Will test in EKF2, is the same for you?
Done a little indoor flight in althold with latest small-copter-4.1 (OmnibusNanoV6-bdshot target) with no problems, it seems good.
I will do more test.
I was having better luck with my toothpick quad on EK3, but thatās all stopped for now as I have smoked the motors (did not realize they were 3s!) 
I am sorry for your poor toothpick. When such things happen to me I become sad.
Here the log of latest flight with your small-copter-4.1
https://drive.google.com/file/d/1fS1Lp7c2t-nAs9QhYzfUTr56LahpHgmI/view?usp=sharing
FYI. Weāve updated ālatestā to run on EKF3 now so we are looking for feedback on cases where it EKF3 is not as good (in whatever way) as EKF2. Thanks!
The EK3 initializing bug has been fixed - so I can now test again appropriately. I am still seeing some yaw drift, but I donāt know whether thatās any different to EK2, hopefully will test this weekend.
@andyp1per @rmackay9 I tested latest master as of today on my 3 inch Copter with OmnibusNanoV6 with no Compass and no GPS.
I tested both with EKF2 and with EKF3 and for what I am able to see there are no big difference, so I think the problems related to EKF3 we talked about earlier should be solved.
Two logs relative to little indoor flight:
EK2: https://drive.google.com/file/d/1E_8s16tvTVtDsXHbRMhLHztYmn4rLfc-/view?usp=sharing
EK3: https://drive.google.com/file/d/1mYJ4yYyr2INYNEqBkZIJwNeUdSJI2FJp/view?usp=sharing
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Anbello,
Great, thanks for the feedback and happy to hear EKF3 is working OK!
-Randy
@andyp1per I saw you fixed Blheli_S passthrough, thanks on behalf of everyone who uses Blheli_S ESC.
Now even with old and cheap Blheli_S ESC is possible to have configuration via passthrough and RPM telemetry via bidir dshot.
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Now even available on 4.0.6-rc2
No problem - it took an extremely long time to debug given that it was only a 3-line deletion
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Iām hunting for the build you posted for the Pixracer Pro, but I canāt find it? Am I going crazy? 
Only crazy if you havenāt looked at the 1st post in the thread 
The code has changed a bit. Iāll do another one. What I would like to do is add the tested configurations to the firmware build scripts.
@andyp1per is it possible to test bidir dshot on Matek H743?
Which changes are needed on hwdef.dat?
I have one - I will do a config, I have been meaning to for a while
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Thanks, anyway I am having strange behavior with H743 Mini and master, similar to this reported on discord ekf channel https://discord.com/channels/674039678562861068/708104439231152191/802574608388587570
https://github.com/ArduPilot/ardupilot/pull/16426 - only lightly tested. You have to setup RCIN as protocol 23
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I have updated the build above to the latest
