Atmel BLHeli Operation manual Rev11.x
Operation manual for BLHeli Atmel Rev11.x
Normal operation:
This procedure is used for PWM input signal.
Power up:
Once
Throttle up detected (arming sequence start):
Once
The maximum throttle in this interval sets the ”arm” target for the governor.
Zero throttle detected (arming sequence end):
After this, the motor will run.
Once
Document rev 11.x
Normal operation:
This procedure is used for PPM input signal.
Power up:
Throttle signal detected (arming sequence start):
Zero throttle detected (arming sequence end):
Once
Once
After this, the motor will run.
Once
Document rev 11.x
Entering programming mode:
This procedure is used for PWM input signal.
Power up:
Throttle up detected (arming sequence start):
Full throttle detected (start of entering programming mode):
Once
Once
Infinite
Zero throttle detected (continue entering programming mode):
Infinite
Full throttle detected (programming mode entered):
Once
The above description is for main or multi.
For the tail, follow the same sequence, but use right rudder as full throttle and left rudder as
zero throttle.
Document rev 11.x
Throttle range calibration and entering programming mode:
This procedure is used for PPM input signal.
Power up:
Once
Throttle signal detected (arming sequence start):
Once
When throttle is above midstick (measuring max throttle):
While measuring
If throttle is above midstick for 3 seconds:
Once
This beep sequence indicates that max throttle has been stored
When throttle is below midstick (measuring min throttle):
While measuring
If throttle is below midstick for 3 seconds:
Once
This beep sequence indicates that min throttle has been stored
At this point throttle calibration values are stored. You may remove power from the ESC, if
you just wanted to do a throttle calibration and not enter programming mode.
Full throttle detected:
This beep sequence indicates that programming mode is entered
Document rev 11.x
Once
Programming mode:
Function 1, parameter value 1
Function 1, parameter value 2
…etc…
Function 2, parameter value 1
Once
Once
Once
…etc…
If the throttle stick is moved to zero during one of the above sequences, the parameter value
of that function is selected and stored. And you will hear this sound:
Parameter value stored
Once
The ESC then resets itself.
If the throttle stick is moved below max (but not to zero), the current parameter will be
skipped, and programming will proceed to the next parameter. This way it is possible to
access the later parameters without going through all the beeps.
It is generally a good idea to go to full throttle again before selecting a parameter, to make
sure you have selected the right parameter.
Throttle is read in the 1 second pause between the function/parameter beeps.
If the throttle stick is never moved to zero, the ESC will load the defaults and then reset itself
after the last parameter value of the last function. This is a convenient way of setting all
parameters to defaults.
If power is disconnected during the programming sequence, then no changes are done to the
programmed values.
Document rev 11.x
Programming functions and parameter values:
Programming parameter value table main:
Function 1 2 3 4 5 6 7 8 9 10 11 12 13
1 - Governor P gain 0.13 0.17 0.25 0.38 0.50 0.75
2 - Governor I gain 0.13 0.17 0.25 0.38 0.50 0.75
3 - Governor mode
4 - Governor range
5 - Low voltage limit (/cell) Off 3.0V 3.1V
6 - Startup power** 0.031 0.047 0.063 0.094 0.125 0.188 0.25 0.38 0.50 0.75 1.00 1.25 1.50
7 - Commutation timing Low MediumLow
8 - Throttle change rate 2 3 4 6 8 12 16 24 32 48 64 128
9 - Damping force
10 - Pwm frequency High
11 - Demag compensation
12 - Rotation direction
13 - Input pwm polarity
*: Governor arm mode is only supported with PWM input signal
**: Default startup power varies by ESC. Generally the default power is lower for larger ESCs.
Tx
High
VeryLow
Off
Normal
Positive
Arm* Setup Off - - - - - - - - -
Middle Low - - - - - - - - - -
3.2V
Medium
Low MediumLow MediumHigh
Low
Low High - - - - - - - - - Reversed - - - - - - - - - - Negative - - - - - - - - - - -
DampedLight
MediumHigh
- - - - - - - - - -
3.3V 3.4V - - - - - - -
High - - - - - - - -
High Highest - - - - - - -
1.00
1.00
Default values are marked in bold green.
If for some reason there is an error in the eeprom/flash write operation (e.g. due to loss of power or low voltage), defaults will be loaded.
1.5 2.0 3.0 4.0 6.0 8.0
1.5 2.0 3.0 4.0 6.0 8.0
255
Document rev 11.x
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