Dronecan esc notches

Squirrel5 · June 8, 2026, 5:22am

I have a question regarding the configuration of ESC telemetry notches when using DroneCAN ESC telemetry.

I am using Hobbywing 6X SE motors and have set the poles to 28, but the notches are not aligning with the noise peaks at 42/84Hz. I found that if I manually set the center frequency to 84Hz it works, and I am currently covering 42Hz with a throttle notch.

Do I need to set the SERVO_FTW_POLES parameter specifically to make the ESC telemetry notches function correctly with DroneCAN? Leave them at 28 or defult of 14?

Picture is what happens if i use only esc telemetry notches. Poles set to 28

amilcarlucas · June 8, 2026, 9:36am

You need to use a lua script to add a RPM correction factor to the ESC data.
Search this forum for " Hobbywing 6X lua"

Squirrel5 · June 8, 2026, 10:09am

Isn’t that lua for the old data link v2 that uses a serial connection?

driver for HobbyWing DataLink ESC telemetry

github.com/ArduPilot/ardupilot

libraries/AP_Scripting/drivers/Hobbywing_DataLink.md

master

# HobbyWing ESC DataLink Driver

[Hobbywing Datalink v2](https://www.hobbywing.com/en/products/datalinkv2273)

This driver implements support the HobbyWing DataLink for HobbyWing
ESCs connected via a UART to an ArduPilot serial port. It supports up
to 8 ESCs.

## Parameters

The script used the following parameters:

## ESC_HW_ENABLE

this must be set to 1 to enable the driver

## ESC_HW_POLES

this should be set to the number of motor poles for eRPM to RPM
scaling. Please confirm the correct RPM using a tachometer

This file has been truncated. show original

Im connected direct to the can bus. No data link

amilcarlucas · June 8, 2026, 10:13am

No, the lua script that I am referring to is very short. It just sets the RPM correction factor.

Squirrel5 · June 8, 2026, 10:17am

Oh ok. I cant seem to find it searching. All im getting is this thread and developer calls

amilcarlucas · June 8, 2026, 10:17am

amilcarlucas · June 8, 2026, 10:18am

AMC will at some point automate this for you.
Are you already using AMC?

Squirrel5 · June 8, 2026, 10:22am

Yes. Its made this so much easier.

amilcarlucas · June 8, 2026, 10:30am

github.com/ArduPilot/MethodicConfigurator

Automate Hobbywing 6X SE ESC RPM telemetry configuration

opened 10:28AM - 08 Jun 26 UTC

amilcarlucas

good first issue

### Is there an existing issue or pull request for this? - [x] I have searched …the existing issues and pull requests ### Feature description Automate Hobbywing 6X SE ESC RPM telemetry configuration ### Desired solution When the motor or ESC is a "Manufacturer == Hobbywing and model == 6X SE" in the component editor, then this lua script should be uploaded to the FC in the "esc_telemetry" configuration step: ```lua esc_telem:set_rpm_scale(0, 0.714) esc_telem:set_rpm_scale(1, 0.714) esc_telem:set_rpm_scale(2, 0.714) esc_telem:set_rpm_scale(3, 0.714) gcs:send_text(0,"LUA set RPM scale to 0.714") ``` AMC already contains support to upload lua scripts. ### Alternatives considered None ### Additional context Hobbywing 6X SE reports incorrect RPM this script is required to correct that. Most users do not know that.

Squirrel5 · June 8, 2026, 10:34am

How do i implement this?

amilcarlucas · June 8, 2026, 10:44am

Do you want to help out? Great. Look at the Contributing to Ardupilot methodic configurator documentation

Squirrel5 · June 8, 2026, 10:45am

Think I i got it. Im seeing it in the messages

Squirrel5 · June 8, 2026, 10:49am

i thibk i got it

amilcarlucas · June 8, 2026, 10:57am

The reported RPM should now be correct. The center frequencies of the notch filters should now match the motor noise peaks.

Squirrel5 · June 8, 2026, 11:01am

Is it supposed to keep popping up in the messages like that? Im only connected to flight controller via USB. I did use AI lol.

Edit. I got it fixed. Thanks for your help

amilcarlucas · June 8, 2026, 11:35am

No.

I bet you saved that script into a file and uploaded it using mavftp to the flight controller and then rebooted the flight controller, right?

Squirrel5 · June 8, 2026, 1:42pm

Somehow 0 became 1000

gcs:send_text(1000, “RPM scale set to 0.714”)

Squirrel5 · June 8, 2026, 2:34pm

Beautiful

amilcarlucas · June 8, 2026, 2:56pm

Your post notch signals look really good. Now just get the PID notch to work.

Squirrel5 · June 8, 2026, 3:28pm

For a 22inch prop 6kg quad im surprised i only need 40hz and 1 harmonic to get all the noise down. I could probably raise the gyro filter higher than 30hz. What do you mean pid notch? I did quick/autotune but the step response was way off. I need to do a manual tune. Autotune over dampened it.