Power and Mode Maps
FALCON provides flexible configuration through customizable Power and Mode maps. These maps allow you to easily adapt your motor controller settings to various driving scenarios or preferences.
Overview
Power and Mode maps let you define multiple profiles and quickly switch between them. This is useful for adjusting the motor controller's behavior based on different environments, driving styles, or purposes.
Power Maps
Each Power Map allows you to set detailed performance limits and behavior for forward and reverse driving, acceleration, braking, and power output.
Power Map Parameters:
| Parameter | Description |
|---|---|
kph_fwd | Forward speed limit [km/h]. |
kph_rev | Reverse speed limit [km/h] (negative number required). |
pwr | Global power limit [W]. |
acclvl | Acceleration level (forward). This value multiply the throttle input. |
brakelvl | Braking level. This value multiply the input when braking. |
reverselvl | Reverse acceleration level. This value multiply the input when reversing. |
Mode Maps
Mode Maps determine how the motor controller operates during acceleration, braking, and reversing scenarios. Each Mode Map defines operational modes for these scenarios.
Examples:
| Parameter | RC car with brake and reverse | RC trial car |
|---|---|---|
acc_mode | 2 - torque controll | 1 - speed controll |
brake_mode | 8 - braking (torque) controll | 1 - speed controll - immediate reverse |
reverse_mode | 8 - reverse controll | 1 - speed controll - immediate reverse |
If you do not use center parameter, ie. if the input is always positive, the brake or reverse mode will be ignored. This is for drones.
Mode Map Parameters:
| Parameter | Description |
|---|---|
acc_mode | Driver mode during acceleration. |
brake_mode | Driver mode during braking. |
reverse_mode | Driver mode during reversing. |
Switching Between Maps
You can dynamically switch between different maps using RC input channels or GPIO switches.
If output of selected pwm or asc input is in these ranges, the corresponding map will be selected:
| Input val | Selected map |
|---|---|
| 0 - 0.33 | map_0 |
| 0.33 - 0.66 | map_1 |
| 0.66 - 1 | map_2 |
Forced Map Selection Parameters:
| Parameter | Description |
|---|---|
power_map_force | Forces the selection of a specific Power Map. |
mode_map_force | Forces the selection of a specific Mode Map. |
Use this, if you want to ignore the map input, or if you want to override the map input.
Smooth Map Transition Parameter:
mapchlpf: Defines the smoothing (low-pass filtering) applied when changing maps.- Use negative values for ramp
- Use positive values for low pass filter
0: Disabled smoothing.
This smooth transition applys to power and speed limiters.
Additional Parameters
| Parameter | Type | Default | Description |
|---|---|---|---|
odothr | Float | 60 | Wheel revolutions per kilometer [R/km]. |
gearthr | Float | 1 | Motor revolutions per wheel revolution [ER/R]. |
If you leave these parameters in default, the map speed limitation will be in motor rpm.
Status Indicators
The following status indicators help you monitor the currently active maps:
active_power_map: Currently active Power Map index.active_mode_map: Currently active Mode Map index.