Matek H743 wing not working with hobbywing X6 motors dronecan

hi all,
im using an H743 wing with arducopter 4.5.7.(quadcopter)
connected hobbywing X6 motors via can port.
flowing the very informative videos and wiki by Tim Archer,
{ https://www.youtube.com/@timarcher52 }
ive configured bit rate and assigned id numbers 1 through4 eith droneCAN gui
and set up params :
can_d1_uc_option = 128 (hobbywing esc)
can_d1_uc_esc_bm = 15 (1-4)
protocol set to dronecan
when testing motors on mission planner- the motors spin in a weird way
= they start spinning for a second then stop and after that spin up again.
when i tried to arm- motors span up eraticly and seperatly.
is it at all possible to use dronecan esc with h743 wing?
if so, any ideas what is wrong with my setup?
thank you/

*edit
reflashed firmware and seems to work now, i think there was a problem with the bdshot version and bl32 params used with previous esc’s.

I am not sure did HobbyWing release CAN supported version, I have X6 PWM version with built-in ESC (all-in-one motor housing).

There was no flashing of BLHeli_32 ESC firmware in my case, direct connection from the X6 signal wire to Cubepilot FC MainOut PWM servo port, no additional ESC between FC and X6.