none
3
0
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
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<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p></body></html>
balance_config
0
Balance Settings
0
0
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">This is the VESC Logging and Communication Module.</p></body></html>
PID Mode
4
1
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">PID loop mode, Angle or Cascadeing Angle Rate.</p></body></html>
APPCONF_BALANCE_PID_MODE
0
BALANCE_PID_MODE_ANGLE
BALANCE_PID_MODE_ANGLE_RATE_CASCADE
Angle P
1
1
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">P value for the PID balance loop.</p></body></html>
APPCONF_BALANCE_KP
4
1
0
1e+06
0
0
0.1
0
1000
9
Angle I
1
1
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">I value for the PID balance loop.</p></body></html>
APPCONF_BALANCE_KI
4
1
0
1e+06
0
0
0.1
0
1000
9
Angle D
1
1
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">D value for the PID balance loop.</p></body></html>
APPCONF_BALANCE_KD
4
1
0
1e+06
0
0
0.1
0
1000
9
Rate P
1
1
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">P value for the PID balance loop.</p></body></html>
APPCONF_BALANCE_KP2
4
1
0
1e+06
0
0
0.1
0
1000
9
Rate I
1
1
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
<html><head><meta name="qrichtext" content="1" /><style type="text/css">
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">I value for the PID balance loop.</p></body></html>
APPCONF_BALANCE_KI2
4
1
0
1e+06
0
0
0.1
0
1000
9
Rate D
1
1
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">D value for the PID balance loop.</p></body></html>
APPCONF_BALANCE_KD2
4
1
0
1e+06
0
0
0.1
0
1000
9
Loop Hertz
2
1
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Loop Hertz.</p></body></html>
APPCONF_BALANCE_HERTZ
1
0
4000
50
0
100
1000
Hz
3
Loop Time Correction Filter
2
1
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Filter overshoot and correct for it.</p></body></html>
APPCONF_BALANCE_LOOP_TIME_FILTER
1
0
1000
0
0
10
0
Hz
3
Pitch Axis Fault Cutoff
1
1
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Angle to turn off driving (on the pitch axis).</span></p></body></html>
APPCONF_BALANCE_FAULT_PITCH
1
1
0
180
-180
0
1
20
1000
°
9
Roll Axis Fault Cutoff
1
1
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Angle to turn off driving (on the roll axis).</span></p></body></html>
APPCONF_BALANCE_FAULT_ROLL
1
1
0
180
-180
0
1
45
1000
°
9
Duty Cycle Fault Cutoff
1
1
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Duty cycle value to trigger a safety cutoff 0-1% (This cutoff will lock the app untill another fault occurs).</span></p></body></html>
APPCONF_BALANCE_FAULT_DUTY
2
1
0
1
0
0
0.01
0.9
1000
9
ADC1 Switch Voltage
1
1
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Voltage below this value will trigger a fault. To disable this switch set this value to 0. Hint: consider a pulldown resisitor!</span></p></body></html>
APPCONF_BALANCE_FAULT_ADC1
2
1
0
3.3
0
1
0.1
0
1000
V
9
ADC2 Switch Voltage
1
1
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
<html><head><meta name="qrichtext" content="1" /><style type="text/css">
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Voltage below this value will trigger a fault. To disable this switch set this value to 0. Hint: consider a pulldown resisitor!</span></p></body></html>
APPCONF_BALANCE_FAULT_ADC2
2
1
0
3.3
0
1
0.1
0
1000
V
9
Pitch Fault Delay
2
1
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Pitch fault cutoff time delay in ms.</p></body></html>
APPCONF_BALANCE_FAULT_DELAY_PITCH
1
0
10000
0
0
10
0
ms
3
Roll Fault Delay
2
1
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Roll fault cutoff time delay in ms.</p></body></html>
APPCONF_BALANCE_FAULT_DELAY_ROLL
1
0
10000
0
0
10
0
ms
3
Duty Fault Delay
2
1
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Duty cycle cutoff time delay in ms.</p></body></html>
APPCONF_BALANCE_FAULT_DELAY_DUTY
1
0
10000
0
0
10
0
ms
3
Half Switch Fault Delay
2
1
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Half switch cutoff time delay in ms.</p></body></html>
APPCONF_BALANCE_FAULT_DELAY_SWITCH_HALF
1
0
10000
0
0
10
0
ms
3
Full Switch Fault Delay
2
1
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
<html><head><meta name="qrichtext" content="1" /><style type="text/css">
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Full switch cutoff time delay in ms.</p></body></html>
APPCONF_BALANCE_FAULT_DELAY_SWITCH_FULL
1
0
10000
0
0
10
0
ms
3
ADC Half State Fault ERPM
2
1
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">ERPM (absoulte value) below which a half state on the ADC switches will be considered a fault.</p></body></html>
APPCONF_BALANCE_FAULT_ADC_HALF_ERPM
1
0
100000
0
0
10
1000
ERPM
3
Treat both sensors as one
5
1
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">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!).</p></body></html>
APPCONF_BALANCE_FAULT_IS_DUAL_SWITCH
0
Angle
1
1
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Angle of rise for duty cycle tiltback.</p></body></html>
APPCONF_BALANCE_TILTBACK_DUTY_ANGLE
1
1
0
45
0
0
1
10
100
°
7
Speed
1
1
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Speed at which vehicle is being tilted back when exceeding duty cycle limit (fast tiltback can be dangerous!).</p></body></html>
APPCONF_BALANCE_TILTBACK_DUTY_SPEED
1
1
0
100
0
0
0.5
3
100
°/s
7
Duty Cycle
1
1
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
<html><head><meta name="qrichtext" content="1" /><style type="text/css">
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Duty cycle threshold to trigger a safety tiltback (Tiltback raises the nose of the vehicle informing you to slow down).</p></body></html>
APPCONF_BALANCE_TILTBACK_DUTY
2
1
0
1
0
0
0.01
0.75
1000
7
Angle
1
1
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Angle of rise for high voltage tiltback.</p></body></html>
APPCONF_BALANCE_TILTBACK_HV_ANGLE
1
1
0
45
0
0
1
10
100
°
7
Speed
1
1
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
<html><head><meta name="qrichtext" content="1" /><style type="text/css">
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Speed at which vehicle is being tilted back when exceeding high voltage limit (fast tiltback can be dangerous!).</p></body></html>
APPCONF_BALANCE_TILTBACK_HV_SPEED
1
1
0
100
0
0
0.5
3
100
°/s
7
High Voltage
1
1
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
<html><head><meta name="qrichtext" content="1" /><style type="text/css">
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">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. </p></body></html>
APPCONF_BALANCE_TILTBACK_HV
2
1
0
700
0
0
0.1
100
1000
V
9
Angle
1
1
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
<html><head><meta name="qrichtext" content="1" /><style type="text/css">
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Angle of rise for low voltage tiltback.</p></body></html>
APPCONF_BALANCE_TILTBACK_LV_ANGLE
1
1
0
45
0
0
1
10
100
°
7
Speed
1
1
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
<html><head><meta name="qrichtext" content="1" /><style type="text/css">
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Speed at which vehicle is being tilted back when below low voltage threshold (fast tiltback can be dangerous and further contribute to voltage sag!).</p></body></html>
APPCONF_BALANCE_TILTBACK_LV_SPEED
1
1
0
100
0
0
0.5
3
100
°/s
7
Low Voltage
1
1
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
<html><head><meta name="qrichtext" content="1" /><style type="text/css">
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</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;">
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Low voltage threshold to trigger a safety tiltback (Tiltback raises the nose of the vehicle informing you to slow down). </p></body></html>
APPCONF_BALANCE_TILTBACK_LV
2
1
0
700
0
0
0.1
0
1000
V
9
Return To Level Speed
1
1
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
<html><head><meta name="qrichtext" content="1" /><style type="text/css">
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">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).</p></body></html>
APPCONF_BALANCE_TILTBACK_RETURN_SPEED
1
1
0
100
0
0
0.5
1
100
°/s
7
Constant Tiltback
1
1
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
<html><head><meta name="qrichtext" content="1" /><style type="text/css">
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Tiltback that will be applied above a configurable minimum ERPM. AKA nose angle adjustment, can be downwards too.</p></body></html>
APPCONF_BALANCE_TILTBACK_CONSTANT
2
1
0
80
-80
0
1
0
1
°
9
Constant Tiltback ERPM
2
1
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
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<p style=" margin-top:0px; APPCONF_BALANCE_FAULT_ADC_HALF_ERPMmargin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">ERPM (absolute value) above which constant tiltback will be applied.</p></body></html>
APPCONF_BALANCE_TILTBACK_CONSTANT_ERPM
1
0
100000
200
0
100
500
ERPM
3
Variable Tiltback
1
1
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">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.</p></body></html>
APPCONF_BALANCE_TILTBACK_VARIABLE
2
1
0
1
-1
0
0.01
0
1
°/1000 ERPM
9
Variable Tiltback Maximum
1
1
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
<html><head><meta name="qrichtext" content="1" /><style type="text/css">
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Maximum angle which variable tiltback is permitted to add (in addition to constant tiltback). Does not affect or prevent alert tiltbacks.</p></body></html>
APPCONF_BALANCE_TILTBACK_VARIABLE_MAX
2
1
0
80
-80
0
0.5
0
1
°
9
Nose Angling Speed
1
1
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Speed at which vehicle will tilt to the desired angle.</p></body></html>
APPCONF_BALANCE_NOSEANGLING_SPEED
1
1
0
100
0
0
0.5
5
100
°/s
7
Startup Pitch Axis Angle Tolerance
1
1
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Angle at which balancing will start (on the main axis). Measured in degrees from upright (0).</span></p></body></html>
APPCONF_BALANCE_STARTUP_PITCH_TOLERANCE
1
1
0
80
0
0
0.1
20
1000
°
9
Startup Roll Axis Angle Tolerance
1
1
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
<html><head><meta name="qrichtext" content="1" /><style type="text/css">
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Angle at which balancing will start (on the cross axis). Measured in degrees from upright (0).</span></p></body></html>
APPCONF_BALANCE_STARTUP_ROLL_TOLERANCE
1
1
0
80
0
0
0.1
8
1000
°
9
Startup Centering Speed
1
1
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
<html><head><meta name="qrichtext" content="1" /><style type="text/css">
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Speed at which wheel will center itself on startup.</p></body></html>
APPCONF_BALANCE_STARTUP_SPEED
1
1
0
100
0
0
0.1
30
1000
°/s
9
Deadzone
1
1
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Deadzone disables balancing at center.</p></body></html>
APPCONF_BALANCE_DEADZONE
2
1
0
5
0
0
0.01
0
1000
°
9
Multiple VESCs Over CAN
5
1
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">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.</p></body></html>
APPCONF_BALANCE_MULTI_ESC
0
Yaw P
1
1
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">P value for yaw PID stabilization.</p></body></html>
APPCONF_BALANCE_YAW_KP
3
1
0
10000
-10000
0
0.01
0
1000
9
Yaw I
1
1
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">I value for yaw PID stabilization.</p></body></html>
APPCONF_BALANCE_YAW_KI
3
1
0
10000
-10000
0
0.01
0
1000
9
Yaw D
1
1
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">D value for yaw PID stabilization.</p></body></html>
APPCONF_BALANCE_YAW_KD
3
1
0
10000
-10000
0
0.01
0
1000
9
Roll Steer KP
1
1
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">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</p></body></html>
APPCONF_BALANCE_ROLL_STEER_KP
3
1
0
10000
-10000
0
0.01
0
1000
9
Roll Steer ERPM KP
1
1
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
<html><head><meta name="qrichtext" content="1" /><style type="text/css">
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">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.</p></body></html>
APPCONF_BALANCE_ROLL_STEER_ERPM_KP
5
1
0
10000
-10000
0
0.0001
0
1000
9
Brake Current
1
1
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
<html><head><meta name="qrichtext" content="1" /><style type="text/css">
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Breaking current to be applied when balance app is not actively balancing.</p></body></html>
APPCONF_BALANCE_BRAKE_CURRENT
2
1
0
100
0
0
2
0
1000
A
9
Brake Timeout
2
1
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Turn off the brake after this many seconds. It will automatically reactivate if the motor moves. 0 = Disabled.</p></body></html>
APPCONF_BALANCE_BRAKE_TIMEOUT
1
0
10000
0
0
5
10
s
3
Yaw Current Clamp
1
1
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
<html><head><meta name="qrichtext" content="1" /><style type="text/css">
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Maximum current to be applied to yaw motions. This lets you overpower the pid traction.</p></body></html>
APPCONF_BALANCE_YAW_CURRENT_CLAMP
2
1
0
100
0
0
0.01
0
1000
A
9
D term PT1 Low Pass Filter
2
1
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">D term filter above this frequency. 0 = Disabled.</p></body></html>
APPCONF_BALANCE_KD_PT1_LOWPASS_FREQUENCY
1
0
4000
0
0
10
0
Hz
3
D term PT1 High Pass Filter
2
1
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
<html><head><meta name="qrichtext" content="1" /><style type="text/css">
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">D term filter below this frequency. 0 = Disabled.</p></body></html>
APPCONF_BALANCE_KD_PT1_HIGHPASS_FREQUENCY
1
0
4000
0
0
10
0
Hz
3
D term Biquad Low Pass Filter
1
1
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
<html><head><meta name="qrichtext" content="1" /><style type="text/css">
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">D term filter above this frequency. 0 = Disabled.</p></body></html>
APPCONF_BALANCE_KD_BIQUAD_LOWPASS
1
1
0
500
0
0
1
0
1000
Hz
9
D term Biquad High Pass Filter
1
1
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
<html><head><meta name="qrichtext" content="1" /><style type="text/css">
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">D term filter below this frequency. 0 = Disabled.</p></body></html>
APPCONF_BALANCE_KD_BIQUAD_HIGHPASS
1
1
0
500
0
0
1
0
1000
Hz
9
Start Angle
1
1
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Angle at which booster is applied (actually measued as absolute deviation from setpoint).</p></body></html>
APPCONF_BALANCE_BOOSTER_ANGLE
1
1
0
80
0
0
0.5
8
1
°
9
Ramp Up
1
1
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Degrees over which booster will ramp from 0A to the Configured Current, starting at start Angle.</p></body></html>
APPCONF_BALANCE_BOOSTER_RAMP
1
1
0
80
1
0
0.5
1
1
°
9
Current Boost
1
1
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
<html><head><meta name="qrichtext" content="1" /><style type="text/css">
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Extra current to be applied when booster angle is reached.</p></body></html>
APPCONF_BALANCE_BOOSTER_CURRENT
1
1
0
100
0
0
1
0
1000
A
9
Start Current Threshold
1
1
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
<html><head><meta name="qrichtext" content="1" /><style type="text/css">
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Minimum output current threshold for torque tiltback to start applying.</p></body></html>
APPCONF_BALANCE_TORQUETILT_START_CURRENT
1
1
0
100
0
0
2
10
1000
A
9
Tilitback Angle Limit
1
1
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
<html><head><meta name="qrichtext" content="1" /><style type="text/css">
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Max angle to which torque tiltback will tilt.</p></body></html>
APPCONF_BALANCE_TORQUETILT_ANGLE_LIMIT
1
1
0
80
0
0
0.5
5
1
°
9
Max Tiltback Speed
1
1
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Max speed at which torque tiltback will tilt to the desired angle (tilt will be slower if current increases slowly).</p></body></html>
APPCONF_BALANCE_TORQUETILT_ON_SPEED
1
1
0
100
0
0
0.5
5
1000
°/s
9
Max Tiltback Release Speed
1
1
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
<html><head><meta name="qrichtext" content="1" /><style type="text/css">
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Max speed at which torque tiltback will release to the desired angle back to 0 (tilt will be slower if current decreases slowly).</p></body></html>
APPCONF_BALANCE_TORQUETILT_OFF_SPEED
1
1
0
100
0
0
0.5
3
1000
°/s
9
Strength
1
1
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">How much tiltback should be applied based on output current.</p></body></html>
APPCONF_BALANCE_TORQUETILT_STRENGTH
2
1
0
1
0
0
0.05
0
1000
°/A
9
Current Filter
1
1
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
<html><head><meta name="qrichtext" content="1" /><style type="text/css">
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">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.</p></body></html>
APPCONF_BALANCE_TORQUETILT_FILTER
1
1
0
500
0
0
0.5
2
1000
Hz
9
Strength
1
1
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
<html><head><meta name="qrichtext" content="1" /><style type="text/css">
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">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.</p></body></html>
APPCONF_BALANCE_TURNTILT_STRENGTH
1
1
0
90
0
0
0.5
0
1000
9
Tilitback Angle Limit
1
1
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
<html><head><meta name="qrichtext" content="1" /><style type="text/css">
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Max angle to which turn tiltback will tilt. This wont change the power curve, only stop it at the limit.</p></body></html>
APPCONF_BALANCE_TURNTILT_ANGLE_LIMIT
1
1
0
30
0
0
0.5
5
1000
°
9
Roll Angle Threshold
1
1
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Min angle threshold to apply turntilt. Similar to a deadzone, except after reaching the angle, it will apply as if it started from 0.</p></body></html>
APPCONF_BALANCE_TURNTILT_START_ANGLE
1
1
0
45
0
0
0.5
1
1
°
9
ERPM Threshold
2
1
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">ERPM threshold to apply turntilt.</p></body></html>
APPCONF_BALANCE_TURNTILT_START_ERPM
1
0
100000
100
0
100
100
ERPM
3
Max Tiltback Speed
1
1
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Max speed at which turntilt will tilt to the desired angle (tilt will be slower if roll angle increases slowly).</p></body></html>
APPCONF_BALANCE_TURNTILT_SPEED
1
1
0
100
0
0
0.5
5
1000
°/s
9
Speed Boost %
2
1
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Increase the strength based on ERPM. Boost percent is added linearly from 0 erpm (0% boost) to max erpm (Full configured boost % is applied).</p></body></html>
APPCONF_BALANCE_TURNTILT_ERPM_BOOST
1
0
10000
0
0
5
20
%
3
Speed Boost Max ERPM
2
1
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">ERPM (absolute value) to end boosting the turn tilt effect, above this erpm there will be constant boost % (at your configured boost %).</p></body></html>
APPCONF_BALANCE_TURNTILT_ERPM_BOOST_END
1
0
100000
100
0
100
20000
ERPM
3
pid_mode
kp
ki
kd
kp2
ki2
kd2
hertz
loop_time_filter
fault_pitch
fault_roll
fault_duty
fault_adc1
fault_adc2
fault_delay_pitch
fault_delay_roll
fault_delay_duty
fault_delay_switch_half
fault_delay_switch_full
fault_adc_half_erpm
fault_is_dual_switch
tiltback_duty_angle
tiltback_duty_speed
tiltback_duty
tiltback_hv_angle
tiltback_hv_speed
tiltback_hv
tiltback_lv_angle
tiltback_lv_speed
tiltback_lv
tiltback_return_speed
tiltback_constant
tiltback_constant_erpm
tiltback_variable
tiltback_variable_max
noseangling_speed
startup_pitch_tolerance
startup_roll_tolerance
startup_speed
deadzone
multi_esc
yaw_kp
yaw_ki
yaw_kd
roll_steer_kp
roll_steer_erpm_kp
brake_current
brake_timeout
yaw_current_clamp
kd_pt1_lowpass_frequency
kd_pt1_highpass_frequency
kd_biquad_lowpass
kd_biquad_highpass
booster_angle
booster_ramp
booster_current
torquetilt_start_current
torquetilt_angle_limit
torquetilt_on_speed
torquetilt_off_speed
torquetilt_strength
torquetilt_filter
turntilt_strength
turntilt_angle_limit
turntilt_start_angle
turntilt_start_erpm
turntilt_speed
turntilt_erpm_boost
turntilt_erpm_boost_end
General
Tune
::sep::PID
pid_mode
kp
ki
kd
kp2
ki2
kd2
::sep::Main Loop
hertz
loop_time_filter
::sep::Filters
kd_pt1_lowpass_frequency
kd_pt1_highpass_frequency
kd_biquad_lowpass
kd_biquad_highpass
::sep::Experimental
deadzone
Tune Modifiers
::sep::Nose Angling
tiltback_constant
tiltback_constant_erpm
tiltback_variable
tiltback_variable_max
noseangling_speed
::sep::Booster
booster_angle
booster_ramp
booster_current
::sep::Torque Tiltback
torquetilt_strength
torquetilt_start_current
torquetilt_angle_limit
torquetilt_on_speed
torquetilt_off_speed
torquetilt_filter
::sep::Turn/Roll Tiltback
turntilt_strength
turntilt_angle_limit
turntilt_start_angle
turntilt_start_erpm
turntilt_speed
turntilt_erpm_boost
turntilt_erpm_boost_end
Startup
::sep::Tolerances
startup_pitch_tolerance
startup_roll_tolerance
::sep::Centering
startup_speed
::sep::Holding
brake_current
brake_timeout
Tiltback
::sep::General Config
tiltback_return_speed
::sep::Duty Cycle Tiltback
tiltback_duty
tiltback_duty_angle
tiltback_duty_speed
::sep::High Voltage Tiltback
tiltback_hv
tiltback_hv_angle
tiltback_hv_speed
::sep::Low Voltage Tiltback
tiltback_lv
tiltback_lv_angle
tiltback_lv_speed
Fault
::sep::Angle Faults
fault_pitch
fault_delay_pitch
fault_roll
fault_delay_roll
::sep::Speed Faults
fault_duty
fault_delay_duty
::sep::Switches
fault_adc1
fault_adc2
fault_delay_switch_half
fault_delay_switch_full
fault_adc_half_erpm
fault_is_dual_switch
Multi ESC
::sep::Multi ESC
multi_esc
::sep::Stabilization PID
yaw_kp
yaw_ki
yaw_kd
::sep::Steering
roll_steer_kp
roll_steer_erpm_kp
yaw_current_clamp