Pulse position modulation is a signal modulation technique that allows computers to share data

by measuring the time each data packet takes to reach the computer. It is often used in optical
communication, such as fiber optics, in which there is little multi-pathway interference. Pulse
position modulation exclusively transfers digital signals and cannot be used with analog systems.
It transfers simple data and is not effective at transferring files.

How Pulse Position Modulation Works

Pulse position modulation works by sending electrical, electromagnetic, or optical pulses to a

computer or other device in order to communicate simple data. It requires both devices to be
synchronized to the same clock so that when a series of pulses is sent, the device decodes the
information based on when the pulses were broadcasted. Alternately, another form of pulse
position modulation known as differential pulse position modulation, allows all signals to be
encoded based on the difference between broadcast times. This means that a receiving device
only has to observe the difference in arrival times in order to decode a transmission.

Applications

Pulse position modulation has many purposes, especially in RF (Radio Frequency)

communications. For example, pulse position modulation is used in remote controlled aircraft,
cars, boats, and other vehicles and is responsible for conveying a transmitters controls to a
receiver. Each pulses position may describe an analogue controllers physical direction, while
the number of pulses may describe the number of possible commands that the device may
receive.

Advantages

Pulse position modulation conveys simple commands that other forms of signal modulation are
either simply not made for or are too complex to use in certain situations. Because pulse position
modulation only communicates simple commands from a transmitter to a receiver, it is often
used in lightweight applications due to its low system requirements.
Disadvantages

Pulse position modulation requires that both devices are synchronized or differential pulse
position modulation is used. Also, pulse position modulation is highly sensitive to multi-pathway
interference, such as echoing, that can disrupt a transmission by altering the difference in arrival
times of each signal.

In PPM, data transmitted in short pulses has the same width and amplitude. The PPM changes
the delay between pulses.

Modulating a digital signal's pulse position is straightforward. Each delay between pulses is
represented by a zero or a one. A small delay is represented by zero, a long delay is represented
by one. The duration of delay varies according to the system's requirements. For example, in a
Sony infrared remote protocol that uses PPM, a short delay of 1.2 meters per second is
represented by zero, and a longer delay of 1.8 meters per second is represented by one.

PPM is very sensitive to external interferences. Although interference is usually impossible to

detect, it can cause complete data corruption. Therefore, PPM is not used in cable
communications, which are subject to electromagnetic interference. PPM is, however, used in
fiber optic cables, which are not subject to interference.

Another disadvantage is that signal decoding requires a transmitter with a perfectly synchronized
clock, but the signal does not provide the decoder with a way to reconstruct the clock. That is
why differential pulse position modulation is used. D-PPM is a form of PPM that transmits data
without a clock. D-PPM provides efficient data transmission due to its compressed format.

PWM

The PWM signal is a pulse signal which pulse width is proportional to the amplitude of the
modulating analog signal.
Fig.2 PWM
The figure depicts time domain representation of the PWM. One of the application of PWM is in
speed control of the DC motor.

PPM

The PPM signal is a pulse signal which pulse position is proportional to the amplitude of the
modulating signal amplitude. The time domain representation of PPM is mentioned in the figure.

Fig.3 PPM
555 Timer IC is most popular to generate waveforms for PPM and PWM modes. PWM is
generated using 555 timer in monostable multivibrator mode. PPM is generated using 555 timer
by using PWM as a trigger signal in monostable multivibrator mode.

The following table summarizes difference between PAM, PWM and PPM.

Method B.W. Power Efficiency(SNR) Complexity

Lowest
PAM Less Lowest

PWM High Moderate Moderate

PPM High Highest Highest

(reference : http://www.rfwireless-world.com/Terminology/PAM-vs-PWM-vs-PPM.html)

PWM - Pulse Width Modulation

PWM has been around for a long time in the radio control hobby and is the protocol that your
ESC's and servos talk to each other on. The analogue signal takes the form of a pulse, and the
length of the pulse represents a specific value, with 1000 being minimum, and 2000 being the
maximum value.

Each channel has its own single wire, so if you have an 8 channel receiver you will need to
connect 8 wires to read the inputs into your flight controller.
Almost every receiver you can buy will have the PWM output as it is very popular and generally
supported by all flight controllers so its a good safe option, however the fact that you need to
connect a wire per channel can get abit annoying and possibly lead to mistakes if you get the
numbering incorrect.
PPM - Pulse Position Modulation

PPM is also an analogue signal, but instead of using a separate wire for each channel, PPM
stacks each signal one after another to send them all along the same wire. This makes wiring
your R/C Receiver to your autopilot much easier! Other variations of PPM include CPPM, and
PPMsum which are slight variations introduced by specific manufacturers.

Some autopilots such as the Pixhawk require a PPM (or SBUS) input so if you are using a PWM
receiver you wil need to use a PPM encoder470 which converts several PWM signals into a
single PPM output.