User Manual

Rampup power can be set to relative values from 3% to 150%. This is the maximum
power that is allowed when ramping up at low rpms and during startup. For low rpms,
the maximum power to the motor is limited, in order to facilitate detection of low BEMF
voltages.
Rampup power also affects bidirectional operation, as the parameter is used to limit the
power applied during direction reversal.
During startup, the actual applied power depends on throttle input, and can be lower
than the maximum level set by the rampup power parameter, but the minimum level is a
quarter of the maximum level.
Motor Timing:
Motor timing can be set between approximately 10 and approximately 310 in
approximately 10 increments (actual accurate values here are 15/16ths of a degree).
Typically a medium setting will work fine, but if the motor stutters it can be beneficial to
increase timing. Some motors with high inductance can have a very long commutation
demagnetization time. This can result in motor stop or stutter upon quick throttle
increase, particularly when running at a low rpm. Setting timing higher will allow more
time for demagnetization, and often helps.
This parameter can also be set to auto. I this case the code monitors demagnetization
time, and keeps timing as low as possible without having issues with demag. On well
behaved motors, timing can be low in the entire power range, and thereby max power
can be reduced. On not so well behaved motors, timing is increased as needed, and
thereby improves margins against sync loss.
PWM frequency:
Motor pwm frequency can be programmed between 16kHz and 48kHz. Higher pwm
frequency can run motors smoother. Programmable frequency also allows for moving of
small but potentially disturbing humps in the throttle response. All ESCs have these
bumps, with BLHeli_32 they can be moved in the rpm range, to a place where the
system has low sensitivity to them.
Demag Compensation:
Demag compensation is a feature to protect from motor stalls caused by long winding
demagnetization time after commutation. The typical symptom is motor stop or stutter
upon quick throttle increase, particularly when running at a low rpm. As mentioned
above, setting high commutation timing normally helps, but at the cost of efficiency.
Demag compensation is an alternative way of combating the issue. First of all, it detects
when a demag situation occurs.