Need help with ESC telemetry for CUAV V5 with Velox V50A Tmotor 4 in 1 ESC

ArduCopter
1

Hi I’m using CUAV V5 with 4 in 1 ESC Velox V50A from Tmotor.

I’ve I’ve connected the ESC signal with Autopilot via regular signal pins and also via AUX pins.

In Messages it shows :
10-05-2025 16:36:45 : Frame: QUAD/X
10-05-2025 16:36:45 : IMU0: fast sampling enabled 8.0kHz/2.0kHz
10-05-2025 16:36:45 : RCOut: PWM:1-8 DS600:9-12 PWM:13-16
10-05-2025 16:36:45 : CUAVv5 0037002A 31335110 38313933
10-05-2025 16:36:45 : ChibiOS: 45395b6a
10-05-2025 16:36:45 : ArduCopter V4.1.3 (2fb939a1)

But no values in seen in status even after arming.

Please Help me with this.
ESC Telemetry.param (17.1 KB)

2

I think You need to use AUX pins, and configure mask properly to enable bdshot on them.

3

Be sure to use the side DSM/SBUS/RSSI port for your RC signal in - the SBUS pin.

If the motors spin with the MissionPlanner motor test, then probably only the telemetry wire is connected wrong. ESC Tele wire to RX pin of UART4 (or Telem2 if you wish).

I would change the ESC telemetry wire over to Uart4 anyway, to keep that Telem2 port spare for accessories that might need the RTS/CTS lines. The same two pins are used, RX and GND, in the same positions too so you can just shift the connector.
It’s just a suggestion though..

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image285×189 14.7 KB

SERIAL2_BAUD,57
SERIAL2_OPTIONS,0
SERIAL2_PROTOCOL,2
SERIAL4_BAUD,115
SERIAL4_OPTIONS,16
SERIAL4_PROTOCOL,16

This is not needed, only where you have other servos operating on DSHOT that are not the main motors.
SERVO_BLH_MASK,0

And if you have the motor/ESC signal wires connected to A1 → A4 of the V5 you are good to go, and a - pin to the ESC GND

Beware: dont connect the + of the ESC connector to anything, it has full battery voltage on it and has no place going near the flight controller. I remove the + and Curr wires from the housing if I’m not using them.

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image305×231 45.4 KB

4

Thank you for the guide. @xfacta , @Adam_Borowski

I’ve connected in the AUX port 9, 10,11, and 12
I’m able to arm the drone via transmitter
I checked with those option Telemetry cable was connected to Serial 2 RX pin,
BLheli version is 32.9

I get these messages when ESC auto telemetry was off:
12-05-2025 12:49:36 : Relay1 LOW
12-05-2025 12:49:36 : Invalid channel option (154)
12-05-2025 12:49:36 : RCInput: decoding SBUS
12-05-2025 12:49:08 : Frame: QUAD/X
12-05-2025 12:49:08 : IMU0: fast sampling enabled 8.0kHz/2.0kHz
12-05-2025 12:49:08 : RCOut: PWM:1-8 DS600:9-12 PWM:13-16

And no messages when ESC auto telemetry is off.
12-05-2025 12:49:36 : Relay1 LOW
12-05-2025 12:49:36 : Invalid channel option (154)

Still no data shown in the status bar
Is there anything I’m Missing.

5

Can you clarify this please? What status bar?
If DSHOT is working and telemtry is being received by the FC, then MissionPlanner Data screen, check in the Status tab for ESC* values. You can use the motor test tab to generate some changing data.

Do you mean a BLHELI_32 setting? You should have all defaults and just set

  • Low RPM Power Protect = OFF (this is the main one to check and change)
  • Low Voltage Protection = OFF (rely on the flight controller battery settings)
  • Temperature Protection = 90
  • Motor Timing = Auto