgedebug_enabled | 0 | Enable Surge Debug Info | Enable/disable surge debug information on the AppUI screen. Only one feature debug available at a time. | |||
| tnt | is_tcdebug_enabled | 0 | Enable Traction Control Debug Info | Enable/disable traction control debug information on the AppUI screen. Only one feature debug available at a time. | |||
| tnt | is_traction_enabled | 1 | Enable Traction Control | When a high motor acceleration is detected, traction control engages to reduce current output until traction is regained. | |||
| tnt | is_tunedebug_enabled | 1 | Enable Tune Debug Info | Enable/disable tune debug information on the AppUI screen for more metrics on your pitch tune, roll tune, and stability modifiers. Only one feature debug available at a time. | |||
| tnt | is_yawdebug_enabled | 0 | Enable Yaw Debug Info | Enable/disable yaw debug information on the AppUI screen for more metrics on your yaw tune. Only one feature debug available at a time. | |||
| tnt | kalman_factor1 | 0 | 100000 | 10 | Kalman Factor 1 | A Kalman filter is applied to the pitch angle to prevent board vibration. Kalman factor 1 is Q_pitch. Higher values will put more weight to the IMU pitch value and track closer to the IMU pitch value. Set to zero to disable filter. Kalman factor 2 is Q_bias. Higher values will put more weight to the IMU gyro value (pitch angle speed). Kalman factor 3 is R_measured. Higher values will act against Q_pitch and Q_bias to provide a dampened response. Values too high will create a noticeable delay in board reaction. | |
| tnt | kalman_factor2 | 0 | 100000 | 0 | Kalman Factor 2 | A Kalman filter is applied to the pitch angle to prevent board vibration. Kalman factor 1 is Q_pitch. Higher values will put more weight to the IMU pitch value and track closer to the IMU pitch value. Kalman factor 2 is Q_bias. Higher values will put more weight to the IMU gyro value (pitch angle speed). Kalman factor 3 is R_measured. Higher values will act against Q_pitch and Q_bias to provide a dampened response. Values too high will create a noticeable delay in board reaction. | |
| tnt | kalman_factor3 | 0.01 | 100000 | 0.5 | Kalman Factor 3 | A Kalman filter is applied to the pitch angle to prevent board vibration. Kalman factor 1 is Q_pitch. Higher values will put more weight to the IMU pitch value and track closer to the IMU pitch value. Kalman factor 2 is Q_bias. Higher values will put more weight to the IMU gyro value (pitch angle speed). Kalman factor 3 is R_measured. Higher values will act against Q_pitch and Q_bias to provide a dampened response. Values too high will create a noticeable delay in board reaction. | |
| balance | kd | 0 | 100000 | 0 | Angle D | D value for the PID balance loop. | |
| balance | kd2 | 0 | 100000 | 0 | Rate D | D value for the PID balance loop. | |
| balance | kd_pt1_highpass_frequency | Hz | 0 | 4000 | 0 | D term PT1 High Pass Filter | D term filter below this frequency. 0 = Disabled. |
| balance | kd_pt1_lowpass_frequency | Hz | 0 | 4000 | 0 | D term PT1 Low Pass Filter | D term filter above this frequency. 0 = Disabled. |
| balance | ki | 0 | 100000 | 0 | Angle I | I value for the PID balance loop. | |
| float | ki | 0 | 0.5 | 0.005 | Angle I | Angle I (Integral) value As time passes with the board angle away from setpoint (considered "error"), Angle I will strengthen the board response based on cumulative error over time. Can be a subtle effect, and has most noticeable effect at the start of uphills/downhills, as well as tricks involving motor freespin. Recommended Values: 0.005 - 0.08 (Caution with higher values!!) | |
| refloat | ki | 0 | 0.5 | 0.005 | Angle I | Angle I (Integral) value As time passes with the board angle away from setpoint (considered "error"), Angle I will strengthen the board response based on cumulative error over time. Can be a subtle effect, and has most noticeable effect at the start of uphills/downhills, as well as tricks involving motor freespin. Recommended Values: 0.005 - 0.08 (Caution with higher values!!) | |
| balance | ki2 | 0 | 100000 | 0 | Rate I | I value for the PID balance loop. | |
| balance | ki_limit | A | 0 | 500 | 0 | I term limit | I term limiter, used to prevent windup. 0 = disabled. |
| float | ki_limit | A | 0 | 500 | 30 | I Term Limit | I Term Limiter (Limit Integral Amps) Limits the amount of current the I component of PID is allowed to accumulate over time. This limits the max response in scenarios with extreme error, such as inclines/declines, as well as freespin tricks, curb nudges, etc. that may overshoot on the landing otherwise. Recommended Value: 20A - 30A *Note: 0 = Disabled (Not Recommended) *Note: Was under the parameter "Deadzone" in previous firmware versions. The values used for that parameter before are now scaled up 10x (i.e. a previous "Deadzone" value of 3, is now an I Term Limit of 30A). |
| refloat | ki_limit | A | 0 | 500 | 30 | I Term Limit | I Term Limiter (Limit Integral Amps) Limits the amount of current the I component of PID is allowed to accumulate over time. This limits the max response in scenarios with extreme error, such as inclines/declines, as well as freespin tricks, curb nudges, etc. that may overshoot on the landing otherwise. Recommended Value: 20A - 30A *Note: 0 = Disabled (Not Recommended) *Note: Was under the parameter "Deadzone" in previous firmware versions. The values used for that parameter before are now scaled up 10x (i.e. a previous "Deadzone" value of 3, is now an I Term Limit of 30A). |
| app | kill_sw_mode | Disabled | Kill Switch Mode | Kill switch input. When this input is active the motor is disabled and optionally braking if timeout_brake_current is greater than 0. The kill switch overrides all other inputs and can be used as an emergency stop. The following modes can be used: Disabled No kill switch is used. PPM Low The kill switch is active when the PPM input goes low. PPM High The kill switch is active when the PPM input goes high. ADC2 Low The kill switch is active when the ADC2 input goes low. ADC2 High The kill switch is active when the ADC2 input goes high. | |||
| balance | kp | 0 | 100000 | 0 | Angle P | P value for the PID balance loop. | |
| float | kp | 0 | 40 | 20 | Angle P | Angle P (Proportional) Determines how strong the board responds to a difference in Board Angle vs. Setpoint Angle (i.e. nose below setpoint will accelerate, nose above setpoint will brake). Recommended Values: 10 - 35 (Take caution closer to 35!) *Note: Angle P and Rate P work together to shape a large part of the ride feel. If trying to soften the effects of both and you would like to maintain the ride feel, these values should be adjusted together by the same proportion (i.e. If reducing Angle P by half, such as from 20 -> 10, Rate P should be reduced by half as well, such as from 0.6 -> 0.3). | |
| refloat | kp | 0 | 40 | 20 | Angle P | Angle P (Proportional) Determines how strong the board responds to a difference in Board Angle vs. Setpoint Angle (i.e. nose below setpoint will accelerate, nose above setpoint will brake). Recommended Values: 10 - 35 (Take caution closer to 35!) *Note: Angle P and Rate P work together to shape a large part of the ride feel. If trying to soften the effects of both and you would like to maintain the ride feel, these values should be adjusted together by the same proportion (i.e. If reducing Angle P by half, such as from 20 -> 10, Rate P should be reduced by half as well, such as from 0.6 -> 0.3). | |
| tnt | kp0 | 0 | 100 | 0 | Pitch Kp0 | Pitch kp0 is multiplied by board pitch (in degrees) to determine current demand. If there are no currents defined the board will only use kp0, or else it will scale between kp0 and current1. If kp0 is too high for current 1, the kp resulting from current1/pitch1 will be prioritized. | |
| balance | kp2 | 0 | 100000 | 0 | Rate P | P value for the PID balance loop. | |
| float | kp2 | 0 | 3 | 0.6 | Rate P | Rate P (Proportional) value Determines how strong the board responds to the nose's angular velocity, regardless of setpoint (i.e. pushing nose down will accelerate, pulling nose up will brake).Most noticeable in quick/aggressive manuevers, as well as scenarios where Angle P is not effective. For example, coming from hard braking (nose high above setpoint), Rate P will allow the board to begin to accelerate the moment you start pushing the nose down, before the nose is even below setpoint. For our use case, while Rate P is a Proportional value, we utilize it practically as the D (Derivative) component for our PID loop, working as a damper for the Angle P component. Recommended Values: 0.1 - 0.6 (0.7 - 1.2+ is possible, may experience negative side effects) *Note: Angle P and Rate P work together to shape a large part of the ride feel. If trying to soften the effects of both and you would like to maintain the ride feel, these values should be adjusted together by the same proportion (i.e. If reducing Angle P by half, such as from 20 -> 10, Rate P should be reduced by half as well, such as from 0.6 -> 0.3). | |
| refloat | kp2 | 0 | 3 | 0.6 | Rate P | Rate P (Proportional) value Determines how strong the board responds to the nose's angular velocity, regardless of setpoint (i.e. pushing nose down will accelerate, pulling nose up will brake).Most noticeable in quick/aggressive manuevers, as well as scenarios where Angle P is not effective. For example, coming from hard braking (nose high above setpoint), Rate P will allow the board to begin to accelerate the moment you start pushing the nose down, before the nose is even below setpoint. For our use case, while Rate P is a Proportional value, we utilize it practically as the D (Derivative) component for our PID loop, working as a damper for the Angle P component. Recommended Values: 0.1 - 0.6 (0.7 - 1.2+ is possible, may experience negative side effects) *Note: Angle P and Rate P work together to shape a large part of the ride feel. If trying to soften the effects of both and you would like to maintain the ride feel, these values should be adjusted together by the same proportion (i.e. If reducing Angle P by half, such as from 20 -> 10, Rate P should be reduced by half as well, such as from 0.6 -> 0.3). | |
| float | kp2_brake | x | 0 | 2 | 1 | Rate P (Braking) | Scales your Rate P value for braking. For example, if: Rate P = 0.6, Rate P (Braking) = 0.5x, then your brakes will use a Rate P of 0.3, half the strength of your acceleration Rate P. |
| refloat | kp2_brake | x | 0 | 2 | 1 | Rate P (Braking) | Scales your Rate P value for braking. For example, if: Rate P = 0.6, Rate P (Braking) = 0.5x, then your brakes will use a Rate P of 0.3, half the strength of your acceleration Rate P. |
| float | kp_brake | x | 0.2 | 2 | 1 | Angle P (Braking) | Scales your Angle P value for braking. For example, if: Angle P = 20, Angle P (Braking) = 0.5x, then your brakes will use an Angle P of 10, half the strength of your acceleration Angle P. |
| refloat | kp_brake | x | 0.2 | 2 | 1 | Angle P (Braking) | Scales your Angle P value for braking. For example, if: Angle P = 20, Angle P (Braking) = 0.5x, then your brakes will use an Angle P of 10, half the strength of your acceleration Angle P. |
| tnt | kp_rate | 0 | 1 | 0.45 | Pitch Rate Kp | The proportional gain multiplied by the negative pitch gyro to modify the current output of the board. Higher values produce a more stable and race-like feel, while lower values are looser and more playful. | |
| motor | l_abs_current_max | A | 0 | 5000 | 150 | Absolute Maximum Current | The current magnitude above which all output will be switched off and a fault code thrown. Usually the current control loops take care of limiting the current, but in some conditions short current spikes can appear very quickly. The system can handle them quite well in most cased, so this value can be set relatively high compared to the other current values to avoid cutouts. |
| motor | l_battery_cut_end | V | 0 | 1100 | 8 | Battery Voltage Cutoff End | The input voltage below which current draw is not allowed anymore. There is still full braking current available as braking only charges the battery. |
| motor | l_battery_cut_start | V | 0 | 1100 | 10 | Battery Voltage Cutoff Start | The input voltage where current starts to get reduced. There is still full braking current available as braking only charges the battery. |
| motor | l_battery_regen_cut_end | V | 0 | 1100 | 1100 | Battery Voltage Regen Cutoff End | The input voltage above which regen braking current is not allowed anymore. When regenerative braking is used, the controller can dump a large amount of energy into the battery, charging it at higher currents than the actual battery charger. This setting can be used to avoid overcharging the battery in long downhills or hard regen braking. Note that beyond this value, regen braking will be completely disabled. |
| motor | l_battery_regen_cut_start | V | 0 | 1100 | 1000 | Battery Voltage Regen Cutoff Start | The input voltage where regen braking current starts to get reduced. When regenerative braking is used, the controller can dump a large amount of energy into the battery, charging it at higher currents than the actual battery charger. This setting can be used to avoid overcharging the battery in long downhills or hard regen braking. Note that beyond this value, regen braking will start to become weaker. |
| motor | l_current_max | A | 0 | 5000 | 60 | Motor Current Max | Maximum motor current. |
| motor | l_current_max_scale | 0 | 1 | 1 | Max Current Scale | Maximum current scale. This value is multiplied with the maximum current. It is a convenient method to scale the current limits without forgetting the actual maximum value. | |
| motor | l_current_min | A | -5000 | 0 | -60 | Motor Current Max Brake | Maximum (braking) motor current. The is the maximum current that will be fed back to the VESC and when braking, thus negative. The energy from the braking current will be fed back to the battery. |
| motor | l_current_min_scale | 0 | 1 | 1 | Min Current Scale | Minimum current scale. This value is multiplied with the minimum current. It is a convenient method to scale the current limits without forgetting the actual maximum value. | |
| motor | l_duty_start | 0 | 1 | 1 | Duty Cycle Current Limit Start | Start to reduce the current at this duty cycle. Lowering this number will make the motor limit the torque softly when reaching max speed, however, it will also decrease the top speed a bit. | |
| motor | l_erpm_start | 0 | 1 | 0.8 | ERPM Limit Start | Start to reduce the current at this fraction of the ERPM limit. Lowering this number will make the ERPM limit softer. | |
| motor | l_in_current_map_filter | 0 | 1 | 0.005 | Input Current Map Filter | Input current filter for the mapped Q axis current limit. Range 0.0 to 1.0 where 1.0 is no filtering and the closer to 0.0 the more filtering there is. Filtering the input current before the mapped limit can affect oscillations caused by the limit. | |
| motor | l_in_current_map_start | 0 | 1 | 1 | Input Current Limit Map Start | Start limiting the Q axis current when the input current reaches this fraction of the maximum input current. The default value of 100% disables this function. This is useful for limiting the input current when using field weakening and MTPA. Setting this value too low will limit the current more than needed and setting it too high can lead to oscillation close to the maximum current. A value of 80-90% is a good starting point. | |
| motor | l_in_current_max | A | 0 | 5000 | 99 | Battery Current Max | The maximum current that can be drawn from the battery. The battery current is always lower than or equal to the motor current. |
| motor | l_in_current_min | A | -5000 | 0 | -60 | Battery Current Max Regen | The maximum regenerative current that can be fed to the battery (thus negative). The battery current is always lower than or equal to the motor current. |
| motor | l_max_duty | % | 0 | 1 | 0.95 | Maximum Duty Cycle | Maximum allowed duty cycle. |
| motor | l_max_erpm | 0 | 1e+06 | 100000 | Max ERPM | The maximum electrical RPM. | |
| motor | l_max_erpm_fbrake | 0 | 1e+06 | 300 | Max ERPM Full Brake | The maximum ERPM at which a full brake is allowed (BLDC Only). | |
| motor | l_max_erpm_fbrake_cc | 0 | 1e+06 | 1500 | Max ERPM Full Brake Current Control | The ERPM below which a direction change is allowed in current control (BLDC Only). | |
| motor | l_max_vin | V | 0 | 1100 | 57 | Maximum Input Voltage | The input voltage above which a fault code is thrown. |
| motor | l_min_duty | % | 0 | 1 | 0.005 | Minimum Duty Cycle | Minimum allowed duty cycle. |
| motor | l_min_erpm | -1e+06 | 0 | -100000 | Max ERPM Reverse | The maximum reverse electrical RPM. | |
| motor | l_min_vin | V | 0 | 1100 | 8 | Minimum Input Voltage | The input voltage below which a fault code is thrown. |
| motor | l_slow_abs_current | 0 | Slow ABS Current Limit | Use the filtered current for the ABS max fault code. Will not trigger as easily on very short spikes. | |||
| motor | l_temp_accel_dec | % | 0 | 1 | 0.15 | Acceleration Temperature Decrease | Decrease the motor and MOSFET temperature limits by this amount during acceleration. This is useful to still have braking torque left when the components get warm. A decrease of 0 % means that the acceleration temperature limits are the same as the braking temperature limits, and a decrease of 100 % meanse that the acceleration temperature limits are at 25 °C. |
| motor | l_temp_fet_end | °C | 0 | 190 | 100 | MOSFET Temp Cutoff End | The MOSFET temperature above which motor current is not allowed and a fault is thrown. |
| motor | l_temp_fet_start | °C | 0 | 190 | 85 | MOSFET Temp Cutoff Start | The MOSFET temperature at which motor current starts to get reduced. |
| motor | l_temp_motor_end | °C | 0 | 190 | 100 | Motor Temp Cutoff End | The motor temperature above which motor current is not allowed and a fault is thrown. |
| motor | l_temp_motor_start | °C | 0 | 190 | 85 | Motor Temp Cutoff Start | The motor temperature at which motor current starts to get reduced. |
| motor | l_watt_max | W | 0 | 2e+06 | 1.5e+06 | Maximum Wattage | Maximum allowed wattage output. If your region has laws that only allow a limited wattage, this parameter can be useful. However, keep in mind that limiting the wattage does not make much sense in practice since torque, heat losses, mechanical wear and component load are all current dependent. Notice that setting this parameter to a very high value essentially disables it, which is why the default value is high. The other limits will still apply. |
| motor | l_watt_min | W | -2e+06 | 0 | -1.5e+06 | Maximum Braking Wattage | Maximum allowed braking wattage (thus negative). There usually aren't any laws limiting how much braking is allowed, and limiting the wattage does not make much sense in general, so this parameter is present mostly for the sake of completeness. There might be some applications where limiting the braking wattage is useful though. Notice that setting this parameter to a very high value essentially disables it, which is why the default value is high. The other limits will still apply. |
| float | led_brightness | % | 0 | 100 | 50 | Headlight Brightness | Brightness for the forward and rear LED strips. |
| float | led_brightness_idle | % | 0 | 100 | 10 | Headlight Brightness when Idle | Brightness for the forward and rear LED strips when the board is disengaged. |
| float | led_forward_count | 0 | 99 | 20 | Forward LED Strip Length | The number of leds in your forward facing LED strip. This strip must be the 2nd in your chain of LEDs, wired after the status leds and before the rear LEDs. Set to 0 if you don't have a forward facing LED stip. | |
| float | led_mode | White/Red | Headlights LED Mode | Color modes for forward & rear LED strips while the board is in motion. | |||
| float | led_mode_idle | Battery Meter | Forward/Rear LED Mode when Idle | Color modes for forward & rear LED strips while the board is disengaged. | |||
| float | led_rear_count | 0 | 99 | 20 | Rear LED Strip Length | The number of leds in your rear facing LED strip. This strip must be the 3rd in your chain of LEDs, wired after the status leds and forward LEDs. Set to 0 if you don't have a rear facing LED stip. | |
| float | led_status_brightness | % | 0 | 100 | 10 | Status LED Brightness | Brightness for the status LED strip. |
| float | led_status_count | 0 | 99 | 10 | Status LED Strip Length | Number of leds in your status bar strip. The status bar strip must be the first in the chain of LEDs. If you dont have a status bar, set this to 0. | |
| float | led_status_mode | G | Status LED Mode | Color modes for status LED strip. | |||
| float | led_type | None | LED Type | LED Strip TypeNone: disable led output RGB: for ws2811 & ws2812b and anything else that shares that 3 channel protocol RGBW: for sk2812 & ws2815 and anything else that shares that 4 channel protocol External Module: for external lighting solutions such as the Floatwheel LCM | |||
| refloat | leds.direction_transition | Fade | Direction Transition | Transition used when you change ride direction to switch from headlights to taillights on the front and back LED strips. Not used if you have headlights off. | |||
| refloat | leds.front.brightness | % | 0 | 1 | 0.5 | Front Brightness | Front LED strip brightness when headlights are off. Note: On very low brightness levels the LEDs will lose color precision and eventually turn off completely. This is a limitation of the LED strips and can't be alleviated. |
| refloat | leds.front.color1 | Red | Front Primary Color | Front primary color. Note: There are three whites due to the extra white channel on RGBW LEDs: White (full) is full brightness on all four channels, the brightest it can be. It also consumes the most power. On RGB LEDs, this is the same as White (rgb). White (rgb) is the white of the three RGB channels. White (single) only works on RGBW and is the single white channel. It's black on RGB-only LEDs. Less bright than White (full), but consumes significantly less power. | |||
| refloat | leds.front.color2 | Black | Front Secondary Color | Front secondary color. Note: There are three whites due to the extra white channel on RGBW LEDs: White (full) is full brightness on all four channels, the brightest it can be. It also consumes the most power. On RGB LEDs, this is the same as White (rgb). White (rgb) is the white of the three RGB channels. White (single) only works on RGBW and is the single white channel. It's black on RGB-only LEDs. Less bright than White (full), but consumes significantly less power. | |||
| refloat | leds.front.mode | Knight Rider | Front Mode | Front LED strip mode (effect) when headlights are off. | |||
| refloat | leds.front.speed | 0 | 15 | 1 | Front Speed | Front animation speed. | |
| refloat | leds.headlights.brightness | % | 0 | 1 | 0.5 | Headlights Brightness | Forward-facing strip (switches according to ride direction) brightness when headlights are on. Note: Default is conservatively set to 50%. Set to 100% to get the maximum headlights brightness. Note: On very low brightness levels the LEDs will lose color precision and eventually turn off completely. This is a limitation of the LED strips and can't be alleviated. |
| refloat | leds.headlights.color1 | White (full) | Headlights Primary Color | Headlights primary color. Note: There are three whites due to the extra white channel on RGBW LEDs: White (full) is full brightness on all four channels, the brightest it can be. It also consumes the most power. On RGB LEDs, this is the same as White (rgb). White (rgb) is the white of the three RGB channels. White (single) only works on RGBW and is the single white channel. It's black on RGB-only LEDs. Less bright than White (full), but consumes significantly less power. | |||
| refloat | leds.headlights.color2 | Black | Headlights Secondary Color | Headlights secondary color. Note: There are three whites due to the extra white channel on RGBW LEDs: White (full) is full brightness on all four channels, the brightest it can be. It also consumes the most power. On RGB LEDs, this is the same as White (rgb). White (rgb) is the white of the three RGB channels. White (single) only works on RGBW and is the single white channel. It's black on RGB-only LEDs. Less bright than White (full), but consumes significantly less power. | |||
| refloat | leds.headlights.mode | Solid | Headlights Mode | Forward-facing strip (switches according to ride direction) mode (effect) when headlights are on. | |||
| refloat | leds.headlights.speed | 0 | 15 | 1 | Headlights Speed | Headlights animation speed. | |
| refloat | leds.headlights_on | 1 | Headlights On | Turns headlights and tail lights on or off. Headlights and taillights activate when you engage the board (using the Headlights Transition). They switch according to the direction you ride. Primary use of headlights is the white and red light for riding at night, but the settings are the exact same for Headlights, Taillights, Front and Rear. Use headlights to get whatever cool effect you want that'll switch to nose/tail according to the direction you ride. | |||
| refloat | leds.headlights_transition | Fade | Headlights Transition | Transition to and from headlights and taillights. Occurs when you engage the board if you have the headlights on. | |||
| refloat | leds.lights_off_when_lifted | 1 | Lights Off When Lifted | When enabled, turns off front and rear leds when you lift the board nose up (pitch angle > 60°). So that the LEDs don't blast into your eyes when you carry it. | |||
| refloat | leds.on | 1 | LEDs On | Turns LEDs on or off completely. | |||
| refloat | leds.rear.brightness | % | 0 | 1 | 0.5 | Rear Brightness | Rear LED strip brightness when headlights are off. Note: On very low brightness levels the LEDs will lose color precision and eventually turn off completely. This is a limitation of the LED strips and can't be alleviated. |
| refloat | leds.rear.color1 | Azure | Rear Primary Color | Rear primary color. Note: There are three whites due to the extra white channel on RGBW LEDs: White (full) is full brightness on all four channels, the brightest it can be. It also consumes the most power. On RGB LEDs, this is the same as White (rgb). White (rgb) is the white of the three RGB channels. White (single) only works on RGBW and is the single white channel. It's black on RGB-only LEDs. Less bright than White (full), but consumes significantly less power. | |||
| refloat | leds.rear.color2 | Black | Rear Secondary Color | Rear secondary color. Note: There are three whites due to the extra white channel on RGBW LEDs: White (full) is full brightness on all four channels, the brightest it can be. It also consumes the most power. On RGB LEDs, this is the same as White (rgb). White (rgb) is the white of the three RGB channels. White (single) only works on RGBW and is the single white channel. It's black on RGB-only LEDs. Less bright than White (full), but consumes significantly less power. | |||
| refloat | leds.rear.mode | Pulse | Rear Mode | Rear LED strip mode (effect) when headlights are off. | |||
| refloat | leds.rear.speed | 0 | 15 | 1 | Rear Speed | Rear animation speed. | |
| refloat | leds.status.brightness_headlights_off | % | 0 | 1 | 0.5 | Status Brightness (Headlights Off) | Status brightness when headlights are off, intended to be daylight-level brightness. Set high so that you can see the status in direct sunlight. Note: On very low brightness levels the LEDs will lose color precision and eventually turn off completely. This is a limitation of the LED strips and can't be alleviated. |
| refloat | leds.status.brightness_headlights_on | % | 0 | 1 | 0.2 | Status Brightness (Headlights On) | Status brightness when headlights are on, intended to be night-time brightness. Set low so that the status bar doesn't glare into your eyes when it's dark. Note: On very low brightness levels the LEDs will lose color precision and eventually turn off completely. This is a limitation of the LED strips and can't be alleviated. |
| refloat | leds.status.duty_threshold | % | 0 | 1 | 0.2 | Status Duty Threshold | Duty threshold at which the duty is shown on the status bar instead of the battery. Note there is a 10% hysteresis, meaning if you duty shows at 20%, it will be shown until it drops below 10% (to avoid constant blinking). Values below 15% set the threshold to 15%. Set to 0 to not show the duty bar. Note: Since duty above 95% is not achievable and you're unlikely to ever benefit from values above 90% being shown on your status bar, duty level of 90% is scaled to 100% on the status bar to make full use of its real estate. |
| refloat | leds.status.idle_timeout | s | 0 | 300 | 0 | Status Idle Timeout | Amount of seconds after which the status bar hoes into Idle. In Idle the status bar shows an animation which can be configured just like the Front / Rear animations. Set to 0 to disable Idle. |
| refloat | leds.status.red_bar_percentage | % | 0 | 0.5 | 0.2 | Red Color Bar Percentage | Percent threshold at which the low end of the battery bar and the hight end of the duty bar will be colored red. Mainly inteded to fine-tune the amount of red LEDs on status bars with different LED counts. |
| refloat | leds.status.show_sensors_while_running | 1 | Show Sensor Indicators While Running | When on, the blue footpad sensor indicators will show while running, if at least one of the sensors is deactivated. When off, no footpad sensor indicators will be shown. | |||
| refloat | leds.status_idle.brightness | % | 0 | 1 | 0.3 | Status Idle Brightness | Status brightness when in Idle. Note: On very low brightness levels the LEDs will lose color precision and eventually turn off completely. This is a limitation of the LED strips and can't be alleviated. |
| refloat | leds.status_idle.color1 | Red | Status Idle Primary Color | Status Idle primary color. Note: There are three whites due to the extra white channel on RGBW LEDs: White (full) is full brightness on all four channels, the brightest it can be. It also consumes the most power. On RGB LEDs, this is the same as White (rgb). White (rgb) is the white of the three RGB channels. White (single) only works on RGBW and is the single white channel. It's black on RGB-only LEDs. Less bright than White (full), but consumes significantly less power. | |||
| refloat | leds.status_idle.color2 | Black | Status Idle Secondary Color | Satus Idle secondary color. Note: There are three whites due to the extra white channel on RGBW LEDs: White (full) is full brightness on all four channels, the brightest it can be. It also consumes the most power. On RGB LEDs, this is the same as White (rgb). White (rgb) is the white of the three RGB channels. White (single) only works on RGBW and is the single white channel. It's black on RGB-only LEDs. Less bright than White (full), but consumes significantly less power. | |||
| refloat | leds.status_idle.mode | Knight Rider | Status Idle Mode | Status Idle mode (effect). Set Status Idle Timeout to a non-zero value to enable the Status Idle mode. | |||
| refloat | leds.status_idle.speed | 0 | 15 | 1 | Satus Idle Speed | Status Idle animation speed. | |
| refloat | leds.status_on_front_when_lifted | 1 | Status On Front When Lifted | Show the status bar on the front LED strip when you lift the board nose up (pitch angle > 60°). If you have Lights Off When Lifted on at the same time, will go dark after 3 seconds. You can make it show again by pressing the footpad sensor. | |||
| refloat | leds.taillights.brightness | % | 0 | 1 | 0.5 | Taillights Brightness | Backwards-facing strip (switches according to ride direction) brightness when headlights are on. Note: On very low brightness levels the LEDs will lose color precision and eventually turn off completely. This is a limitation of the LED strips and can't be alleviated. |
| refloat | leds.taillights.color1 | Red | Taillights Primary Color | Taillights primary color. Note: There are three whites due to the extra white channel on RGBW LEDs: White (full) is full brightness on all four channels, the brightest it can be. It also consumes the most power. On RGB LEDs, this is the same as White (rgb). White (rgb) is the white of the three RGB channels. White (single) only works on RGBW and is the single white channel. It's black on RGB-only LEDs. Less bright than White (full), but consumes significantly less power. | |||
| refloat | leds.taillights.color2 | Black | Taillights Secondary Color | Taillights secondary color. Note: There are three whites due to the extra white channel on RGBW LEDs: White (full) is full brightness on all four channels, the brightest it can be. It also consumes the most power. On RGB LEDs, this is the same as White (rgb). White (rgb) is the white of the three RGB channels. White (single) only works on RGBW and is the single white channel. It's black on RGB-only LEDs. Less bright than White (full), but consumes significantly less power. | |||
| refloat | leds.taillights.mode | Solid | Taillights Mode | Backwards-facing strip (switches according to ride direction) mode (effect) when headlights are on. | |||
| refloat | leds.taillights.speed | 0 | 15 | 1 | Taillights Speed | Taillights animation speed. | |
| float | limit_current_accel | A | 50 | 1000 | 150 | Acceleration Current Limit | Current limit for acceleration during normal riding on level ground. Lower values make nosedrags easier. This limit will be surpassed when ATR starts kicking in. |
| float | limit_current_brake | A | -1000 | -50 | -150 | Braking Current Limit | Current limit for braking during normal riding on street. Lower values make taildrags easier. This limit will be surpassed when ATR starts kicking in. |
| float | limit_current_cont | A | 30 | 1000 | 100 | Continuous Current Limit | Maximum current to be output continuously. Whenever the average current exceeds this value for longer than 5 seconds the beeper will go off. Actual limiting is not yet in place - this is for awareness only! |
| balance | loop_time_filter | Hz | 0 | 1000 | 0 | Loop Time Correction Filter | Filter overshoot and correct for it. |
| motor | m_batt_filter_const | 0 | 99 | 45 | Battery Filter Constant | Battery Level Filtering. The higher this number is the more the battery level is filtered. Too little filtering will make the battery level affected by the power draw and too much filtering will prevent the battery level to keep up with changes. | |
| motor | m_bldc_f_sw_max | kHz | 3000 | 40000 | 35000 | Maximum Switching Frequency | The maximum switching frequency in BLDC mode. |
| motor | m_bldc_f_sw_min | kHz | 3000 | 40000 | 3000 | Minimum Switching Frequency | The minimum switching frequency in BLDC mode. |
| motor | m_current_backoff_gain | 0 | 50 | 0.5 | Current Backoff Gain | Gain for the BLDC and DC current backoff. Used to limit the current in duty cycle mode. | |
| motor | m_dc_f_sw | kHz | 3000 | 25000 | 25000 | Switching Frequency | The switching frequency in DC mode. |
| motor | m_drv8301_oc_adj | 0 | 31 | 19 | DRV8301 OC Adjustment | The threshold for the over current protection feature of the DRV8301. Lower values correspond to lower currents. See the datasheet for more information about this setting. Notice This setting only has impact on hardware with the DRV8301 | |
| motor | m_drv8301_oc_mode | Current Limit | DRV8301 OC Mode | The mode for the over current protection feature of the DRV8301. The over current protection in the DRV8301 works by measuring the voltage drop across the MOSFETs and shuts them off of it exceeds a configurable limit. Notice This setting only has impact on hardware with the DRV8301 | |||
| motor | m_duty_ramp_step | 0 | 1 | 0.02 | Duty Ramp Step Max | Maximum duty cycle ramp step for DC and BLDC motors. | |
| motor | m_encoder_cos_amp | V | 0.01 | 2 | 1 | Cosine Amplitude | Amplitude of the cosine-input in volts. |
| motor | m_encoder_cos_offset | V | 0 | 3.3 | 1.65 | Cosine Offset | Cosine offset in volts. |
| motor | m_encoder_counts | 0 | 30000000 | 8192 | Encoder counts | ABI Encoder Number of counts for the A-B-Index encoder. This usually is the encoder resolution times 4, since every edge in the quadrature signal is counted. This setting only matters when using an ABI encoder. | |
| motor | m_encoder_sin_amp | V | 0.01 | 2 | 1 | Sine Amplitude | Amplitude of the sine-input in volts. |
| motor | m_encoder_sin_offset | V | 0 | 3.3 | 1.65 | Sine Offset | Sine offset in volts. |
| motor | m_encoder_sincos_filter_constant | 0 | 1 | 0.5 | Sin/Cos Filter Constant | Sin/Cos Encoder low pass filter constant. Will affect the ratio between lag and noise on the encoder position feedback. Range 0 to 1, where 0 has the lowest noise and most phase lag, and 1 has no lag and unfiltered noise. | |
| motor | m_encoder_sincos_phase_correction | ° | -45 | 45 | 0 | Sin/Cos Phase Correction | Sin/Cos Phase error compensation in deg. Some sin/cos encoders do not output perfect 90° phase between sin and cos signals. This parameter allows for compensating a phase error between sin and cos signals. |
| motor | m_fault_stop_time_ms | ms | -1 | 30000000 | 500 | Fault Stop Time | Amount of time to leave the motor disabled after a fault code. |
| motor | m_hall_extra_samples | 0 | 99 | 3 | Hall Sensor Extra Samples | Read the hall sensor port this many extra samples and use a median filter. Increasing this number will reduce noise on the hall sensor readings, but makes the motor control interrupt take longer and thus limits the maximum switching frequency. | |
| motor | m_invert_direction | 0 | Invert Motor Direction | Invert the motor direction. This option can be used to make the motor turn in the opposite direction. All state and control commands in mc_interface will respect this setting, so it should work as well as swithcing two motor cables for all applications. | |||
| motor | m_motor_temp_sens_type | NTC 10K at 25°C | Motor Temperature Sensor Type | Motor temperature sensor type. Most small hobby motors have a 10K NTC thermistor, whereas some larger motors have 1K PTC thermistors (such as the KTY84). | |||
| motor | m_ntc_motor_beta | K | 100 | 100000 | 3380 | Beta Value for Motor Thermistor | Beta Value for Motor Thermistor. |
| motor | m_ntcx_ptcx_res | kΩ | 100 | 200000 | 10000 | Custom NTC/PTC Resistance | Resistance of custom NTC/PTC resistor. |
| motor | m_ntcx_ptcx_temp_base | °C | -274 | 500 | 25 | Custom NTC/PTC Base Temperature | Base temperature of custom NTC/PTC resistor. |
| motor | m_out_aux_mode | Off | Auxiliary Output Mode | Auxiliary output mode. Can be used to e.g. activate a relay after a certain delay for bus capacitor precharging. | |||
| motor | m_ptc_motor_coeff | %/K | 0.05 | 100 | 0.61 | Coefficient for PTC Motor Thermistor | Coefficient for PTC Motor Thermistor. Unit: %/K |
| motor | m_sensor_port_mode | Hall Sensors | Sensor Port Mode | Mode for the sensor port. Can be changed for compatibility with different rotor position sensors. Notice that this setting does not have any impact when running sensorless. The modes are: Hall Sensors The motor has hall sensors built in which give a position resolution of 120 degrees. ABI Encoder A rotary encoder with A-B-Index output. Notice that this encoder does not help until the index pulse is found, so when running FOC open loop mode will be used for up to one mechanical revolution to find the index position when trying to run a motor for the first time after a power cycle. Notice that you also have to set the number of encoder counts in order to use this type of encoder. This usually is the number of pulses per revolution times 4, since every edge of both pulse trains is counted. AS5047 Encoder An AS5047 magnetic encoder connected over SPI. This one provides absolute positions from start, but tends to have a bit of nonlinearity. AS5X47U Encoder An AS5147U or AS5247U magnetic encoder connected over SPI. It is similar to the AS5047 but with additional safety features making it capable of automotive safety levels. It must be connected to SPI in the COMM port. To use this encoder, you have to make sure that no app uses UART, I2C, ADC2, or ADC3. SIN/COS Encoder A Sin/Cos encoder is a position feedback device similar to a quadrature encoder, except instead of outputting digital pulses, it outputs analog voltages with sinusoidal shapes offset by 90°. Provides absolute positions from the start, but its sensitive to EMI and requires special filtering, transient protections and shielded wiring. TS5700N8501 Encoder This encoder uses RS485, so it has to be connected to the COMM port. A RS485-transceiver such as the ADM485 is required, where RX and TX are used as the data lines. ADC1 is used to trigger between RX and TX, which is needed as the communication is half duplex. To use this encoder, you have to make sure that no app uses UART or ADC1. TS5700N8501 Encoder Multiturn Same as above, but uses the multiturn function. The angle is divided by 10000, thus can be used for up to 10000 revolutions. The position PID parameters need to be increased by a factor of around 10000 for this to work similarly to the single turn mode. Note that this is not a good implementation and needs improvement in the future. 180 degrees PID setpoint corresponds to multiturn position 0. MT6816 Encoder A magnetic encoder using a high speed SPI communication. Provides absolute position from start. It has to be connected to a hardware-based SPI peripheral. BISSC Encoder This encoder uses RS422, so it has to be connected to the COMM port for high speed communication. A RS422-transceiver such as the MAX490 is required, where CLK and MISO are used as clock and data input lines. To use this encoder, you have to make sure that no app uses UART or ADC1. The ABI resolution field is used to set the BISSC encoder accuracy: 2^(BissC Resolution) TLE5102 Encoder A magnetic encoder using the bidirectional SSC protocol. Provides absolute position from start and error protected communication. Currently both “SSC SW” and “SSC HW” use software bitbanging. “SSC SW” uses the hall connector pins which must not have filters. “SSC HW” uses the 7-8 pin adc/uart connector. Recommend 5v sensor power. Wires must be shielded and/or run together or you will get communication errors.“SSC SW” Connections: H1 = SCK, H2 = DATA , H3 = CS “SSC HW” Connections: ADC1 = SCK, TX = DATA , NSS = CS Custom Encoder This means that a native library is loaded that handles reading of the encoder and provides the decoded angle. | |||
| float | mahony_kp | 0 | 3 | 2 | Mahony KP | KP value for Mahony IMU Filter Decides how heavily the accelerometer is used in "estimating" IMU data. For our purpose, this filter is a bit abused in order to achieve desirable ride behavior. In practice, increasing this value will loosen up the board, specifically in the center of the board and in how quickly it rebounds to level. If you want a snappier board, drop this down a bit. If you want things a bit looser, with increased board angle control, bump it up a notch or two. Recommended Values: 1.5 - 2.5 (Caution with higher values!!) *Note: If your set Mahony KP in "App CFG -> IMU" does not match this value, this value will take priority and writing the Float Config will overwrite this value into your App CFG. | |
| refloat | mahony_kp | 0 | 3 | 2 | Pitch KP | KP for the pitch axis of the Mahony IMU Filter Defines the amount of accelerometer correction applied to the pitch axis (forward-backward tilt) of the Mahony filter. In practice, increasing this value will loosen up the board, specifically in the center of the board and in how quickly it rebounds to level. If you want a snappier board, drop this down a bit. If you want things a bit looser, with increased board angle control, bump it up a notch or two. This parameter is amongst those that have the most impact on the feel of the ride and how the board behaves in ondulated terrain. Recommended Values: 1.5 - 2.5 (Caution with higher values!) | |
| tnt | mahony_kp | 0 | 3 | 2 | Mahony KP | KP value for Mahony IMU Filter Decides how heavily the accelerometer is used in "estimating" IMU data. For our purpose, this filter is a bit abused in order to achieve desirable ride behavior. In practice, increasing this value will loosen up the board, specifically in the center of the board and in how quickly it rebounds to level. If you want a snappier board, drop this down a bit. If you want things a bit looser, with increased board angle control, bump it up a notch or two. Recommended Values: 1.5 - 2.5 (Caution with higher values!!) *Note: If your set Mahony KP in "App CFG -> IMU" does not match this value, this value will take priority and writing the Float Config will overwrite this value into your App CFG. | |
| refloat | mahony_kp_roll | 0 | 3 | 1.4 | Roll KP | KP for the roll axis of the Mahony IMU Filter Defines the amount of accelerometer correction applied to the roll axis (board sideways rotation) of the Mahony filter. High Pitch KP makes the board response mellow and makes the tilt "linger" longer. This is not desireable for the roll axis, because as the board rotates in yaw during a turn, roll becomes pitch. If you roll a board to the side when making a turn, the angle will propagate into your pitch and the nose will be dipping when turning. This effect is presumably more pronounced with roundier tires. Setting the Roll KP lower than Pitch KP will make the nose hold up better in turns and make the board stiffer in general, and especially in tight carves. However, unequal axes KPs skew the Mahony's mathematical model and setting Roll KP too low brings unwanted side-effects, like the board being twitchy and the nose lifting too much during sudden rotations. Recommended Values: 0.8 - 1.8 | |
| motor | motor_brand | Unnamed | Motor Brand | The motor brand, e.g. Turnigy. | |||
| motor | motor_description | A motor description can be edited here. | Motor Description | This is an editor where a description can be stored for your motor configuration. Images can also be inserted. Notice that this information is not written to the VESC, so it has to be stored in an XML file. | |||
| motor | motor_model | Not Specified | Motor Model | The motor model, e.g. 6374 168KV. | |||
| motor | motor_quality_bearings | -5 | 5 | 0 | Bearing Quality | Motor bearing quality. 0 is neutral/unknown, negative is bad and positive is good. | |
| motor | motor_quality_construction | -5 | 5 | 0 | Construction Quality | Motor construction quality. 0 is neutral/unknown, negative is bad and positive is good. | |
| motor | motor_quality_description | Some comments about the motor quality. Images can be added as well. | Quality Description | A text summary of the motor quality. | |||
| motor | motor_quality_magnets | -5 | 5 | 0 | Magnet Quality | Motor magnet quality. 0 is neutral/unknown, negative is bad and positive is good. | |
| motor | motor_sensor_type | No sensor | Position Sensor | Does this motor come with some kind of position sensor? | |||
| info | motor_setting_description | Motor Setting Description | Motor Settings This is where you can edit your motor settings. It is very important to setup your VESC every time you connect a different motor, otherwise the VESC and/or the motor are likely to get damaged. The easiest way to set up your VESC for your motor is to use the Motor Setup Wizard. This wizard can be accessed from the welcome page, from the help menu or using the button at the bottom of this page. The motor settings are stored in their own configuration structure. Every time you make changes to the motor configuration you have to write the configuration to the VESC in order to apply the new settings. Reading/writing the motor configuration can be done using the buttons on the toolbar to the right. The functions of these toolbar buttons are the following: Read Motor Configuration. This button will read the current motor configuration from the VESC to VESC Tool. Warning: All of the motor settings currently in VESC Tool will be overwritten by pressing this button. Read Default Motor Configuration. This button will read the default motor configuration from the VESC to VESC Tool. The default configuration is hard-coded in firmware, and is how the VESC is configured right after uploading new firmware. Warning: All of the motor settings currently in VESC Tool will be overwritten by pressing this button. Write Motor Configuration. This button will write the motor configuration that currently is in VESC Tool to the VESC. Every time you make a change to the motor configuration in VESC Tool you must use this button to apply the new settings. The new settings will be used as soon as you write them to the VESC, and they will be stored in the flash memory of the VESC persistently. Every motor setting has three small buttons to the right of its value. They have the following functions: Read Current Value. This button will read the current value for this setting from the VESC. Read Default Value. This button will read the default value for this setting from the VESC. Show Help. This button will show a help dialog describing what this setting does. If you are not sure about a setting the help dialog can be very useful. The full motor configuration, including the notes you make on the Description page, can also be written to and read from XML files using the File menu. This is a good way to keep your settings when going between different VESC Tool versions, to share your settings and to store your configuration in general. Notice that uploading new firmware to the VESC will reset all its settings to their default values for that firmware. This means that after uploading firmware to the VESC you have to perform the motor configuration again. | ||||
| motor | motor_type | FOC | Motor Type | BLDC Trapezoidal commutation mode for PMSM motors. DC DC motor. A DC motor is connected to phase 1 and phase 3. FOC Field Oriented Control (FOC) for PMSM (or BLDC) motors. The motor is commutated with sine waves instead of a trapezoidal waveform as is the case for BLDC commutation. FOC runs the motors more quietly (especially at low speed and high load), is slightly more efficient and provides automatic optimal timing. GPD General Purpose Drive between phase 1 and 3. Should be used with a custom application on the VESC, or on the computer with the VESC Tool backend providing samples. | |||
| motor | motor_weight | g | 0 | 500000 | 0 | Motor Weight | The weight of the motor in grams. |
| balance | multi_esc | 0 | Multiple VESCs Over CAN | Listen for other VESCs on the CAN-bus and send the same control commands to them. Notice that the application only has to be set up on the master VESC. | |||
| balance | noseangling_speed | °/s | 0 | 100 | 5 | Nose Angling Speed | Speed at which vehicle will tilt to the desired angle. |
| float | noseangling_speed | °/s | 0 | 100 | 5 | Nose Angling Speed | Maximum Rate at which nose will tilt to the desired angle during Constant and/or Variable Tiltback. |
| refloat | noseangling_speed | °/s | 0 | 100 | 5 | Nose Angling Speed | Maximum Rate at which nose will tilt to the desired angle during Constant and/or Variable Tiltback. |
| tnt | noseangling_speed | °/s | 0 | 50 | 5 | Nose Angling Speed | Maximum Rate at which nose will tilt to the desired angle during Constant and/or Variable Tiltback. |
| tnt | overcurrent_margin | A | 0 | 100 | 10 | Haptic Buzz Current Margin | Haptic buzz will engage at the high current threshold minus haptic buzz current margin. |
| tnt | overcurrent_period | s | 0 | 100 | 0.3 | High Current Haptic Buzz Time | The haptic buzz from high current can limited in duration by this value. |
| motor | p_pid_ang_div | 0 | 100000 | 1 | Position Angle Division | Angle division for the position controller. Can be used to map one control rotation to several motor rotations. | |
| motor | p_pid_gain_dec_angle | ° | 0 | 3000 | 0 | Gain Decrease Angle | Decrease position PID-gains when the errors is below this angle in electrical degrees. Helps at low speed when using low resolution encoders, such as hall sensors. A value of around 300 seems to work ok with hall sensors. |
| motor | p_pid_kd | 0 | 10000 | 0 | Position PID Kd | Derivative gain for the position controller. | |
| motor | p_pid_kd_filter | 0 | 1 | 0.2 | Position PID Kd Filter | Filter on derivative term for position controller. The range is 0 to 1, where 0 is the maximum amount of filtering (infinite) and 1 is no filtering. | |
| motor | p_pid_kd_proc | 0 | 10000 | 0.00035 | Position PID Kd Process | Derivative gain for the position controller. This derivative term is applied on the process variable (position_now) only and not on the error term (position_set - position_now). This way oscillations can be dampened without amplifying control signal input. | |
| motor | p_pid_ki | 0 | 10000 | 0 | Position PID Ki | Integral gain for the position controller. | |
| motor | p_pid_kp | 0 | 10000 | 0.025 | Position PID Kp | Proportional gain for the position controller. | |
| motor | p_pid_offset | ° | -360 | 360 | 0 | Position PID Offset Angle | Angle offset for the position controller. |
| app | pairing_done | 0 | Pairing Done | Pairing done flag. If this flag is set, a bluetooth connection can only be made if the VESC Tool instance making the connection has been paired to this VESC. The pairing is done by storing the UUID of the VESC in the pairing list. | |||
| app | permanent_uart_enabled | 1 | Enable Permanent UART | Enable the permanent UART port (if the hardware has one). This port can be connected to e.g. the NRF51 for providing a BLE link. You may want to disable this to prevent access to your VESC over BLE. | |||
| balance | pid_mode | BALANCE_PID_MODE_ANGLE | PID Mode | PID loop mode, Angle or Cascadeing Angle Rate. | |||
| tnt | pitch1 | ° | 0 | 25 | 0.3 | Pitch 1 | Defines the pitch where current1 will be applied. |
| tnt | pitch2 | ° | 0 | 25 | 0.7 | Pitch 2 | Defines the pitch where current2 will be applied. |
| tnt | pitch3 | ° | 0 | 25 | 3 | Pitch 3 | Defines the pitch where current3 will be applied. |
| tnt | pitch4 | ° | 0 | 25 | 4 | Pitch 4 | Defines the pitch where current4 will be applied. |
| tnt | pitch5 | ° | 0 | 25 | 5 | Pitch 5 | Defines the pitch where current5 will be applied. |
| tnt | pitch6 | ° | 0 | 25 | 5 | Pitch 6 | Defines the pitch where current6 will be applied. |
| tnt | pitch_filter | Hz | 0 | 100 | 25 | Pitch Filter | This factor affects the biquad low pass filter applied to the pitch. Lower values will reduce board vibration but also reduce responsiveness. Higher values will more closely match the IMU pitch but more aggressive tunes will experience vibration. A value of zero will disable the filter. |
| tnt | pitch_kp_input | 0 | Enable Pitch Kp Input | Override current inputs to instead read as proportional gain(kp) values such that current = kp x pitch. Any control curve can be made with current inputs or kp inputs. It is a different way to think about it and may be easier to tune for some. | |||
| tnt | pitch_kp_input_brake | 0 | Enable Pitch Kp Input Braking | Override current inputs to instead read as proportional gain(kp) values such that current = kp x pitch. Any control curve can be made with current inputs or kp inputs. It is a different way to think about it and may be easier to tune for some. | |||
| motor | pwm_mode | Synchronous | PWM Mode | The PWM mode to use for BLDC motors. Synchronous is the most tested and recommended mode. The others are likely to cause problems. | |||
| float | remote_throttle_current_max | A | 0 | 50 | 0 | Throttle Current Maximum | Max Current able to be applied using Remote Throttle, allowing the control of the board using your remote's throttle when disengaged. Actual current applied is linearly scaled up to Max Current, based on your throttle percentage. Recommended Values: 5A - 10A *DISCLAIMER: Make sure your remote idles at 0% throttle!! Otherwise, current will be continually request, which can drain your battery. Reference "Remote Input" in AppUI Tab of VESC Tool. If it is not idling at 0%, you must either tweak Input Deadband above, or properly calibrate your remote. |
| refloat | remote_throttle_current_max | A | 0 | 50 | 0 | Throttle Current Maximum | Max Current able to be applied using Remote Throttle, allowing the control of the board using your remote's throttle when disengaged. Actual current applied is linearly scaled up to Max Current, based on your throttle percentage. Recommended Values: 5A - 10A *DISCLAIMER: Make sure your remote idles at 0% throttle!! Otherwise, current will be continually request, which can drain your battery. Reference "Remote Input" in AppUI Tab of VESC Tool. If it is not idling at 0%, you must either tweak Input Deadband above, or properly calibrate your remote. |
| float | remote_throttle_grace_period | s | 0 | 60 | 10 | Grace Period | Delay after disengaging, during which Remote Throttle cannot be used. *DISCLAIMER: Be CAUTIOUS if using a Grace Period of/near 0 seconds!! A short delay can lead to accidental throttle if using Remote Tilt as the board disengages. |
| refloat | remote_throttle_grace_period | s | 0 | 60 | 10 | Grace Period | Delay after disengaging, during which Remote Throttle cannot be used. *DISCLAIMER: Be CAUTIOUS if using a Grace Period of/near 0 seconds!! A short delay can lead to accidental throttle if using Remote Tilt as the board disengages. |
| tnt | roll1 | ° | 0 | 90 | 5 | Level 1 Roll Angle | The roll kp modifies the current demand on to increase output when the board is turning. When the board rolls, roll kp starts acting at level 1. As roll increases it will linearly scale to level 2 and level 3 kp's. |
| tnt | roll2 | ° | 0 | 90 | 35 | Level 2 Roll Angle | The roll kp modifies the current demand on to increase output when the board is turning. When the board rolls, roll kp starts acting at level 1. As roll increases it will linearly scale to level 2 and level 3 kp's. |
| tnt | roll3 | ° | 0 | 90 | 0 | Level 3 Roll Angle | The roll kp modifies the current demand on to increase output when the board is turning. When the board rolls, roll kp starts acting at level 1. As roll increases it will linearly scale to level 2 and level 3 kp's. |
| tnt | roll_hs_higherpm | ERPM | 0 | 50000 | 10000 | Roll High ERPM Scale | Defines the upper ERPM limit that will be scaled by the max scale value. |
| tnt | roll_hs_lowerpm | ERPM | 0 | 50000 | 6000 | Roll Low ERPM Scale | From zero ERPM to this ERPM value, the roll kp will be multiplied by the maximum scaler. From roll kp low ERPM to roll kp high ERPM the maximum scaler will reduce from its maximum value to 0. |
| tnt | roll_hs_maxscale | % | -100 | 100 | -30 | Roll Maximum Scaler | The maximum scaler is used to increase the roll kp response at high speeds. From the low ERPM to the high ERPM scale the scaler will be increased from 0 to the max scale value. e.g. A scaler value of zero will have no effect. A scaler value of 300% increases roll kp x4 such that if roll kp = 0.5 it will be 2.0 when scaled. |
| tnt | roll_kp1 | 0 | 5 | 0 | Level 1 Roll Kp | The roll kp modifies the current demand on to increase output when the board is turning. When the board rolls, roll kp starts acting at level 1. As roll increases it will linearly scale to level 2 and level 3 kp's. | |
| tnt | roll_kp2 | 0 | 5 | 0.3 | Level 2 Roll Kp | The roll kp modifies the current demand on to increase output when the board is turning. When the board rolls, roll kp starts acting at level 1. As roll increases it will linearly scale to level 2 and level 3 kp's. | |
| tnt | roll_kp3 | 0 | 5 | 0 | Level 3 Roll Kp | The roll kp modifies the current demand on to increase output when the board is turning. When the board rolls, roll kp starts acting at level 1. As roll increases it will linearly scale to level 2 and level 3 kp's. | |
| balance | roll_steer_erpm_kp | -10000 | 10000 | 0 | Roll Steer ERPM KP | Roll angle multiplied by ERPM to yaw setpoint adjustment proportion. Scaling turn speed by erpm will give a constant turning radius at all speeds, like a normal vehicle. | |
| balance | roll_steer_kp | -10000 | 10000 | 0 | Roll Steer KP | Roll angle to yaw setpoint adjustment proportion. This is a constant turning speed regardless of forward travel speed. It will turn tighter at low speeds | |
| tnt | rollkp_higherpm | ERPM | 0 | 50000 | 2500 | Roll High ERPM Scale | Defines the upper ERPM limit that will be scaled by the max scale value. |
| tnt | rollkp_lowerpm | ERPM | 0 | 50000 | 750 | Roll Low ERPM Scale | From zero ERPM to this ERPM value, the roll kp will be multiplied by the maximum scaler. From roll kp low ERPM to roll kp high ERPM the maximum scaler will reduce from its maximum value to 0. |
| tnt | rollkp_maxscale | % | 0 | 5000 | 500 | Roll Maximum Scaler | The maximum scaler is used to increase the roll kp response at low speeds. From zero ERPM to the low ERPM scale value, the roll kp will be multiplied by the maximum scaler. From roll kp low ERPM to roll kp high ERPM, the maximum scaler will reduce from its maximum value to 0. e.g. A scaler value of zero will have no effect. A scaler value of 300% increases roll kp x4 such that if roll kp = 0.5 it will be 2.0 when scaled. |
| motor | s_pid_allow_braking | 1 | Allow Braking | Allow the speed controller to apply braking current. In general this option should be enabled, but for some applications it might make sense to disable braking during speed control. | |||
| motor | s_pid_kd | 0 | 10000 | 0.0001 | Speed PID Kd | Derivative gain for the speed controller. FOC and BLDC need different parameters because their speed controllers differ. | |
| motor | s_pid_kd_filter | 0 | 1 | 0.2 | Speed PID Kd Filter | Filter on derivative term for speed controller. The range is 0 to 1, where 0 is the maximum amount of filtering (infinite) and 1 is no filtering. | |
| motor | s_pid_ki | 0 | 10000 | 0.004 | Speed PID Ki | Integral gain for the speed controller. FOC and BLDC need different parameters because their speed controllers differ. | |
| motor | s_pid_kp | 0 | 10000 | 0.004 | Speed PID Kp | Proportional gain for the speed controller. FOC and BLDC need different parameters because their speed controllers differ. | |
| motor | s_pid_min_erpm | 0 | 1e+06 | 900 | Minimum ERPM | ERPM below which the speed controller is disabled. | |
| motor | s_pid_ramp_erpms_s | -1 | 100000 | 25000 | Ramp eRPMs per second | This allows to control how fast the input of the speed command is allowed to increase each second. If user does not want to use this ramp, just apply a negative value such as -1.0. Only positive values are considered. | |
| motor | s_pid_speed_source | PLL | Speed Source | Speed source for the PID speed controller. PLL Phase locked loop. Low noise, but slow response. Fast Estimator Filtered phase difference per time. Faster than the PLL but more noise. Faster Estimator Same as fast estimator, but less filtering. Fastest update but the most noise. | |||
| motor | sensor_mode | Sensorless | Sensor Mode | Sensor mode for BLDC commutation. Hybrid means that sensors will be used at low speed and sensorless at high speed. | |||
| app | servo_out_enable | 0 | Enable Servo Output | Enable servo output on PPM-port when PPM-app is disabled. | |||
| app | shutdown_mode | OFF_AFTER_30M | Shutdown Mode | Shutdown mode for hardware that supports it (such as the VESC HD). Determines how the VESC shuts itself off, which eliminates the need for an external switch. NOTE: Most VESCs with this feature also support push to start, which means that the VESC will switch on as soon as the motor is turned at a minimum speed. The available modes are: ALWAYS_OFF The VESC power is only determined by the inverted state of the shutdown input. ALWAYS_ON The VESC always stays on after being powered. TOGGLE_BUTTON_ONLY A normally closed (NC) momentary button can be connected to the shutdown input to toggle the power on or off. The VESC will sample the button and determine whether it is pressed, which can be used to shut down after the button is released. OFF_AFTER_x Same as the TOGGLE_BUTTON_ONLY mode, but the VESC will shut down after X time of inactivity. This mode is useful for setups without any switch at all if the hardware supports push to start, such as the VESC HD. | |||
| motor | si_battery_ah | Ah | 0 | 1000 | 6 | Battery Capacity | Battery capacity in ampere hours. |
| motor | si_battery_cells | 1 | 255 | 3 | Battery Cells Series | Battery cells in series. | |
| motor | si_battery_type | BATTERY_TYPE_LIION_3_0__4_2 | Battery Type | Battery Type BATTERY_TYPE_LIION_3_0__4_2, Lithium ion, voltage range: 3.0 to 4.2 BATTERY_TYPE_LIIRON_2_6__3_6, Lithium iron phosphate, voltage range: 2.6 to 3.6 BATTERY_TYPE_LEAD_ACID Lead Acid, voltage range: 2.1 to 2.36 | |||
| motor | si_gear_ratio | 0 | 9999 | 3 | Gear Ratio | Gear ratio. For example, if the motor has a 12 tooth pulley and the wheel has a 36 tooth pulley, the gear ratio is: 36 / 12 = 3.0 | |
| motor | si_motor_nl_current | A | 0 | 999 | 1 | Motor No Load Current | No load current for the motor. Can be measured by running the motor at around 50% duty cycle without load and noting the motor current draw. The no load current can be used in the motor comparison tool for calculating efficiencies and comparing different motors, gear ratios etc. |
| motor | si_motor_poles | 2 | 254 | 14 | Motor Poles | Motor pole count. Most outrunners have 14 poles. Inrunners usually have 2 or 4 poles. The motor pole count is required for speed and travel distance calculation. | |
| motor | si_wheel_diameter | mm | 0 | 9999 | 0.083 | Wheel Diameter | Wheel diameter, in mm. |
| motor | sl_bemf_coupling_k | 0 | 5000 | 600 | BEMF Coupling | BEMF coupling. Roughly describes how much of the input voltage is seen on the BEMF at low modulation. Compensating for that at low speed helps the startup a lot. | |
| motor | sl_cycle_int_limit | 0 | 3000 | 62 | Cycle Integrator Limit | Cycle integrator limit. This is how much area will be integrated under the back EMF after a zero crossing before doing a commutation. A too low value will cause a too early commutation, and a too high value will cause a too late commutation. A too late commutation will cause more problems than too early commutations. | |
| motor | sl_cycle_int_rpm_br | 0 | 1e+06 | 80000 | BR ERPM | The ERPM at which phase advance (timing) is the maximum. | |
| motor | sl_max_fullbreak_current_dir_change | A | 0 | 500 | 10 | Max Brake Current at Direction Change | Only allow motor direction change below this current. |
| motor | sl_min_erpm | 0 | 1e+06 | 150 | Minimum ERPM | Minimum sensorless ERPM (BLDC Only). Run the motor in open loop when the estimated ERPM is below this value. | |
| motor | sl_min_erpm_cycle_int_limit | 0 | 1e+06 | 1100 | Minimum ERPM Integrator | The minimum ERPM for which the integrator limit is calculated. Setting this too low will make the coupling compensation too large at low speed resulting in bad startup. | |
| motor | sl_phase_advance_at_br | 0 | 1 | 0.8 | Phase Advance at BR ERPM | Phase (timing) advance at the BR ERPM value. Below that value the advance will be less proportional to the current ERPM. | |
| motor | sp_pid_loop_rate | 1000 Hz | PID Loop Rate | Rate at which the position and speed controllers run. | |||
| tnt | stabl_max_erpm | ERPM | 0 | 50000 | 8000 | Maximum Scale ERPM | Stability will start at zero at Minimum ERPM and scale linearly with ERPM until Maximum Stability Scale at Maximum ERPM. |
| tnt | stabl_min_erpm | ERPM | 0 | 50000 | 3000 | Minimum Scale ERPM | Stability will start at zero at Minimum ERPM and scale linearly with ERPM until Maximum Stability Scale at Maximum ERPM. |
| tnt | stabl_pitch_max_scale | % | 0 | 5000 | 50 | Pitch Current Max Stability | This is the maximum scale that the acceleration and brake curves will be increased at max ERPM. |
| tnt | stabl_ramp | %/s | 1 | 250 | 25 | Ramp Rate Up | Restricts the rate that the stability can change in percent of Stability Maximum Scale per second. Reduce the ramp up rate to prevent the feeling of the nose lifting when accelerating. |
| tnt | stabl_ramp_down | %/s | 1 | 250 | 5 | Ramp Rate Down | Restricts the rate that the stability can change in percent of Stability Maximum Scale per second. Reduce the ramp down rate to prevent the feeling of nose dipping when reducing speed. |
| tnt | stabl_rate_max_scale | % | 0 | 5000 | 100 | Pitch Rate Max Stability | This is the maximum scale that the proportional gain applied to the gyro (pitch rate kp) will be increased to at max ERPM. |
| float | startup_click_current | A | 0 | 20 | 0 | Startup Click Current | Strength of the noticeable "click" when engaging. 0A = Stealthy start 20A = Very noticeable click |
| refloat | startup_click_current | A | 0 | 20 | 0 | Startup Click Current | Strength of the noticeable "click" when engaging. 0A = Stealthy start 20A = Very noticeable click |
| float | startup_dirtylandings_enabled | 0 | Enable Dirty Landings | Allow landing with an extra 10 degrees pitch tilt within 1 second of disengaging both sensors (not active after heel-lift dismount). | |||
| refloat | startup_dirtylandings_enabled | 0 | Enable Dirty Landings | Allow landing with an extra 10 degrees pitch tilt within 1 second of disengaging both sensors (not active after heel-lift dismount). | |||
| tnt | startup_dirtylandings_enabled | 0 | Enable Dirty Landings | Allow landing with an extra 10 degrees pitch tilt within 1 second of disengaging both sensors (not active after heel-lift dismount). | |||
| balance | startup_pitch_tolerance | ° | 0 | 80 | 20 | Startup Pitch Axis Angle Tolerance | Angle at which balancing will start (on the main axis). Measured in degrees from upright (0). |
| float | startup_pitch_tolerance | ° | 0 | 80 | 3 | Startup Pitch Axis Angle Tolerance | Pitch Angle range from "Level" at which the board is allowed to engage. Measured in degrees from Level (0° Pitch). |
| refloat | startup_pitch_tolerance | ° | 0 | 80 | 4 | Startup Pitch Axis Angle Tolerance | Pitch Angle range from "Level" at which the board is allowed to engage. Measured in degrees from Level (0° Pitch). |
| tnt | startup_pitch_tolerance | ° | 0 | 80 | 7 | Startup Pitch Axis Angle Tolerance | Pitch Angle range from "Level" at which the board is allowed to engage. Measured in degrees from Level (0° Pitch). |
| float | startup_pushstart_enabled | 0 | Enable Push Start | Allow starting the board by jumping onto it, regardless of pitch angle, as long as the speed is 1000 ERPM (~2 mph) or higher. | |||
| refloat | startup_pushstart_enabled | 0 | Enable Push Start | Allow starting the board by jumping onto it, regardless of pitch angle, as long as the speed is 1000 ERPM (~2 mph) or higher. | |||
| tnt | startup_pushstart_enabled | 0 | Enable Push Start | Allow starting the board by jumping onto it, regardless of pitch angle, as long as the speed is 1000 ERPM (~2 mph) or higher. | |||
| balance | startup_roll_tolerance | ° | 0 | 80 | 8 | Startup Roll Axis Angle Tolerance | Angle at which balancing will start (on the cross axis). Measured in degrees from upright (0). |
| float | startup_roll_tolerance | ° | 0 | 80 | 45 | Startup Roll Axis Angle Tolerance | Roll Angle (Heel-to-Toe) range from "Flat" at which the board is allowed to engage. Measured in degrees from Flat (0° Roll). |
| refloat | startup_roll_tolerance | ° | 0 | 80 | 45 | Startup Roll Axis Angle Tolerance | Roll Angle (Heel-to-Toe) range from "Flat" at which the board is allowed to engage. Measured in degrees from Flat (0° Roll). |
| float | startup_simplestart_enabled | 0 | Enable Simple Start | Allow starting with a single sensor, while still allowing heel-lift dismounts. To avoid accidental re-engagement when heel-lift dismounting, this feature is disabled for 5 seconds from the last disengagement. | |||
| refloat | startup_simplestart_enabled | 0 | Enable Simple Start | Allow starting with a single sensor, while still allowing heel-lift dismounts. To avoid accidental re-engagement when heel-lift dismounting, this feature is disabled for 5 seconds from the last disengagement. | |||
| tnt | startup_simplestart_enabled | 1 | Enable Simple Start | Allow starting with a single sensor, while still allowing heel-lift dismounts. To avoid accidental re-engagement when heel-lift dismounting, this feature is disabled for 5 seconds from the last disengagement. | |||
| balance | startup_speed | °/s | 0 | 100 | 30 | Startup Centering Speed | Speed at which wheel will center itself on startup. |
| float | startup_speed | °/s | 0 | 100 | 30 | Startup Centering Speed | Rate at which the board will level itself on startup. |
| refloat | startup_speed | °/s | 0 | 100 | 30 | Startup Centering Speed | Rate at which the board will level itself on startup. |
| tnt | startup_speed | °/s | 0 | 100 | 60 | Startup Centering Speed | Rate at which the board will level itself on startup. |
| tnt | stickytilt_holdcurrent | A | 0 | 250 | 20 | Sticky Tilt Hold Current | If the motor current is above this value and sticky tilt value 2 is engaged, it will not switch to value 1 to avoid a tail/nosedive. |
| tnt | stickytiltval1 | ° | 0 | 25 | 3 | Sticky Tilt Angle 1 | Low value that will stick first when sticky tilt is activated. |
| tnt | stickytiltval2 | ° | 0 | 25 | 6 | Sticky Tilt Angle 2 | A second sticky tilt value that will only engage after the first value has been activated. |
| float | surge_angle | ° | 0 | 1.5 | 0 | Surge Angle Increment | Angle to be used for producing the surge effect. Small angles suffice because the setpoint change is instant, producing a fairly noticeable albeit small jolt in the nose. Set Angle to 0 to disable surge behavior entirely. Angles smaller than 0.5 degrees may not be noticeable at all. Surge happens in 3 stages. Each stage adds one increment of the surge angle to the setpoint. It takes lots of practice to recognize surge, this feature is NOT FOR BEGINNERS! Warning: use at your own risk - riding near the duty cycle limit is very dangerous! |
| refloat | surge_angle | ° | 0 | 1.5 | 0 | Surge Angle Increment | Angle to be used for producing the surge effect. Small angles suffice because the setpoint change is instant, producing a fairly noticeable albeit small jolt in the nose. Set Angle to 0 to disable surge behavior entirely. Angles smaller than 0.5 degrees may not be noticeable at all. Surge happens in 3 stages. Each stage adds one increment of the surge angle to the setpoint. It takes lots of practice to recognize surge, this feature is NOT FOR BEGINNERS! Warning: use at your own risk - riding near the duty cycle limit is very dangerous! |
| tnt | surge_duty | %/s | 1 | 250 | 150 | Surge Max Ramp Rate | This value limits how strongly surge acts. High values will have no effect past at a certain point since the controller will be acting as fast as it can. Very low values will feel similar to normal board reaction without surge. Actual ramp rate is dependent on duty and load. |
| float | surge_duty_start | 0.8 | 1 | 0.88 | Surge Duty Cycle Start | Starting duty cycle at which surge is triggered. Surge happens in 3 stages in 2 percent duty cycle increments. The higher you set the duty cycle start value the riskier it gets! Remember: The act of performing the surge may itself increase the duty cycle, getting you closer to your duty cycle limit more quickly! It takes lots of practice to recognize surge, this feature is NOT FOR BEGINNERS! Warning: use at your own risk - riding near the duty cycle limit is very dangerous! | |
| refloat | surge_duty_start | 0.8 | 1 | 0.88 | Surge Duty Cycle Start | Starting duty cycle at which surge is triggered. Surge happens in 3 stages in 2 percent duty cycle increments. The higher you set the duty cycle start value the riskier it gets! Remember: The act of performing the surge may itself increase the duty cycle, getting you closer to your duty cycle limit more quickly! It takes lots of practice to recognize surge, this feature is NOT FOR BEGINNERS! Warning: use at your own risk - riding near the duty cycle limit is very dangerous! | |
| tnt | surge_maxangle | ° | -3 | 25 | 2 | Surge Max Nose Lift | If surge lifts the nose into a braking position this parameter will limit how far before surge ends. |
| tnt | surge_minerpm | ERPM | 0 | 50000 | 1500 | High Current Minimum ERPM | The high current threshold will not activate surge or haptic buzz below this minimum ERPM value. |
| tnt | surge_pitchmargin | ° | 0 | 25 | 3 | Surge Setpoint Margin | If surge lifts the nose into a braking position, we do not want to brake at the end of surge. To prevent this, surge changes the setpoint at its end so that the board continues to accelerate forward. The setpoint margin is the difference between the pitch at the end of surge and the new setpoint. |
| tnt | surge_scaleduty | % | 0 | 100 | 35 | Duty to Start Current Scaling | Above this duty cycle, the high current threshold will reduce to allow surge more easily at high duty cycles. The current threshold will scale linearly from the low duty current threshold to the high duty current threshold. |
| tnt | surge_start_hd_current | A | 0 | 500 | 30 | High Current Threshold, Max Duty | At higher duty, it can be advantageous to allow the board to surge more easily. This value defines the current threshold at maximum duty. This value is strongly influenced by the max battery current in the motor configuration. |
| tnt | surge_startcurrent | A | 0 | 500 | 85 | High Current Threshold, Low Duty | This is the current that can initiate surge or haptic buzz. This should be close to the maximum current of the motor so that surge does not lift the nose too hard and fast. This value is strongly influenced by max motor current in the motor configuration. |
| balance | tiltback_constant | ° | -80 | 80 | 0 | Constant Tiltback | Tiltback that will be applied above a configurable minimum ERPM. AKA nose angle adjustment, can be downwards too. |
| float | tiltback_constant | ° | -80 | 30 | 0 | Constant Tiltback | Tiltback that will be applied above a configurable minimum ERPM. AKA Nose Angle adjustment, can be downwards (negative) too. *Note: Should not be used to accomodate tilted rail angle! Instead, the IMU calibration should be adjusted accordingly, either manually or using the IMU Wizard. Otherwise, you will experience the opposite of the desired effect while riding backwards. |
| refloat | tiltback_constant | ° | -80 | 30 | 0 | Constant Tiltback | Tiltback that will be applied above a configurable minimum ERPM. AKA Nose Angle adjustment, can be downwards (negative) too. *Note: Should not be used to accomodate tilted rail angle! Instead, the IMU calibration should be adjusted accordingly, either manually or using the IMU Wizard. Otherwise, you will experience the opposite of the desired effect while riding backwards. |
| tnt | tiltback_constant | ° | -30 | 30 | 0 | Constant Tiltback | Tiltback that will be applied above a configurable minimum ERPM. AKA Nose Angle adjustment, can be downwards (negative) too. *Note: Should not be used to accomodate tilted rail angle! Instead, the IMU calibration should be adjusted accordingly, either manually or using the IMU Wizard. Otherwise, you will experience the opposite of the desired effect while riding backwards. |
| balance | tiltback_constant_erpm | ERPM | 200 | 100000 | 500 | Constant Tiltback ERPM | ERPM (absolute value) above which constant tiltback will be applied. |
| float | tiltback_constant_erpm | ERPM | 200 | 100000 | 500 | Constant Tiltback ERPM | ERPM (absolute value) above which Constant Tiltback will be applied.*Note: ERPM = RPM * (Motor Poles / 2)For an 11" Tire on a Hypercore Motor (30 Poles):1000 ERPM ≈ 2.2 mph ≈ 3.5 km/h |
| refloat | tiltback_constant_erpm | ERPM | 200 | 100000 | 500 | Constant Tiltback ERPM | ERPM (absolute value) above which Constant Tiltback will be applied.*Note: ERPM = RPM * (Motor Poles / 2)For an 11" Tire on a Hypercore Motor (30 Poles):1000 ERPM ≈ 2.2 mph ≈ 3.5 km/h |
| tnt | tiltback_constant_erpm | ERPM | 200 | 100000 | 500 | Constant Tiltback ERPM | ERPM (absolute value) above which Constant Tiltback will be applied.*Note: ERPM = RPM * (Motor Poles / 2)For an 11" Tire on a Hypercore Motor (30 Poles):1000 ERPM ≈ 2.2 mph ≈ 3.5 km/h |
| balance | tiltback_duty | 0 | 1 | 0.75 | Duty Cycle | Duty cycle threshold to trigger a safety tiltback (Tiltback raises the nose of the vehicle informing you to slow down). | |
| float | tiltback_duty | 0 | 1 | 0.8 | Duty Cycle Threshold | Duty Cycle threshold to trigger a safety tiltback (Tiltback raises the nose of the board, informing you to slow down). *Note: Can be disabled by setting to 100% *DISCLAIMER: Max Duty Cycle on a VESC is 95%, NOT 100%! Reaching 95% Duty Cycle and pushing beyond WILL result in a nosedive. Use this knowledge to leave yourself the headroom you desire. | |
| refloat | tiltback_duty | 0 | 1 | 0.8 | Duty Cycle Threshold | Duty Cycle threshold to trigger a safety pushback (Pushback raises the nose of the board, informing you to slow down). *Note: Can be disabled by setting to 100% *DISCLAIMER: Max Duty Cycle on a VESC is 95%, NOT 100%! Reaching 95% Duty Cycle and pushing beyond WILL result in a nosedive. Use this knowledge to leave yourself the headroom you desire. | |
| tnt | tiltback_duty | % | 0 | 100 | 80 | Duty Cycle | Duty Cycle threshold to trigger a safety tiltback (Tiltback raises the nose of the board, informing you to slow down). *Note: Can be disabled by setting to 100% *DISCLAIMER: Max Duty Cycle on a VESC is 95%, NOT 100%! Reaching 95% Duty Cycle and pushing beyond WILL result in a nosedive. Use this knowledge to leave yourself the headroom you desire. |
| balance | tiltback_duty_angle | ° | 0 | 45 | 10 | Angle | Angle of rise for duty cycle tiltback. |
| float | tiltback_duty_angle | ° | 0 | 30 | 5 | Angle | Desired setpoint angle for Duty Cycle Tiltback. |
| refloat | tiltback_duty_angle | ° | 0 | 30 | 5 | Angle | Desired setpoint angle for Duty Cycle Pushback. |
| tnt | tiltback_duty_angle | ° | 0 | 30 | 5 | Angle | Desired setpoint angle for Duty Cycle Tiltback. |
| balance | tiltback_duty_speed | °/s | 0 | 100 | 3 | Speed | Speed at which vehicle is being tilted back when exceeding duty cycle limit (fast tiltback can be dangerous!). |
| float | tiltback_duty_speed | °/s | 0 | 30 | 3 | Speed | Rate at which nose is tilted back when exceeding Duty Cycle limit (fast tiltback can be dangerous!). |
| refloat | tiltback_duty_speed | °/s | 0 | 30 | 3 | Speed | Rate at which nose is tilted back when exceeding Duty Cycle limit (fast pushback can be dangerous!). |
| tnt | tiltback_duty_speed | °/s | 0 | 30 | 3 | Speed | Rate at which nose is tilted back when exceeding Duty Cycle limit (fast tiltback can be dangerous!). |
| tnt | tiltback_ht_angle | ° | 0 | 30 | 8 | Angle | Desired setpoint angle for High Temperature Tiltback. |
| tnt | tiltback_ht_speed | °/s | 0 | 30 | 1 | Speed | Rate at which nose is tilted back when exceeding High Temperature limit (fast tiltback can be dangerous!). |
| balance | tiltback_hv | V | 0 | 700 | 100 | High Voltage | High voltage threshold to trigger a safety tiltback (Tiltback raises the nose of the vehicle to alert you). High voltage tiltback is most likely to be triggered when braking or going downhill on a full battery, sometimes resulting in a tail drag on board shaped vehicles. |
| float | tiltback_hv | V | 0 | 150 | 64.5 | High Voltage Threshold | High Voltage threshold to trigger a safety tiltback (Tiltback raises the nose of the vehicle to alert you). High voltage tiltback is most likely to be triggered when braking or going downhill on a full battery, sometimes resulting in a tail drag (take caution!). Recommended Value: 4.3V * Cell Count (i.e. for a 15s battery, 4.3V * 15 = 64.5V) |
| refloat | tiltback_hv | V | 0 | 150 | 64.5 | High Voltage Threshold | High Voltage threshold to trigger a safety pushback (Pushback raises the nose of the vehicle to alert you). High voltage pushback is most likely to be triggered when braking or going downhill on a full battery, sometimes resulting in a tail drag (take caution!). Recommended Value: 4.3V * Cell Count (i.e. for a 15s battery, 4.3V * 15 = 64.5V) |
| tnt | tiltback_hv | V | 0 | 150 | 84.5 | High Voltage Threshold | High Voltage threshold to trigger a safety tiltback (Tiltback raises the nose of the vehicle to alert you). High voltage tiltback is most likely to be triggered when braking or going downhill on a full battery, sometimes resulting in a tail drag (take caution!). Recommended Value: 4.3V * Cell Count (i.e. for a 15s battery, 4.3V * 15 = 64.5V) |
| balance | tiltback_hv_angle | ° | 0 | 45 | 10 | Angle | Angle of rise for high voltage tiltback. |
| float | tiltback_hv_angle | ° | 0 | 30 | 8 | Angle | Desired setpoint angle for High Voltage Tiltback. |
| refloat | tiltback_hv_angle | ° | 0 | 30 | 8 | Angle | Desired setpoint angle for High Voltage Pushback. |
| tnt | tiltback_hv_angle | ° | 0 | 30 | 8 | Angle | Desired setpoint angle for High Voltage Tiltback. |
| balance | tiltback_hv_speed | °/s | 0 | 100 | 3 | Speed | Speed at which vehicle is being tilted back when exceeding high voltage limit (fast tiltback can be dangerous!). |
| float | tiltback_hv_speed | °/s | 0 | 30 | 1 | Speed | Rate at which nose is tilted back when exceeding High Voltage limit (fast tiltback can be dangerous!). |
| refloat | tiltback_hv_speed | °/s | 0 | 30 | 1 | Speed | Rate at which nose is tilted back when exceeding High Voltage limit (fast pushback can be dangerous!). |
| tnt | tiltback_hv_speed | °/s | 0 | 30 | 1 | Speed | Rate at which nose is tilted back when exceeding High Voltage limit (fast tiltback can be dangerous!). |
| balance | tiltback_lv | V | 0 | 700 | 0 | Low Voltage | Low voltage threshold to trigger a safety tiltback (Tiltback raises the nose of the vehicle informing you to slow down). |
| float | tiltback_lv | V | 0 | 150 | 45 | Low Voltage Threshold | Low Voltage threshold to trigger a safety tiltback (Tiltback raises the nose of the vehicle informing you to slow down). Recommended Value: 3.0V * Cell Count (i.e. for a 15s battery, 3.0V * 15 = 45V) *DISCLAIMER: Make sure your Voltage Cutoff Start and End (Motor CFG -> General -> Voltage) are below this threshold! LV Tiltback should be used as a notice to stop riding immediately, while the Voltage Cutoffs should be used as a last resort measure to protect the battery. ALWAYS RESPECT LOW VOLTAGE TILTBACK! |
| refloat | tiltback_lv | V | 0 | 150 | 45 | Low Voltage Threshold | Low Voltage threshold to trigger a safety pushback (Pushback raises the nose of the vehicle informing you to slow down). Recommended Value: 3.0V * Cell Count (i.e. for a 15s battery, 3.0V * 15 = 45V) *DISCLAIMER: Make sure your Voltage Cutoff Start and End (Motor CFG -> General -> Voltage) are below this threshold! LV Pushback should be used as a notice to stop riding immediately, while the Voltage Cutoffs should be used as a last resort measure to protect the battery. ALWAYS RESPECT LOW VOLTAGE PUSHBACK! |
| tnt | tiltback_lv | V | 0 | 150 | 60 | Low Voltage Threshold | Low Voltage threshold to trigger a safety tiltback (Tiltback raises the nose of the vehicle informing you to slow down). Recommended Value: 3.0V * Cell Count (i.e. for a 15s battery, 3.0V * 15 = 45V) *DISCLAIMER: Make sure your Voltage Cutoff Start and End (Motor CFG -> General -> Voltage) are below this threshold! LV Tiltback should be used as a notice to stop riding immediately, while the Voltage Cutoffs should be used as a last resort measure to protect the battery. ALWAYS RESPECT LOW VOLTAGE TILTBACK! |
| balance | tiltback_lv_angle | ° | 0 | 45 | 10 | Angle | Angle of rise for low voltage tiltback. |
| float | tiltback_lv_angle | ° | 0 | 30 | 10 | Angle | Desired setpoint angle for Low Voltage Tiltback. |
| refloat | tiltback_lv_angle | ° | 0 | 30 | 10 | Angle | Desired setpoint angle for Low Voltage Pushback. |
| tnt | tiltback_lv_angle | ° | 0 | 30 | 8 | Angle | Desired setpoint angle for Low Voltage Tiltback. |
| balance | tiltback_lv_speed | °/s | 0 | 100 | 3 | Speed | Speed at which vehicle is being tilted back when below low voltage threshold (fast tiltback can be dangerous and further contribute to voltage sag!). |
| float | tiltback_lv_speed | °/s | 0 | 30 | 1 | Speed | Rate at which nose is tilted back when exceeding Low Voltage threshold (fast tiltback can be dangerous!). |
| refloat | tiltback_lv_speed | °/s | 0 | 30 | 1 | Speed | Rate at which nose is tilted back when exceeding Low Voltage threshold (fast pushback can be dangerous!). |
| tnt | tiltback_lv_speed | °/s | 0 | 30 | 1 | Speed | Rate at which nose is tilted back when exceeding Low Voltage threshold (fast tiltback can be dangerous!). |
| balance | tiltback_return_speed | °/s | 0 | 100 | 1 | Return To Level Speed | Speed at which vehicle is being returned back to normal after a tiltback condition has been cleared (should be equal to or slower than slowest tiltback speed). |
| float | tiltback_return_speed | °/s | 0 | 10 | 1 | Return To Level Speed | Speed at which nose is returned back to normal after a tiltback condition has been cleared. |
| refloat | tiltback_return_speed | °/s | 0 | 10 | 1 | Return To Level Speed | Speed at which nose is returned back to normal after a pushback condition has been cleared. |
| tnt | tiltback_return_speed | °/s | 0 | 100 | 5 | Return To Level Speed | Speed at which nose is returned back to normal after a tiltback condition has been cleared. |
| tnt | tiltback_surge_speed | °/s | 0 | 200 | 20 | Surge Return Speed | If surge lifts the nose into a braking position, we do not want to brake at the end of surge. To prevent this, surge changes the setpoint at its end so that the board continues to accelerate forward. Surge return speed determines how quickly the setpoint returns to zero. |
| balance | tiltback_variable | °/1000 ERPM | -1 | 1 | 0 | Variable Tiltback | Nose angle adjustment that will be applied depending on speed, specified in degrees per 1000 erpm, applied linearly up to a maximum set in Variable Tiltback Maximum. Can be downwards (negative) too. Applies in addition to constant tiltback. |
| float | tiltback_variable | °/1000 ERPM | -5 | 5 | 0.1 | Variable Tiltback Rate | Nose Angle adjustment that will be applied depending on speed, specified in degrees per 1000 ERPM, applied linearly as the rate at which you approach Variable Tiltback Maximum. Applies in addition to Constant Tiltback.*Note: ERPM = RPM * (Motor Poles / 2)For an 11" Tire on a Hypercore Motor (30 Poles):1000 ERPM ≈ 2.2 mph ≈ 3.5 km/h |
| refloat | tiltback_variable | °/1000 ERPM | 0 | 5 | 0.1 | Variable Tiltback Rate | Nose Angle adjustment that will be applied depending on speed, specified in degrees per 1000 ERPM, applied linearly as the rate at which you approach Variable Tiltback Maximum. Applies in addition to Constant Tiltback.*Note: ERPM = RPM * (Motor Poles / 2)For an 11" Tire on a Hypercore Motor (30 Poles):1000 ERPM ≈ 2.2 mph ≈ 3.5 km/h |
| float | tiltback_variable_erpm | ERPM | 0 | 100000 | 0 | Variable Tiltback Start ERPM | ERPM (absolute value) above which Variable Tiltback will begin to be applied.*Note: ERPM = RPM * (Motor Poles / 2)For an 11" Tire on a Hypercore Motor (30 Poles):1000 ERPM ≈ 2.2 mph ≈ 3.5 km/h |
| refloat | tiltback_variable_erpm | ERPM | 0 | 100000 | 0 | Variable Tiltback Start ERPM | ERPM (absolute value) above which Variable Tiltback will begin to be applied.*Note: ERPM = RPM * (Motor Poles / 2)For an 11" Tire on a Hypercore Motor (30 Poles):1000 ERPM ≈ 2.2 mph ≈ 3.5 km/h |
| balance | tiltback_variable_max | ° | -80 | 80 | 0 | Variable Tiltback Maximum | Maximum angle which variable tiltback is permitted to add (in addition to constant tiltback). Does not affect or prevent alert tiltbacks. |
| float | tiltback_variable_max | ° | -20 | 20 | 0 | Variable Tiltback Maximum | Target Angle that Variable Tiltback approaches at the specified rate (Variable Tiltback Rate). Can be negative (nose down) as well. Added in addition to Constant Tiltback and does not affect or prevent alert tiltbacks. |
| refloat | tiltback_variable_max | ° | -20 | 20 | 0 | Variable Tiltback Maximum | Target Angle that Variable Tiltback approaches at the specified rate (Variable Tiltback Rate). Can be negative (nose down) as well. Added in addition to Constant Tiltback and does not affect or prevent alert pushbacks. |
| app | timeout_brake_current | A | 0 | 500 | 0 | Timeout Brake Current | Apply brake with this amount of current after a timeout. |
| app | timeout_msec | ms | 0 | 30000000 | 1000 | Timeout | Switch off the motor when no input has beed received for this amount of time. Notice that VESC Tool will send alive packets while connected, so the timeout won't occur before you disconnect VESC Tool even if the input gets disconnected. |
| balance | torquetilt_angle_limit | ° | 0 | 80 | 5 | Tilitback Angle Limit | Max angle to which torque tiltback will tilt. |
| float | torquetilt_angle_limit | ° | 0 | 30 | 8 | Tilitback Angle Limit | Maximum angle to which Torque Tiltback will tilt. |
| refloat | torquetilt_angle_limit | ° | 0 | 30 | 8 | Tilitback Angle Limit | Maximum angle to which Torque Tiltback will tilt. |
| balance | torquetilt_filter | Hz | 0 | 500 | 2 | Current Filter | Biquad Low pass filter on the current used for calculating the torquetilt. This smooths out spikes in the current, and prevents torquetilt from being twitchy. |
| balance | torquetilt_off_speed | °/s | 0 | 100 | 3 | Max Tiltback Release Speed | Max speed at which torque tiltback will release to the desired angle back to 0 (tilt will be slower if current decreases slowly). |
| float | torquetilt_off_speed | °/s | 0 | 100 | 3 | Max Tiltback Release Speed | Max Rate at which Torque Tiltback will release from the desired angle back to 0 (tilt will be slower if current decreases slowly). |
| refloat | torquetilt_off_speed | °/s | 0 | 100 | 3 | Max Tiltback Release Speed | Max Rate at which Torque Tiltback will release from the desired angle back to 0 (tilt will be slower if current decreases slowly). |
| balance | torquetilt_on_speed | °/s | 0 | 100 | 5 | Max Tiltback Speed | Max speed at which torque tiltback will tilt to the desired angle (tilt will be slower if current increases slowly). |
| float | torquetilt_on_speed | °/s | 0 | 100 | 5 | Max Tiltback Speed | Max Rate at which Torque Tiltback will tilt to the desired angle (tilt will be slower if current increases slowly). |
| refloat | torquetilt_on_speed | °/s | 0 | 100 | 5 | Max Tiltback Speed | Max Rate at which Torque Tiltback will tilt to the desired angle (tilt will be slower if current increases slowly). |
| balance | torquetilt_start_current | A | 0 | 100 | 10 | Start Current Threshold | Minimum output current threshold for torque tiltback to start applying. |
| float | torquetilt_start_current | A | 0 | 100 | 15 | Start Current Threshold | Minimum output current threshold for Torque Tiltback to start applying. |
| refloat | torquetilt_start_current | A | 0 | 100 | 15 | Start Current Threshold | Minimum output current threshold for Torque Tiltback to start applying. |
| balance | torquetilt_strength | °/A | 0 | 1 | 0 | Strength | How much tiltback should be applied based on output current. |
| float | torquetilt_strength | °/A | 0 | 1 | 0 | Strength | How much Nose Lift should be applied based on output current (Postive / Acceleration Current Only!). Can be used alongside ATR to increase aggressiveness on flat and uphill acceleration, or on its own to ensure some uphill tiltback is applied in the absence of ATR. Recommended Values: 0 - 0.35 |
| refloat | torquetilt_strength | °/A | 0 | 1 | 0 | Strength | How much Nose Lift should be applied based on output current (Postive / Acceleration Current Only!). Can be used alongside ATR to increase aggressiveness on flat and uphill acceleration, or on its own to ensure some uphill tiltback is applied in the absence of ATR. Recommended Values: 0 - 0.35 |
| float | torquetilt_strength_regen | °/A | 0 | 1 | 0.1 | Strength (Regen) | How much Nose Lowering should be applied based on output current (Negative / Regen Current Only!). Can be used alongside ATR to increase aggressiveness on flat and downhill braking, or on its own to ensure some downhill nose lowering is applied in the absence of ATR. Recommended Values: 0 - 0.35 |
| refloat | torquetilt_strength_regen | °/A | 0 | 1 | 0 | Strength (Regen) | How much Nose Lowering should be applied based on output current (Negative / Regen Current Only!). Can be used alongside ATR to increase aggressiveness on flat and downhill braking, or on its own to ensure some downhill nose lowering is applied in the absence of ATR. Recommended Values: 0 - 0.35 |
| balance | turntilt_angle_limit | ° | 0 | 30 | 5 | Tilitback Angle Limit | Max angle to which turn tiltback will tilt. This wont change the power curve, only stop it at the limit. |
| float | turntilt_angle_limit | ° | 0 | 30 | 3 | Tilitback Angle Limit | Maximum angle to which Turn Tiltback will tilt. This wont change the power curve, only stop it at the limit. |
| refloat | turntilt_angle_limit | ° | 0 | 30 | 3 | Tilitback Angle Limit | Maximum angle to which Turn Tiltback will tilt. This wont change the power curve, only stop it at the limit. |
| balance | turntilt_erpm_boost | % | 0 | 10000 | 20 | Speed Boost % | Increase the strength based on ERPM. Boost percent is added linearly from 0 erpm (0% boost) to max erpm (Full configured boost % is applied). |
| float | turntilt_erpm_boost | % | 0 | 10000 | 200 | Speed Boost % | Increases the strength based on ERPM. Boost percent is added linearly from 0 ERPM (0% boost) to Max ERPM (Full configured boost % is applied). *Note: ERPM = RPM * (Motor Poles / 2)For an 11" Tire on a Hypercore Motor (30 Poles):1000 ERPM ≈ 2.2 mph ≈ 3.5 km/h |
| refloat | turntilt_erpm_boost | % | 0 | 10000 | 200 | Speed Boost % | Increases the strength based on ERPM. Boost percent is added linearly from 0 ERPM (0% boost) to Max ERPM (Full configured boost % is applied). *Note: ERPM = RPM * (Motor Poles / 2)For an 11" Tire on a Hypercore Motor (30 Poles):1000 ERPM ≈ 2.2 mph ≈ 3.5 km/h |
| balance | turntilt_erpm_boost_end | ERPM | 100 | 100000 | 20000 | Speed Boost Max ERPM | ERPM (absolute value) to end boosting the turn tilt effect, above this erpm there will be constant boost % (at your configured boost %). |
| float | turntilt_erpm_boost_end | ERPM | 100 | 100000 | 5000 | Speed Boost Max ERPM | ERPM (absolute value) to end boosting the Turn Tiltback effect. Above this ERPM, there will be constant boost % (at your configured boost %). *Note: ERPM = RPM * (Motor Poles / 2)For an 11" Tire on a Hypercore Motor (30 Poles):1000 ERPM ≈ 2.2 mph ≈ 3.5 km/h |
| refloat | turntilt_erpm_boost_end | ERPM | 100 | 100000 | 5000 | Speed Boost Max ERPM | ERPM (absolute value) to end boosting the Turn Tiltback effect. Above this ERPM, there will be constant boost % (at your configured boost %). *Note: ERPM = RPM * (Motor Poles / 2)For an 11" Tire on a Hypercore Motor (30 Poles):1000 ERPM ≈ 2.2 mph ≈ 3.5 km/h |
| balance | turntilt_speed | °/s | 0 | 100 | 5 | Max Tiltback Speed | Max speed at which turntilt will tilt to the desired angle (tilt will be slower if roll angle increases slowly). |
| float | turntilt_speed | °/s | 0 | 100 | 5 | Max Tiltback Speed | Max Rate at which Turn Tiltback will tilt to the desired angle (tilt will be slower if Yaw Angle increases slowly). |
| refloat | turntilt_speed | °/s | 0 | 100 | 5 | Max Tiltback Speed | Max Rate at which Turn Tiltback will tilt to the desired angle (tilt will be slower if Yaw Angle increases slowly). |
| balance | turntilt_start_angle | ° | 0 | 45 | 1 | Roll Angle Threshold | Min angle threshold to apply turntilt. Similar to a deadzone, except after reaching the angle, it will apply as if it started from 0. |
| float | turntilt_start_angle | ° | 0 | 45 | 2 | Turn Aggregate Threshold | Minimum Yaw Angle threshold to apply Turn Tiltback. Similar to a deadzone, except after reaching the set angle, it will apply as if it started from 0. |
| refloat | turntilt_start_angle | ° | 0 | 45 | 2 | Turn Aggregate Threshold | Minimum Yaw Angle threshold to apply Turn Tiltback. Similar to a deadzone, except after reaching the set angle, it will apply as if it started from 0. |
| balance | turntilt_start_erpm | ERPM | 100 | 100000 | 100 | ERPM Threshold | ERPM threshold to apply turntilt. |
| float | turntilt_start_erpm | ERPM | 100 | 100000 | 1000 | ERPM Threshold | ERPM threshold to apply Turn Tiltback. *Note: ERPM = RPM * (Motor Poles / 2)For an 11" Tire on a Hypercore Motor (30 Poles):1000 ERPM ≈ 2.2 mph ≈ 3.5 km/h |
| refloat | turntilt_start_erpm | ERPM | 100 | 100000 | 1000 | ERPM Threshold | ERPM threshold to apply Turn Tiltback. *Note: ERPM = RPM * (Motor Poles / 2)For an 11" Tire on a Hypercore Motor (30 Poles):1000 ERPM ≈ 2.2 mph ≈ 3.5 km/h |
| balance | turntilt_strength | 0 | 90 | 0 | Strength | How much tiltback should be applied based on the sine of the roll angle. A strength value of N will give N degrees of tiltback when the vehicle is rolled to 90 degrees. | |
| float | turntilt_strength | -30 | 30 | 6 | Strength | How much Tiltback should be applied based on turning radius (Yaw) and speed. | |
| refloat | turntilt_strength | -30 | 30 | 0 | Strength | How much Tiltback should be applied based on turning radius (Yaw) and speed. | |
| float | turntilt_yaw_aggregate | ° | 50 | 360 | 90 | Turn Aggregate Target | The amount of turning (Yaw) required before reaching max carving strength. Higher values mean a turn must be maintained for longer in order to reach max carving strength. |
| refloat | turntilt_yaw_aggregate | ° | 50 | 360 | 90 | Turn Aggregate Target | The amount of turning (Yaw) required before reaching max carving strength. Higher values mean a turn must be maintained for longer in order to reach max carving strength. |
| app | uavcan_esc_index | 0 | 255 | 0 | UAVCAN ESC Index | ESC index in UAVCAN messages. | |
| app | uavcan_raw_mode | Current Control | UAVCAN Raw Throttle Mode | Drive mode for the raw throttle command in UAVCAN. Current Control The raw command corresponds to a fraction of the configured current limit. 1.0 is maximum current forwards and -1.0 is maximum current reverse. Current No Reverse Brake Same as current control, but negative values only give braking and don't start the motor in the other direction. Duty Cycle Control Duty cycle control. RPM Control RPM control. Use the raw command times the maximum configured ERPM value. Negative values will run the motor in reverse. Note that this will set the value in ERPM, so the RPM will be scaled by the number of pole pairs. | |||
| app | uavcan_raw_rpm_max | 0 | 400000 | 50000 | UAVCAN Raw RPM Max | Maximum ERPM for the RPM mode of the raw command. | |
| app | uavcan_status_current_mode | Motor Current | UAVCAN Status Current Mode | Current to send in status message. | |||
| tnt | version | 0 | 10 | 1.3 | Package Version | Version of the package. | |
| tnt | wheelslip_accelend | ERPM/ms | -100 | 100 | 2 | End Condition | If the motor acceleration reduces significantly, the wheel has traction again. Higher values will end traction control sooner. Lower values, including negative values, will exit later. This can be felt by doing bonks and drops. Lower values will feel smoother when landing. If the value is too low you will feel the nose dip where traciton control ends too late. |
| tnt | wheelslip_accelstart | ERPM/ms | 0 | 5000 | 29 | Start Condition | This is the value that defines when the motor no longer has traction and should enter traction control. More powerful motors and batteries will likely require higher values to prevent nuisance trips when rapidly accelerating or surging. For 15S and 20S hypercore setups 29 works well. |
| tnt | wheelslip_scaleaccel | 0 | 100 | 5 | Low ERPM Scaler | At lower ERPM the motor is capable of high accelerations. For this reason we apply a scaler to the wheelslip start acceleration value. This value applies linearly, 100% at 0 ERPM to 0% at wheelslip scale ERPM. | |
| tnt | wheelslip_scaleerpm | ERPM | 0 | 50000 | 3000 | Scale ERPM | At lower ERPM the motor is capable of high accelerations. For this reason we apply a scaler to the wheelslip start acceleration value. This value applies linearly, 100% at 0 ERPM to 0% at wheelslip scale ERPM. |
| info | wizard_startup_conclusion | Conclusion | You are now ready to start using VESC Tool. If you have any questions, visit http://vesc-project.com/forum | ||||
| info | wizard_startup_intro | Welcome to VESC® Tool | Welcome to VESC Tool. Since this is the first time you start this version of VESC Tool, the introduction is shown. Please read all instructions carefully for your own safety. | ||||
| info | wizard_startup_usage | Important usage information | Usage | VESC® Tool and the VESC® firmware are experimental software designed to develop and test electrical systems incorporating electric motors or actuators. Electrical systems can cause danger to humans, property and nature; therefore precautions shall be taken to avoid any risk. Under no circumstances shall the software be used where humans or property are put to risk without thoroughly validating and testing the whole system. Software and hardware interact in various ways, and software developers cannot foresee all possible combinations of hardware used together with their software, nor problems that can occur in these different combinations. Things that can happen, even when using the correct settings, are electrical failure fire electric shock hazardous smoke overheating motors and actuators overstrained power sources, causing fire or explosions (e.g. Lithium Ion Batteries) motors or actuators stopping from spinning/moving motors or actuators locking in, acting like a brake (full stop) motors or actuators losing control over torque production (uncontrolled acceleration or braking) interferences with other systems other non-intended or unforeseeable behavior of the system VESC Tool and the VESC firmware are developer tools that for safety reasons may only be used by experts and experienced users, knowing exactly what they do. following safety standards applicable in the area of usage. under safe conditions where software or hardware malfunction will not lead to death, injuries or severe property damage. keeping in mind that software and hardware failures can happen. Although we design our products to minimize such issues, you should always operate with the understanding that a failure can occur at any point of time and without warning. As such, you shall take the appropriate precautions to minimize danger in case of failure. | |||
| info | wizard_startup_warranty | LIMITED WARRANTY STATEMENT | Warranty | LIMITED WARRANTY STATEMENT 1. Warranty 1.1 THERE IS NO WARRANTY FOR THE VESC® SOFTWARE (VESC TOOL AND THE VESC FIRMWARE - PROGRAM FOR SHORT) TO THE EXTENT PERMITTED BY APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM AS IS WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF ALL NECESSARY SERVICING, REPAIR OR CORRECTION. 1.2 Benjamin Vedder and contributors (the publisher(s) for short) shall not be liable for any defects that are caused by neglect, misuse or mistreatment by the Customer, including improper installation or testing, or for any products that have been altered or modified in any way by the Customer. Moreover, the publisher(s) shall not be liable for any defects that result from the Customers design, specifications or instructions for such products. Testing and other quality control techniques are used to the extent the publisher(s) deems necessary. 1.3 The Customer agrees that prior to using any systems that include Open Source VESC® Software, the Customer will test such systems and the functionality of the products as used in such systems. The publisher(s) may provide technical, applications or design advice, quality characterization, reliability data or other services. The Customer acknowledges and agrees that providing these services shall not expand or otherwise alter the publisher(s) warranties, as set forth above, and that no additional obligations or liabilities shall arise from the publisher(s) providing such services. 1.4 VESC® software products are not authorized for use in safety-critical applications where a failure of the Open Source VESC® software would reasonably be expected to cause severe personal injury or death. Safety-critical applications include, without limitation, life support devices and systems, equipment or systems for the operation of nuclear facilities and weapons systems. Open Source VESC® software is neither designed nor intended for use in military or aerospace applications or environments, nor for automotive applications or the automotive environment. The Customer acknowledges and agrees that any such use of VESC® software is solely at the Customer's risk, and that the Customer is solely responsible for compliance with all legal and regulatory requirements in connection with such use. 1.5 The Customer acknowledges and agrees that the Customer is solely responsible for compliance with all legal, regulatory and safety-related requirements concerning the products and any use of the publisher(s) softwrae products in the Customer's applications, not withstanding any applications-related information or support that may be provided by the publisher(s). 2. 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Statutory laws. * (i) some countries, regions, states or provinces do not allow the exclusion or limitation of remedies or of incidental, punitive, or consequential damages, or the applicable time periods, so the above limitations or exclusions may not apply. (ii) except to the extent lawfully permitted, this limited warranty does not exclude, restrict or modify statutory rights applicable to where the product is sold but, rather, is in addition to these rights. (*) European Consumer Centres provide information on EU-wide consumer laws as well as consumer laws for specific countries: http://ec.europa.eu/consumers/ecc/contact_en.htm The LIMITED WARRANTY STATEMENT is released as Creative Commons Attribution ShareAlike 3.0. This means you can use it on your own derived works, in part or completely, as long as you also adopt the same license. You find the complete text of the license at https://creativecommons.org/licenses/by-sa/3.0/legalcode | |||
| tnt | yaw1 | °/s | 0 | 5000 | 120 | Level 1 Yaw Angle Change | The yaw kp modifies the current demand on to increase output when the board is turning. When the board detects yaw change, yaw kp starts acting at level 1. As yaw increases it will linearly scale to level 2 and level 3 kp's. |
| tnt | yaw2 | °/s | 0 | 5000 | 500 | Level 2 Yaw Angle Change | The yaw kp modifies the current demand on to increase output when the board is turning. When the board detects yaw change, yaw kp starts acting at level 1. As yaw increases it will linearly scale to level 2 and level 3 kp's. |
| tnt | yaw3 | °/s | 0 | 5000 | 750 | Level 3 Yaw Angle Change | The yaw kp modifies the current demand on to increase output when the board is turning. When the board detects yaw change, yaw kp starts acting at level 1. As yaw increases it will linearly scale to level 2 and level 3 kp's. |
| balance | yaw_current_clamp | A | 0 | 100 | 0 | Yaw Current Clamp | Maximum current to be applied to yaw motions. This lets you overpower the pid traction. |
| balance | yaw_kd | -10000 | 10000 | 0 | Yaw D | D value for yaw PID stabilization. | |
| balance | yaw_ki | -10000 | 10000 | 0 | Yaw I | I value for yaw PID stabilization. | |
| balance | yaw_kp | -10000 | 10000 | 0 | Yaw P | P value for yaw PID stabilization. | |
| tnt | yaw_kp1 | 0 | 5 | 0 | Level 1 Yaw Kp | The yaw kp modifies the current demand on to increase output when the board is turning. When the board detects yaw change, yaw kp starts acting at level 1. As yaw increases it will linearly scale to level 2 and level 3 kp's. | |
| tnt | yaw_kp2 | 0 | 5 | 0.1 | Level 2 Yaw Kp | The yaw kp modifies the current demand on to increase output when the board is turning. When the board detects yaw change, yaw kp starts acting at level 1. As yaw increases it will linearly scale to level 2 and level 3 kp's. | |
| tnt | yaw_kp3 | 0 | 5 | 0 | Level 3 Yaw Kp | The yaw kp modifies the current demand on to increase output when the board is turning. When the board detects yaw change, yaw kp starts acting at level 1. As yaw increases it will linearly scale to level 2 and level 3 kp's. | |
| tnt | yaw_minerpm | ERPM | 0 | 50000 | 1500 | Yaw Minimum ERPM | Below this speed yaw change will not effect the tune. |