ESC errors on logs and what can I do to reduce the errors?

ArduCopter Copter 4.7
10

We have another report here of ESC errors appear in the AP logs (e.g. ESC.Err field) but using a different type of ESC (Hargrave ESCs)

This makes me suspicious that we have an issue in AP’s DShot telemetry message parsing (see code here)

One of the first things we need to narrow down on is when this happens. For example:

  1. Do all DShot ESCs lead to ESC.Err appearing in the logs? If “yes” then it’s almost certainly an AP issue
  2. Do errors appear if only one ESC is connected?
  3. Does ArduPilot-4.6 also produce errors?