Okay, I tried to setup the quadcopter with BDSHOT firmware as Dave (in another discussion suggested me) and I was not able to configure it to obtain ESC telemetry. I will give another try.
If I’m able to configure it I sill send the log of that file.
Thank you Goran!!
Set your motors on channels 1-4 that group is for sure working for BDSHOT.
Then set SERVO_BDMASK to match channels
I was not only for the motors. Now I remembered that I could not configure the RC, so I did not receive the controller inputs either. I will give a try and then I inform you.
Thanks
Im not sure that RC receiver if you configure it properly had anything with BDSHOT
It is basically not detecting any transmitter…
I have done this configuration as Dave mentioned in the other discuss (and as it is explained in the tutorial):
And in the mavlink inspector (I am using QGroundControl) I can not see the ESC information either.
Moreover, I think that I can not use those pins in BDSHOT (7-10), according to the ardupilot tutorial this Matek FCU:
Mateksys H743-Wing/SLIM/MINI/WLITE
The bi-directional Dshot firmware redefines the Rx6 pin as a pure UART input, and cannot support PPM. It also requires that the SERIAL7_PROTOCOL = 23 and that SERIAL7_OPTIONS = 3 for use with SBUS to provide inversion. In addition, outputs 9-12 no longer support normal Dshot. Only outputs 1-8 are bi-directional Dshot capable, with 1-2,3-4,5-6,7-8 in groups. Finally, the buzzer in the USB dongle will no longer play musical tones, only simple buzzer beeps.
You need to install Bdshot firmware to be able to get esc telemetry from it.
I think he did install Bdshot. But in any case Antoni, post a paramater file and let’s take a fresh look at this and solve one problem at a time. RC first of course.
What do you mean by this?
Of course I installed it, from here: ArduPilot firmware : /Copter/stable-4.5.6/MatekH743-bdshot
And the buzzer does not work so I understand that it is properly installed.
bdshot_26_09_2024.txt (34.6 KB)
Here are the parameters Dave. The extension is .txt because I can not upload directly the .params extension.
Thank you all again, I think I am the person with more problems in the world with ardupilot 
I dont see this option SERVO_BDMASK
Is it maybe SERVO_BLH_BDMASK?
Yes i wrote it wrong im sorry, im writing from mobile.
First, are you saying that RC is not working? I was confused by your comment about not detecting a transmitter. If not then Bdshot is not the priority.
When the BDShot Firmware is installed, I do not receive nothing from the RC and when I press the button calibrate I get this message from QGC:
Check that if serial port is changed when you change firmware
According to the manual RX6 is still Serial7, I mean, nothing is mentioned about that change.
In case it can be usefull, this is where I have connected the receiver (robbe r6107sp) to the FC:
If there is not a dramatical improvement using BDShot in front of use a one wire ESC Telemetry, maybe it is easier to backup to the firmware without bdshot and Tune the PID from there. I do not want to bother you all the time 
Can you drop QGC for the moment and us Mission Planner to save the parameter file? The format of the file you posted is a PITA to review.
Don’t revert back from the Bdshot firmware, there is probably a parameter(s) set wrong.
Okay, it will take me some minutes because I have to change the SO. I will send it then.
Thanks!!
No, stay with bdshot. Its much better then normal firmware as you can use rpm filters.
bdshot_26_09_24.param (22.1 KB)
Here is the param file from Mission Planner.
