Last updated
Last updated
Zubax Telega is a high end, proprietary sensorless FOC motor control technology. It is used in multiple products, including the ESC, motor controller module, and Zubax Sadulli integrated drive.
While Telega can be controlled using traditional PWM input, it is designed to operate over CAN bus using .
:::note ESCs based on Zubax Telega require non-trivial tuning of the propulsion system in order to deliver adequate performance and ensure robust operation. Users who lack the necessary tuning expertise are advised to either or to use Zubax Robotic's professional tuning service. Questions on this matter should be addressed to: . :::
Telega ESCs also require other motor setup and configuration for reliable performance. See the above guide and other Zubax documentation for more information.
PX4 requires an SD card for DroneCAN node allocation and during firmware update (which happen during boot). Check that there is a (working) SD card present and reboot.
: High-end PMSM/BLDC motor controller (FOC ESC) for light unmanned aircraft and watercraft.
: Integrated sensorless PMSM/BLDC motor controller chip (used in ESCs and integrated drives)
: Open hardware reference design for Mitochondrik
ESCs are connected to the CAN bus using a Pixhawk standard 4 pin JST GH cable. For more information, refer to the instructions. ESC order does not matter.
Motor enumeration for is usually performed using the (or less "GUI-friendly" ). Telega does NOT support automatic enumeration by spinning the motor.
There is some guidance here: (Zubax blog).
Connect the ESCs to the Pixhawk CAN bus. Power up the entire vehicle using a battery or power supply (not just the flight controller over USB) and enable the DroneCAN driver by setting the parameter to 3
to enable both dynamic node ID allocation and DroneCAN ESC output.
Assign motors to outputs using the configuration screen.
If the PX4 Firmware arms but the motors do not start to rotate, check that parameter UAVCAN_ENABLE=3
to use DroneCAN ESCs. If the motors do not start spinning before thrust is increased, use to confirm that the motor outputs are set to the correct minimum values.