Pavel Kirienko
31 lines
1.4 KiB
Markdown
31 lines
1.4 KiB
Markdown
# Reference Hardware for PX4 Sapog
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[](https://gitter.im/Zubax/general)
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This directory contains the reference hardware design for
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[PX4 Sapog](https://kb.zubax.com/x/cYAh) - an advanced open source ESC firmware.
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This specific design is intended as an application note;
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the main knowledge to gather from this design is the pinout of the MCU and its immediate connections.
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The design is implemented in Eagle, version 7 or newer is required.
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## Resources
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* **[HOMEPAGE](https://kb.zubax.com/x/cYAh)**
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* **[SUPPORT & FEEDBACK](https://forum.zubax.com/)**
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* **[FIRMWARE ON GITHUB](https://github.com/PX4/sapog)**
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## Design guidelines
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1. When choosing the power transistors, keep their dynamic characteristics in mind:
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the switching time must be under 50 nanoseconds.
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Sapog employs somewhat unorthodox methods of state estimation which require a high-speed inverter.
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2. The RC filters in the phase voltage feedback circuits should be designed so that their cutoff frequency
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is around 19 kHz and the output impedance does not exceed 8 kohm.
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3. Unless your maximum supply voltage exceeds 25 V (6S), do not change the DC link voltage measurement divider.
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## License
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The design is distributed under the terms of the
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Creative Commons Attribution-ShareAlike 3.0 Unported license (CC BY-SA 3.0).
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