ESC and Servo Output Requirements for INAV Ground Station
About 1 minINAVINAVESC 协议舵机输出PWMDSHOT执行器
1. ESC Protocols
INAV supports the following ESC protocols:
- "standard" PWM with 50-400Hz update rate
- OneShot125
- OneShot42
- Multishot
- Brushed motors
- DSHOT150, DSHOT300, DSHOT600
The ESC protocol can be selected in the Configurator. No special configuration is required.
2. Servo Outputs
By default, INAV uses a 50Hz servo update rate. If you need to increase this frequency, ensure that your servos support a higher refresh rate. Only high-end digital servos can stably support frequencies of 200Hz and above!
Servo Output Mapping Instructions:
Hardware Limitations
- Output port function differences
- Not all output ports on the flight controller support servo control, which is an inherent characteristic determined by the hardware architecture
- You must consult the official technical documentation of the corresponding flight controller to confirm available ports before use
- Layout specification differences
- Motor output ports typically use sequential numbering (such as M1-M8), but servo outputs do not have a unified standard
- Some flight controller boards may completely disable servo output functionality in multirotor mode
Incorrect configuration may lead to: signal port conflicts (such as PWM and serial multiplexing) risk of hardware damage (especially for high-current servos)
Instructions for Modifying Output Mapping:
INAV 7 has added an important feature: allowing users to force certain output ports to be dedicated to motors (MOTORS) or servos (SERVOS), but this must follow specific hardware-level limitations.
Main Hardware Limitations:
- Timer association rules
- All output ports are bound to timers
- The same timer may be shared by multiple output ports
- Key limitation: All output ports sharing the same timer must maintain the same function (either all set to motors or all set to servos)
Configuration Methods (Two Approaches):
- Recommended method: Use the mixer interface in the Configurator (Mixer tab)
- Advantage: Intuitively displays timer information for all output ports
- Operation path: Configurator → Mixer → View output port assignments
- Alternative method: Configure via CLI command line
- Related command: timer_output_mode
- Applicable scenarios: Advanced users who need precise control
————This article is cited from the INAV official website: https://github.com/iNavFlight/inav/blob/master/docs/ESC%20and%20servo%20outputs.md