MOT_ parameters¶

25 parameters in the MOT_ family. ArduCopter 4.7 only — other vehicles share many of these names but not always the same ranges or meanings.

MOT_BAT_CURR_MAX¶

Motor Current Max

Maximum current over which maximum throttle is limited (0 = Disabled)

Units	`A`
Range	`0` to `200`
Increment	`0.1`
User level	Advanced

MOT_BAT_CURR_TC¶

Motor Current Max Time Constant

Time constant used to limit the maximum current

Units	`s`
Range	`0` to `10`
Increment	`0.01`
User level	Advanced

MOT_BAT_IDX¶

Battery compensation index

Which battery monitor should be used for doing compensation

Range	`0` to `15`
Increment	`1`
User level	Advanced

Values¶

Value	Meaning
`0`	First battery
`1`	Second battery

MOT_BAT_VOLT_MAX¶

Battery voltage compensation maximum voltage

Battery voltage compensation maximum voltage (voltage above this will have no additional scaling effect on thrust). Recommend 4.2 * cell count, 0 = Disabled

Units	`V`
Range	`6` to `53`
Increment	`0.1`
User level	Advanced

MOT_BAT_VOLT_MIN¶

Battery voltage compensation minimum voltage

Battery voltage compensation minimum voltage (voltage below this will have no additional scaling effect on thrust). Recommend 3.3 * cell count, 0 = Disabled

Units	`V`
Range	`6` to `42`
Increment	`0.1`
User level	Advanced

MOT_BOOST_SCALE¶

Motor boost scale

Booster motor output scaling factor vs main throttle. The output to the BoostThrottle servo will be the main throttle times this scaling factor. A higher scaling factor will put more of the load on the booster motor. A value of 1 will set the BoostThrottle equal to the main throttle.

Range	`0` to `5`
Increment	`0.1`
User level	Advanced

MOT_HOVER_LEARN¶

Hover Value Learning

Enable/Disable automatic learning of hover throttle

User level

Advanced

Values¶

Value	Meaning
`0`	Disabled
`1`	Learn
`2`	Learn and Save

MOT_IDLE_SEC¶

Idle time

Delay after reaching ground idle when armed to allow ESC startup to complete.

Units	`s`
Range	`0` to `5`
Increment	`0.1`
User level	Advanced

MOT_OPTIONS¶

Motor options

Motor options

User level

Advanced

Bitmask¶

Value	Meaning
`0`	Voltage compensation uses raw voltage

MOT_PWM_MAX¶

PWM output maximum

This sets the max PWM value in microseconds that will ever be output to the motors

Units	`PWM`
Range	`0` to `2000`
Increment	`1`
User level	Advanced

MOT_PWM_MIN¶

PWM output minimum

This sets the min PWM output value in microseconds that will ever be output to the motors

Units	`PWM`
Range	`0` to `2000`
Increment	`1`
User level	Advanced

MOT_PWM_TYPE¶

Output PWM type

This selects the output PWM type, allowing for normal PWM continuous output, OneShot, brushed or DShot motor output.PWMRange and PWMAngle are PWM special/rare cases for ESCs that dont calibrate normally (some Sub motors) or where each ESC must have its PWM range set individually using the Servo params instead of PWM_MIN/MAX parameters.

Reboot required	Yes — the change takes effect after a reboot.
User level	Advanced

Values¶

Value	Meaning
`0`	Normal
`1`	OneShot
`2`	OneShot125
`3`	Brushed
`4`	DShot150
`5`	DShot300
`6`	DShot600
`7`	DShot1200
`8`	PWMRange
`9`	PWMAngle

MOT_SAFE_DISARM¶

Motor PWM output disabled when disarmed

Disables motor PWM output when disarmed

User level

Advanced

Values¶

Value	Meaning
`0`	PWM enabled while disarmed
`1`	PWM disabled while disarmed

MOT_SAFE_TIME¶

PWM re-enable delay after arming when disarmed pwm was disabled

Delay after arming before spool transitions are allowed, used to let ESCs/servos complete startup when PWM was disabled while disarmed.

Units	`s`
Range	`0` to `5`
Increment	`0.001`
User level	Advanced

MOT_SLEW_DN_TIME¶

Output slew time for decreasing throttle

Time in seconds to slew output from full to zero. This is used to limit the rate at which output can change. Range is constrained between 0 and 0.5.

Units	`s`
Range	`0` to `0.5`
Increment	`0.001`
User level	Advanced

MOT_SLEW_UP_TIME¶

Output slew time for increasing throttle

Time in seconds to slew output from zero to full. This is used to limit the rate at which output can change. Range is constrained between 0 and 0.5.

Units	`s`
Range	`0` to `0.5`
Increment	`0.001`
User level	Advanced

MOT_SPIN_ARM¶

Motor Spin armed

Point at which the motors start to spin expressed as a number from 0 to 1 in the entire output range. Should be lower than MOT_SPIN_MIN.

Range	`0.0` to `0.2`
Increment	`0.01`
User level	Advanced

Values¶

Value	Meaning
`0.0`	Low
`0.1`	Default
`0.2`	High

MOT_SPIN_MAX¶

Motor Spin maximum

Point at which the thrust saturates expressed as a number from 0 to 1 in the entire output range

Range	`0.9` to `1.0`
User level	Advanced

Values¶

Value	Meaning
`0.9`	Low
`0.95`	Default
`1.0`	High

MOT_SPIN_MIN¶

Motor Spin minimum

Point at which the thrust starts expressed as a number from 0 to 1 in the entire output range. Should be higher than MOT_SPIN_ARM.

Range	`0.0` to `0.25`
Increment	`0.01`
User level	Advanced

Values¶

Value	Meaning
`0.0`	Low
`0.15`	Default
`0.25`	High

MOT_SPOOL_TIME¶

Spool up time

Time in seconds to spool up the motors from zero to min throttle.

Units	`s`
Range	`0.05` to `2`
Increment	`0.1`
User level	Advanced

MOT_SPOOL_TIM_DN¶

Spool down time

Time to ramp the throttle ceiling down toward zero. If 0, SPOOL_TIME is used.

Units	`s`
Range	`0` to `2`
Increment	`0.001`
User level	Advanced

MOT_THST_EXPO¶

Thrust Curve Expo

Motor thrust curve exponent (0.0 for linear to 1.0 for second order curve)

Range	`-1.0` to `1.0`
User level	Advanced

MOT_THST_HOVER¶

Thrust Hover Value

Motor thrust needed to hover expressed as a number from 0 to 1

Range	`0.125` to `0.6875`
User level	Advanced

MOT_YAW_HEADROOM¶

Matrix Yaw Min

Yaw control is given at least this pwm in microseconds range

Units	`PWM`
Range	`0` to `500`
Increment	`1`
User level	Advanced

MOT_YAW_SV_ANGLE¶

Yaw Servo Max Lean Angle

Yaw servo’s maximum lean angle (Tricopter only)

Units	`deg`
Range	`5` to `80`
Increment	`1`
User level	Standard