This video shows how the UAVCAN GUI Tool can be applied to evaluate the efficiency of a sensorless propeller drive (or any other kind of drive that can be controlled via UAVCAN).
The video features the following products and instruments:
- UAVCAN GUI Tool version 0.9
- Zubax Babel (USB-CAN adapter)
- Zubax Orel 20 (the ESC)
- Tarot MT4008 motor with Tarot 1555 high strength plastic propeller
- MASTECH HY5030 DC power supply
- RCbenchmark 1520 testing rig (optional)
The following snippet is executed in the interactive console of the UAVCAN GUI Tool:
def run(): rpm_setpoint = 0 going_down = False step = 2 def update(): nonlocal rpm_setpoint nonlocal going_down rpm_setpoint += (-step if going_down else step) broadcast(uavcan.equipment.esc.RPMCommand(rpm=[rpm_setpoint])) if going_down: if rpm_setpoint > step: defer(0.01, update) else: if rpm_setpoint >= 5000: going_down = True defer(0.01, update) update()
It can be seen that the snippet commands the motor to slowly accelerate to 5000 RPM and then to slowly decelerate back to the standstill. The X-Y plotting feature of the UAVCAN GUI Tool allows us to directly plot the relationship between the electrical power and the mechanical RPM of the propeller. The UAVCAN GUI tool is a powerful one-size-fits-all instrument that can be used to easily analyze and demonstrate the behavior of various UAVCAN-enabled systems.