for my flight control system I want to track my motor rpm (more or less to feed orientation estimation with thrust and moments).
I wrote a simple class based on following formula
$$ \dot \omega = \frac{T_l}{J} + k_T \frac{V}{J\,R} - \frac{k_T^2}{J\, R}\omega $$
It gives me pretty good results for steady state, but I'm a bit unsure on dynamic behavior of my ESC. It should be flashed with Blheli software.
How does it handle throttle up and down? Will it simply apply BatteryVoltage * Throttle [%] or will it apply full / 0 voltage till it reaches requested rpm and then adjust voltage to keep the speed (I know that voltage is apllied via PWM, so understand it as average).
Thanks a lot in advance