Copter 4.3 Bidirectional Dshot APD 120 ESC Passthrough

ArduCopter
1

Running Arducopter 4.3 excited that it now supports bidirectional dshot for 8 motors now. I enabled it and set parameters as far as pole numbers etc. Curious how do I know its actually working I’m using a LUX H7 FC DShot 300 with APD F120 ESC updated firmware on ESC to support bidirectional Dshot but not sure where to look to see if it is working with motors. I’m new to using Arducopter for a build and need some help to make sure its working properly Thanks. I posted a log not sure if that helps

https://drive.google.com/file/d/1-qIFyes7Wu8EyFbpYrc7zuXN1KscR32b/view?usp=share_link

2

When you connect to Mission Planner look at the Messages screen and see what the banner message shows for Rcout. Then review the log and see if you have ESC RPM.

3

Check the messages and it says RCOut: DS300:1-10 PWM:11-13.

4

Then the outputs 1-10 are configured for Dshot300. And you have ESC data in the log. But you are not running the bdshot version of firmware so this is from normal ESC telemetry on the serial port.

So, flash the bdshot version of firmware. Set the SERVO_BLH_BDMASK parameter, disable the serial ESC telemetry, and then see if you have ESC RPM in the log. Dshot600 is generally the most stable BTW.

5

Really ok Ill change it to 600. Thanks!!

6

Is it possible to run both the harmonic notch and bidirectional dshot??

7

That’s the primary reason you want to use Bdshot as the sample rate to drive the notch filter is much higher than serial data.

8

Sorry to bother curious on why now it is saying this? Only Dshot 600 1 thru 6 motors when I have a X8 configuration.

12/12/2022 8:33:20 PM : Frame: OCTAQUAD/H
12/12/2022 8:33:20 PM : IMU0: fast sampling enabled 8.0kHz/2.0kHz
12/12/2022 8:33:20 PM : RCOut: DS600:1-6 PWM:7-13
12/12/2022 8:33:20 PM : MatekH743-bdshot 0051002E 33305104 32353337
12/12/2022 8:33:20 PM : ChibiOS: 66e5de0d
12/12/2022 8:33:20 PM : ArduCopter V4.3.1 (22f45675)

9

Bdshot mask set to 8 chan? Try 4.3.2-rc1

10

“The output groups that must be the same (PWM rate or Dshot, when configured as a normal servo/motor output) are: 1/2, 3/4/5/6, 7/8/9/10, 11/12, and 13 (LED).”

Try 3/4/5/6 and 7/8/9/10 as motor outputs, you can use 1 and 2 and 11/12/13 for other things

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11

He had Dshot configured on the 1st 10 outputs across 3 Timer groups.
RCOut: DS300:1-10 PWM:11-13.

I think 8 should work for Bdshot.

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12

Lately I have been inputting parameters and refresh and they never show as active on startup in mission planner even after restarting computer and mission planner. But once I uninstall Mission Planner and reinstall everything shows up correct. Now the Rcout says Dshot 600 1-11 and all motors are spinning. Not sure if there is a glitch happening in mission planner on my end. Dshot 600 is working perfectly and I’m now able to esc rpm in the logs. Not sure what to make of it all.