III. Throttle settings

This step is about setting up the throttle range. But mostly it is about showing the procedure and usage of SWTools during tuning of the controller.

info

You can skip this step
The default values will work fine. Only you may have big dead bands at the ends of the throttle.

The goal of this step is to read the throttle value at the lower position and upper position. Then set the values to the controller.

The throttle raw reading (in [mV]) is located /acc/asc/in state. The same value can be found also in /common/gpio0 state. This is because GPIO0 is mapped to throttle in default settings.

After we read the throttle values minimum and maximum values, we need to set the throttle range. This is done by setting the /acc/asc/min and /acc/asc/max parameters.

Disable the motor

danger

Before continuing it is necessary to disable (stop) the motor. Otherwise, the motor can start to spin during the throttle tuning.

To do that, execute stop command. This will disable the motor until the next power cycle.

Plot signal to scope

To visualize the throttle signal, we will use the scope. Using the emGUI we will plot the throttle signal and normalized output to (0-1 range) to scope.

• Open Scope
• Plot 0:
  • /acc/asc/min - min value of throttle
  • /acc/asc/max - max value of throttle
  • /acc/asc/in - raw throttle value [mV]
• Plot 1:
  • /acc/asc/out - normalized throttle value [0-1]

Result in scope:

tip

In the scope you can see, that the potentiometer is not good and there is noise in the signal. Using the scope you can find similar problems in your system and fix them.

Setup throttle range

• Right click on the /asc folder and select Open
• In new windows select Autopull - This will automatically update values for /asc folder
• Turn with the potentiometer to the minimum position and maximum
• Set the minimum and maximum from the reading to the /acc/asc/min and /acc/asc/max parameters

tip

Do not forget to save the changes!