# Zubax Telega ESCs
Zubax Telega is a high end, proprietary sensorless FOC motor control technology. It is used in multiple products, including the Zubax Myxa (opens new window) ESC, Zubax Mitochondrik (opens new window) 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 DroneCAN.
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 [purchase pre-tuned UAV propulsion kits](https://zubax.com/products/uav_propulsion_kits) or to use Zubax Robotic's professional tuning service. Questions on this matter should be addressed to: [email@example.com](mailto:firstname.lastname@example.org).
# Where to Buy
- Zubax Myxa (opens new window): High-end PMSM/BLDC motor controller (FOC ESC) for light unmanned aircraft and watercraft.
- Zubax Mitochondrik (opens new window): Integrated sensorless PMSM/BLDC motor controller chip (used in ESCs and integrated drives)
- Zubax Komar (opens new window): Open hardware reference design for Mitochondrik
- Zubax Sadulli Integrated Drive (opens new window)
# Hardware Setup
ESCs are connected to the CAN bus using a Pixhawk standard 4 pin JST GH cable. For more information, refer to the CAN Wiring instructions. ESC order does not matter.
# Firmware Setup
Motor enumeration for Telega-based ESCs (opens new window) is usually performed using the Kucher tool (opens new window) (or less "GUI-friendly" DroneCAN GUI Tool (opens new window)). Telega does NOT support automatic enumeration by spinning the motor.
There is some guidance here: Quick start guide for Myxa v0.1 (opens new window) (Zubax blog).
Telega ESCs also require other motor setup and configuration for reliable performance. See the above guide and other Zubax documentation for more information.
# Flight Controller Setup
# Enable DroneCAN
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 UAVCAN_ENABLE to
3 to enable both dynamic node ID allocation and DroneCAN ESC output.
# PX4 Configuration
(Optional) Set UAVCAN_ESC_IDLT to
1 in order to ensure that the motors are always running at least at the idle throttle while the system is armed.
Some systems will not benefit from this behavior, e.g. glider drones).
# Motors not spinning when armed
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, check
# DroneCAN devices dont get node ID/Firmware Update Fails
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.