Apologies, this file is not up to date from when I left off. I changed spinup_bemf_comp to this
<param name="spinup_bemf_comp" value="1"/>
and power back to 80.
Everything else on this file should be the same. Here's updated:
<?xml version="1.0" encoding="UTF-8"?>
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<EscParameters>
<IdParams>
<param name="id" value="127"/> <!-- 0-7 .. 127 means use hardware ID pins to read ID-->
<param name="dir" value="2"/> <!-- 0=fwd, 1=rev, 2=fwd id-based, 3=rev id-based -->
</IdParams>
<UartParams>
<param name="protocol_version" value="2"/> <!-- reserved for future use -->
<param name="input_mode" value="0"/> <!-- reserved for future use -->
<param name="baud_rate" value="2000000"/> <!-- communication bit rate -->
<param name="char_timeout_ns" value="0"/> <!-- not used -->
<param name="cmd_timeout_ns" value="100000000"/> <!-- timeout for incoming commands before ESC will stop the motor -->
</UartParams>
<TuneParams>
<param name="pwm_frequency" value="48000"/> <!-- switching freqency of PWM signal going to motors. 24Khz and 48Khz are only options for now -->
<param name="vbat_nominal_mv" value="14800"/> <!-- used for sanity checking and limiting of voltage-dependent funcions -->
<param name="num_cycles_per_rev" value="6"/> <!-- number of pole pairs in the motor. used for converting electrical frequency to mechanical rpm -->
<param name="min_rpm" value="2000"/> <!-- minimum RPM that will be attempted, otherwise capped -->
<param name="max_rpm" value="35000"/> <!-- maximum RPM that will be attempted, otherwise capped -->
<param name="min_pwm" value="70"/> <!-- cap for minimum power to be ever applied. max is 999 -->
<param name="max_pwm" value="999"/> <!-- cap for maximum power to be ever applied. max is 999 -->
<param name="pwm_vs_rpm_curve_a0" value="366.028455487"/> <!-- this is actually motor_voltage vs rpm curve.. using legacy naming -->
<param name="pwm_vs_rpm_curve_a1" value="0.267931384448"/> <!-- Emax RS1306 3300KV with tri-blade 3x3x3 -->
<param name="pwm_vs_rpm_curve_a2" value="5.77024053745e-06"/>
<param name="kp" value="0"/> <!-- RPM controller proportional gain -->
<param name="ki" value="0"/> <!-- RPM controller proportional gain -->
<param name="max_kpe" value="0"/> <!-- maximum proportional erorr term (max is 999) -->
<param name="max_kie" value="0"/> <!-- maximum integral error term (max is 999) -->
<param name="max_rpm_delta" value="2000"/> <!-- cap for maximum rpm error used in RPM controller -->
<param name="spinup_type" value="1"/> <!-- 0: traditional, 1: sinusoidal -->
<param name="spinup_power" value="80"/> <!-- power used to during spin-up procedure -->
<param name="latch_power" value="70"/> <!-- power used during latching stage of spin-up (out of 999)-->
<param name="spinup_power_ramp" value="8"/> <!-- it will take ( 4096 / (spinup_power_ramp*10000) ) seconds to ramp sinusoidal start-up power from 0 to spinup_power -->
<param name="spinup_rpm_target" value="3300"/> <!-- Desired RPM at the end of the sinusoidal spin-up procedure -->
<param name="spinup_time_ms" value="500"/> <!-- Duration of the sinusoidal spin-up procedure -->
<param name="spinup_bemf_comp" value="1"/> <!-- 0: disable, 1:enable back-emf compensation in sinusoidal spin-up procedure -->
<param name="motor_kv" value="2400"/> <!-- kV value of the motor. used in back-emf compensation during spin-up -->
<param name="min_num_cross_for_closed_loop" value="5"/> <!-- exit latching mode of fixed power after this number of zero crossings -->
<param name="protection_stall_check_rpm" value="700"/> <!-- if motor spins below this RPM, stall check will trigger and stop / restart the motor -->
<param name="brake_to_stop" value="0"/> <!-- apply brake when stopping motor (or not) -->
<param name="stall_timeout_ns" value="20000000"/> <!-- after spin-up, if no zero crossing is not detected for this amount of time, motor is considered stalled -->
<param name="require_reset_if_stalled" value="0"/> <!-- require sending an array of zero commands to reset before next spin-up, if motor stalled -->
<param name="tone_freqs" value="[100, 115, 225, 250, 0,0,0,0, 0,0,0,0]"/> <!-- 200 is 2000Hz, max 255 -->
<param name="tone_durations" value="[30, 10, 10, 10, 0,0,0,0, 0,0,0,0]"/> <!-- duration of each tone in units of 10 milli-seconds. Poor naming!!! -->
<param name="tone_powers" value="[60, 60, 60, 60, 0,0,0,0, 0,0,0,0]"/> <!-- max is 255 -->
<param name="dt_threshold_ns" value="150000"/> <!-- during start up, ignore inter-commutation times less than this val, probably noise -->
<param name="max_dt_ns" value="2500000"/> <!-- min and max values for time between two commutations. these are used as caps -->
<param name="min_dt_ns" value="10000"/>
<param name="dt_bootstrap_ns" value="2000000"/> <!-- filter bootstrap value for commutation dt during start up -->
<param name="spinup_stall_dt_ns" value="6000000"/> <!-- during spin-up, if no zero crossing is not detected for this amount of time, motor is considered stalled -->
<param name="spinup_stall_check_ns" value="30000000"/> <!-- time after beginning of spinup to start checking for spinup stall -->
<param name="alignment_time_ns" value="0"/> <!-- alignment time before spin-up -->
<param name="timing_advance" value="0"/>
<param name="sense_advance" value="0"/>
<param name="demag_timing" value="0"/> <!-- unused -->
</TuneParams>
</EscParameters>
