Hi Leonard, thanks for the reply!!!
The motors have a build in controller as i understand (https://www.aliexpress.com/item/32842259866.html?spm=a2g0s.9042311.0.0.27424c4do5KU6o).
The connections are documented as:
Red: Power+ (Power from battery, not the servo rail)
Black: GND
White: direction (relay)
Yellow: Encoder signal
Blue: PWM/Analog speed control.
I set the MOT_PWM_TYPE to “BrushedWithRelay”. I connected the White line (Direction) to the Relay pin of the ardupilot.
I tried “Normal” and the motor keeps constantly turning and in this way i can not even control the direction of the rotation. With BrushedWithRelay i can change the direction but i can not control the speed or make the motor stop turning (keeps turning constantly)