ESC (Electronic Speed Controller)

This section defines electronic speed controllers (ESCs) used to regulate motor speed in UAV propulsion systems. ESCs are specified by their electrical characteristics, communication protocols, and physical properties.

Overview

ESCs in the Setuav Standard are defined independently and referenced by motors. The ESC definition includes electrical specifications, protocol support, and placement information needed for power system design and weight distribution.

Parameters

Identification

Parameter	Type	Description
tag	str	Unique identifier for the ESC (e.g., "main_esc", "pusher_esc").
manufacturer	str	Manufacturer name (optional, e.g., "Hobbywing", "Castle Creations").
model	str	Model designation (optional, e.g., "XRotor 40A", "Phoenix Edge 80").

Electrical Characteristics

Parameter	Unit	Description
current_max	A	Maximum continuous current rating.
current_burst	A	Maximum burst current (optional, typically 10-30 seconds).
voltage_min	V	Minimum operating voltage.
voltage_max	V	Maximum operating voltage.
resistance	Ω	Internal resistance (optional).
bec_voltage	V	Battery Eliminator Circuit output voltage (optional, 0 if no BEC).
bec_current	A	BEC maximum current output (optional).

Communication

Parameter	Type	Description
protocol	enum	Control protocol (optional): PWM, OneShot125, OneShot42, MultiShot, DShot150, DShot300, DShot600, DShot1200.
firmware	str	Firmware type (optional, e.g., "BLHeli_S", "BLHeli_32", "AM32").
telemetry	bool	Telemetry support (optional, default: false).

Physical Properties

Parameter	Unit	Description
mass	g	ESC mass including wires.
dimensions	object	Physical dimensions (optional).
dimensions.length	mm	Length.
dimensions.width	mm	Width.
dimensions.height	mm	Height/thickness.

Placement

ESCs are positioned in the airframe using the placement object:

Parameter	Unit	Description
placement	object	ESC placement in airframe (optional).
placement.position	object	ESC position in SETUAV_BODY frame.
placement.position.x	mm	Longitudinal position (distance from nose tip).
placement.position.y	mm	Lateral position (0 = centerline, positive = right).
placement.position.z	mm	Vertical position (positive = up).
placement.rotation	object	ESC orientation.
placement.rotation.x	deg	Rotation around X-axis (roll, optional, default: 0).
placement.rotation.y	deg	Rotation around Y-axis (pitch, optional, default: 0).
placement.rotation.z	deg	Rotation around Z-axis (yaw, optional, default: 0).

Example Configuration

escs:
  - tag: "main_esc"
    manufacturer: "Hobbywing"
    model: "XRotor 40A"
    current_max: 40
    current_burst: 55
    voltage_min: 7.4
    voltage_max: 25.2
    resistance: 0.003
    bec_voltage: 5.0
    bec_current: 3.0
    protocol: "DShot600"
    firmware: "BLHeli_32"
    telemetry: true
    mass: 12
    dimensions:
      length: 45
      width: 25
      height: 8
    placement:
      position:
        x: 50
        y: 0
        z: -20
      rotation:
        x: 0
        y: 0
        z: 0

  - tag: "pusher_esc"
    manufacturer: "Castle Creations"
    model: "Phoenix Edge 80"
    current_max: 80
    current_burst: 100
    voltage_min: 11.1
    voltage_max: 25.2
    protocol: "PWM"
    firmware: "Castle_Link"
    telemetry: true
    mass: 28
    placement:
      position:
        x: 1150
        y: 0
        z: 30
      rotation:
        x: 0
        y: 0
        z: 0