Motor

This section defines brushless DC (BLDC) motors used in fixed-wing UAV propulsion systems. Motors are specified by their electrical characteristics, performance parameters, and physical properties.

Overview

Motors in the Setuav Standard are defined independently from their installation. The motor definition includes all technical specifications needed for performance analysis, power system design, and weight estimation.

Parameters

Identification

Parameter	Type	Description
tag	str	Unique identifier for the motor (e.g., "main_motor", "pusher_motor").
manufacturer	str	Manufacturer name (optional, e.g., "Emax", "T-Motor").
model	str	Model designation (optional, e.g., "RS2205", "F60 PRO IV").

Electrical Characteristics

Parameter	Unit	Description
kv	RPM/V	Motor velocity constant (RPM per volt).
voltage_min	V	Minimum operating voltage.
voltage_max	V	Maximum operating voltage.
current_max	A	Maximum continuous current rating.
resistance	Ω	Phase-to-phase resistance (ohms).
no_load_current	A	Current draw at no load (optional).

Physical Properties

Parameter	Unit	Description
mass	g	Motor mass including mounting hardware.
diameter	mm	Stator diameter (optional).
length	mm	Motor body length excluding shaft (optional).
shaft_diameter	mm	Output shaft diameter (optional).
shaft_length	mm	Shaft length from motor body (optional).
mounting_screw	str	Mounting screw type (optional, e.g., "M2", "M3").
mounting_spacing	str	Mounting hole spacing pattern (optional, e.g., "16x16", "12x12", "19x19").

Motor Integration

Component References

Parameter	Type	Description
esc_ref	str	Reference to the ESC component tag that controls this motor (optional).
propeller_ref	str	Reference to the propeller component tag mounted on this motor (optional).

Placement

Motors are positioned in the airframe using the placement object:

Parameter	Unit	Description
placement	object	Motor placement in airframe (optional).
placement.position	object	Motor 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	Motor orientation (thrust vector direction).
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

motors:
  - tag: "main_motor"
    esc_ref: "main_esc"
    propeller_ref: "main_prop"
    manufacturer: "Emax"
    model: "RS2205"
    kv: 2300
    voltage_min: 11.1
    voltage_max: 14.8
    current_max: 25
    resistance: 0.08
    no_load_current: 0.5
    mass: 28
    diameter: 28
    length: 31
    shaft_diameter: 5
    shaft_length: 12
    mounting_screw: "M3"
    mounting_spacing: "16x16"
    placement:
      position:
        x: 0
        y: 0
        z: 0
      rotation:
        x: 0
        y: 0
        z: 0

  - tag: "pusher_motor"
    esc_ref: "pusher_esc"
    propeller_ref: "pusher_prop"
    manufacturer: "T-Motor"
    model: "F60 PRO IV"
    kv: 1750
    voltage_min: 14.8
    voltage_max: 22.2
    current_max: 40
    resistance: 0.045
    mass: 62
    diameter: 28
    length: 37.3
    placement:
      position:
        x: 1200
        y: 0
        z: 50
      rotation:
        x: 0
        y: 0
        z: 180  # Pusher configuration