> For the complete documentation index, see [llms.txt](https://taiphoon-com.gitbook.io/taiphoon.com-docs/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://taiphoon-com.gitbook.io/taiphoon.com-docs/en/flight-stack/morakot-4-in-1-esc.md).

# Morakot 4 in 1 ESC

<figure><img src="/files/jiMEKBW0wTcYrXsZahxR" alt=""><figcaption></figcaption></figure>

## **規格** Specifications

* 輸入電壓：11V\~33.6V(3S\~8S)
* 最大電流：60A
* 預設韌體：AM32 Firmware
* 支援通訊協定：PWM、DShot300、DShot600
* 尺寸：44.3(L)\*45.7(W)\*7.55mm(H)
* 安裝孔距：30.5 x 30.5mm

<figure><img src="/files/IHNgU0TzntSiC8GMhOWu" alt=""><figcaption></figcaption></figure>

## **連接器接腳分配 Connectors Pin A**ssignments

**Output Connector(JST-GH 8p)**

| Pin | Signal  | Voltage     |
| --- | ------- | ----------- |
| 1   | VCC     | +12V\~33.6V |
| 2   | TX      | +3.3V       |
| 3   | GND     |             |
| 4   | CURRENT |             |
| 5   | Motor1  |             |
| 6   | Motor2  |             |
| 7   | Motor3  |             |
| 8   | Motor4  |             |

## **電源模組設定 Battery Monitor Setting**

```
// Ardupilot設定方式
BATT_MONITOR, 4 // 設定成讀取類比訊號(電壓+電流)
BATT_VOLT_MULT, 11.07 // 設定電壓腳位每單位電壓(V)對應的實際電壓(V)
BATT_AMP_PERVLT, 40 // 設定電流腳位每單位電壓(V)對應到的電流(A)
BATT_AMP_OFFSET, 0.032 // 設定電流腳位在空附載時的電壓(V)
```