As is stands right now as of 4.0.3 and below, if you have a Flight controller with a IOMCU you will not get Dshot XXX from the Main 1-8 motor pins. It is only available on the AUX ports.
Copter 4.0.3+ will show you what you are actually outputting regardless of what you have selected as the protocol for the ESCs.
The message looks like: 3/18/2020 11:30:35 PM : RCOut: PWM:1-8 DS150:9-14
If your flight controller does not have a IOMCU then you should be able to get Dshot on most or all of the main and aux pins.
For example, If you have a Cube type flight controller. For example a Cube Orange or CUAV V5+ you will only get Dshot from the aux pins. The cube Orange (most likely black as well) will give you 6 Dshot outputs on Aux 1-6. The CUAV v5+ will only give you Dshot on Aux 1-4, You will not have Dshot on AUx 5 and 6 due to a hardware conflict. Dshot is also what requests the telemetry from the ESCs.
I will update this section as new data is available
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There doesn’t seem a section for this topic, so I figured I would throw it here.
As far as Dshot and BLheli_32 it seems like there is so much mystery and lack of info, so I will try to put what I have learned in this thread…
The use case is to use Dshot on a copter with more than 4 motors.
Seems like from what I have been reading and researching there is no way in a FMUv5 FC with on board IO Co-processor to get more than 4 Dshot outputs. Not sure about the FMUv7 in the durandal, cube orange or the mRo Control Zero F7. I would have no issue buying these to test.
I have been using the CUAV V5+ flight controllers and aux pins 1-4 can support Dshot but Aux 5 and 6 can not due to a hardware conflict.
The other flight controllers with no IO co-processor allegedly support more Dshot outputs, but you sacrifice the redundant IMUs and other features. I will test with my CUAV Nano v5 and report back.
The new RCOU of Arducopter 4.0.3 will show you exactly what the ESC protocol is being outputted by the flight controller.
Has anyone verified if the Cube black or Orange will support 6 or more Dshot outputs?