Epic, Please do 
As explained there, we (for example) need it for this
It just takes one customer to forget to add mission line “Do set servo X,Y”, before landing approach or the auto land. Then of would do so with open belly and get the expensive thermal sensor lens all scratched up or worse.
I’ll add my interest to seeing list of supported “inexpensive STM32F4 based flight boards”, and where are the binaries ?
Yesterday @walter and me did a successfull (dusty 
) maiden on a new build Mini Talon Quadplane with ChibiOS 3.9.0beta1 on a conventional pixhawk “2.4.8” (with 2 MB) . The Firmware performed very well (QSTABILIZE, QHOVER, FBWA, AUTOTUNE, Forward- and backtransition) and without any problems.
Regards Rolf
thanks @tridge, @bugobliterator, @sh83 and everybody else that put a lot of effort into chibios. imho this is exceptionally awesome! had a couple of pretty rewarding flights on fmuv3, revomini and mini-pix running chibios-based arduplane, all doing great. thank you all and keep that pace!
basti.
All you need is an arduino nano and a couple lines of code to implement this functionality. It can be even pass through to keep mission commands alive.
I have had a few flights on the Believer using the new telemetry BLHeli_32 ESC’s, and I am happy. Only very minor issues here that I’ve raised in github.
I did a relatively full shakedown of the latest build of master on 2018/07/03. Everything that I tested was stable.
There is a minor bug where using the new telemetry ESC’s as a battery monitor causes the reported current to be higher than it is (by about 4x for my twin motor plane).
Logs here: https://www.dropbox.com/sh/1fjh66ooxazqobs/AACONLpQooFvQVPPrwnkOT8ia?dl=0
This can also be due to a faulty calibration of the BLHELI32 ESC. The current protection of one of my BLHELI32 ESCs responds also too soon compared to the well calibrated pixhawk power module current sensor.
No; it’s about 4x higher than the sum of the ESC.curr that’s logged.
I’ve fixed that bug in master, and in the Plane-3.9 branch. I will release 3.9.0beta2 once Nate confirms the fix
@pompecukor I’ve been working on the landing support in this PR:
I have been testing it in SITL, but it needs testing in a real aircraft. If I built you a fw could you test it? If so, what board would you like it for?
@tridge
Awesome as usual.
We currently use The Cube (pixhawk2.1) exclusively. Yes, I am happy to test.
Another use (for us) for example is to override user and park Gimbal in safest position just before landing. So the grass don’t scratch up the lens over time.
In short is us good for so many application, just make it altitude base, which user can set and PWM under: xxxx, PWM over: yyyy.
Could you please elaborate or point at changes regarding how this improves VTOL please? Thanks!
Hi how is everyone on this page? I have some questions regarding using BLheli esc for fixed wing. So far I have uploaded arduplane 3.9.0 beta 5 onto my pixhawk v2 and im not seeing any of the BLH parameters in the full parameter list. Im confused because on the arduplane page under optional hardware Dshot support is listed as available on this beta release. Am I flashing the correct firmware from the ardupilot page or is there a different source I should be downloading it from? Any help would be appreciated as i would like to use a blheli 32 esc with my plane and having the option of blheli pass through so I can use current limiting and change the low voltage protection for the use of 18650 packs.
I am using BLHeli_32 ESC telemetry in ArduPlane latest, ChibiOS HAL, on a Matek F405-Wing. Everything worked more or less as documented. My guess is that the version of firmware you are loading/running does not have the BLHeli_32 code in it.
Kelly
Hi Richard,
you have to load the ChiBios Version. For Pixhawk it would have to be a fmuv3 file:
Last beta: firmware.ardupilot.org/Plane/beta/fmuv3/arduplane.apj
At Mission Planner select “Install Firmware”, click “Load custom firmware” and select the .apj file downloaded above.
Rolf
Thanks for the information really appreciate it, this has been installed
and the changes made in the parameters but for some reason there doesn’t
seem to be anything happening with the ESC when the battery is connected, I
get the light on the ESC (dyns aria 35a blhei 32) flashing on briefly and
blheli passthrough is working and I can connect through the pixhawk but
unable to read from the ESC. It’s as if the ESC isn’t powered! Hoping
it’s not a defective ESC.
You have connected the ESC with one of the auxillary ports ?
On Pixhawk Dshot (necessary for ESC-Telemetry) works only at the auxillary ports: ardupilot.org/plane/docs/common-dshot.html
yeah connected through aux 3, servo 11, zero communication with esc. its
all pointing towards a bad esc
Does anyone know if I can load any of these to a Furiousfpv F35? It’s running a STMF4.
Thanks