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Overview

The KDE parameter group (specifically KDE_NPOLE) configures the interface for KDE Direct CAN ESCs.

Key Concepts

1. Pole Count

To calculate accurate RPM from a brushless motor, the ESC (and the autopilot) must know how many permanent magnets (poles) are in the motor bell.

  • KDE_NPOLE: Sets the number of poles for the connected KDE motors.
    • Calculation: Total magnetic poles (usually an even number like 14, 28, etc.).

Developer Notes

  • Library: libraries/AP_KDECAN.
  • Context: Only relevant if using KDE Direct specialized CAN ESCs.

Number of motor poles

KDE_NPOLE: Number of motor poles

Description

Sets the number of motor poles (magnetic poles on the bell) to calculate the correct RPM value from the KDECAN ESC telemetry.

Values

  • Range: 2 to 255
  • Increment: 2
  • Default: 14

Description

This parameter ensures the RPM reported by your KDE Direct CAN ESCs is accurate. ESCs measure "electrical RPM" based on the commutations. To get physical RPM, the autopilot needs to divide the electrical RPM by half the number of motor poles.

  • Check your motor specs: Look for "Magnetic Poles" or "Magnet Poles" in your motor's datasheet.
  • Common Values:
    • 14 (Standard for many heavy-lift motors like KDE Direct)
    • 12, 22, 24, 28 (Other common configurations)

Source Code

ardupilot/libraries/AP_KDECAN/AP_KDECAN.cpp

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