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Overview

The LOAD parameter group is specific to the Toy Mode motor verification routines. It is used primarily in factory environments to perform automated burn-in or stress testing of the motors and ESCs.

Key Concepts

1. Test Patterns

The autopilot can execute pre-defined throttle sequences to exercise the motors.

  • LOAD_TYPE: Selects between constant thrust, sequential motor blips, or synchronized pulses.

Parameter Breakdown

  • LOAD_TYPE: Pattern selection.
  • LOAD_MUL: Multiplier to scale the intensity of the test.

Developer Notes

  • Library: ArduCopter/toy_mode.cpp.
  • Caution: These parameters are not intended for use in normal flight and can cause the drone to behave unexpectedly if activated.

LOAD_FILT

Default 1
Range 0 100

LOAD_FILT: Load test filter

Description

This filters the load test output. A value of 1 means no filter. 2 means values are repeated once. 3 means values are repeated 3 times, etc.

Values

  • Range: 0 to 100
  • Default: 1

Description

This parameter is part of the Toy Mode motor load testing suite (used primarily for factory endurance testing). It acts as a simple low-pass filter by holding each output value for multiple cycles.

  • 1: Updates motor output every cycle (No filtering).
  • >1: Holds the motor output constant for this many cycles before updating to the next value in the test sequence. This smooths out rapid changes in the load test profile.

Source Code

ardupilot/ArduCopter/toy_mode.cpp

View Source

LOAD_MUL

Default 1.0
Range 0 1

LOAD_MUL: Load test multiplier

Description

This scales the load test output, as a value between 0 and 1.

Values

  • Range: 0 to 1
  • Increment: 0.01
  • Default: 1.0

Description

This parameter controls the overall intensity of the motor load test.

  • Usage: It multiplies the PWM values defined in the test pattern (LOAD_TYPE) by this factor.
  • Example: Setting this to 0.5 reduces the power output of the entire test sequence by 50%, useful for running initial tests without stressing the hardware to its maximum.

Source Code

ardupilot/ArduCopter/toy_mode.cpp

View Source

LOAD_TYPE

Default 1

LOAD_TYPE: Load test type

Description

This sets the type of load test pattern to run.

Values

Value Meaning
0 Constant Thrust
1 Log Replay 1 (Sequence)
2 Log Replay 2 (Synchronized)
  • Default: 1 (LogReplay1)

Description

Selects the specific motor output pattern used during the factory load test.

  • Constant Thrust (0): Runs all motors at a fixed, low throttle (500 PWM above min, scaled by LOAD_MUL).
  • Log Replay 1 (1): Replays a pre-defined sequence of throttle values, cycling through motors.
  • Log Replay 2 (2): Similar to Log Replay 1 but applies the pattern to all motors simultaneously.

Source Code

ardupilot/ArduCopter/toy_mode.cpp

View Source
Landing Gear Configuration (LGR) DataFlash Logging Configuration (LOG)