@urlu75, thanks for the quick response! In Rover V4.0.0, I don’t seem to see a SERVO_BLH_AUTO. I’ve tried setting SERVO_BLH_MASK and SERVO_BLH_REMASK to 5 (for Channels 1 and 3 of the skid steering control) to allow motors to reverse direction. Did not seem to change anything.
Hi,
i have got rover 4.1.0dev running with DSHOT150 on an Omnibus Nano V6, which is an STM32F4 board.
MOT_PWM_TYPE,5 … which is DSHOT150
SERVO_BLH_MASK,4 … ESC is connected to CH3
SERVO_BLH_REMASK,4 …forward/backward Motor on CH3 with direction “Bidirectional 3D”
Maybe you can also try MOT_SAFE_DISARM = 1
Then I could connect with BLHeliSuite32 and verify, that the ESC is in DSHOT-mode.
In BLHeliSuite32 I got an error after connect, but could set params and flash new BLHeli version without problems.
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@nossa , @urlu75 and @RainFly , thanx for the feedback!
I tried a lot of options but cannot get dshot working.
I still believe it has something to do with the rover firmware I’m currently running.
like @RainFly I want to upgrade it to dev4.1 build to see if it has something to do with the formware as I remember there was an issue with the f765 and dshot in copter 4.
maybe my firmware is still suffering from that.
@RainFly can I flash the 4.1dev build without loosing all my current settings?
Just an update…
Checked all the settings, and the SERVO_BLH_MASK and REMASK where not set.
I set them both to include channel 1 and 3 and now the motors run with DSHOT 150 protocol.
Thanx guys!
I can finally continue testing.
I switched to an frsky reciever and am now using the yapoo telemetry script on my transmitter as a sort of groundstation. Makes it easier to see what is happening.
I also added an ESP8266 inside the Rover running a mavlink wifi bridge.
When I want to upload a mission I can just connect to the rover if it is close and then upload a new mission. I have no need (yet) to keep a groundstation connected.
I have a raspberry pi 3 setup as a companion computer that can also stream video.
Later I will add a modem to it so I can control the Rover over 4g/5g
I also have a benewake lidar on the front for collision avoidance.
But that still needs setting up further and testing… it does not do yet what I want.
The goal is to use it with a bendy rule algorithm to avoid obstacles it detects in front when running a waypoint mission.
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Okay! Just wanna close out my question for anyone trying to follow! Thanks @RainFly, @urlu75, and @OldRaven for the param recommendations. I am also successfully able to use DSHOT150 with bidirectional control of brushless motors and an Aikon 4 in 1 ESC. I used the following params running Rover V4.0.0:
SERVO_BLH_Mask = 5 (channels 1 and 3)
SERVO_BLH_REMASK = 5 (channels 1 and 3)
MOT_PWM_TYPE = 5
PILOT_STEER_TYPE = 0
I did have some issues getting the SERVO_BLH_x params to save, they seemed to eventually take randomly, perhaps after a restart of the autopilot. For clarification also, I’m running a Mode 2 transmitter with a free-moving throttle that maps reverse from 1500-1000 and forward from 1500-2000. I’ve also heavily decreased all acceleration gains to ease jerking during direction shifts which could help if you are using ‘fragile’ 3D printed drives like mine. Anyways, here is a video to visualize the control and a dump of my parameters. Thanks everyone!
8-21-20_RoverV4.0.0.param (16.1 KB)
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@nossa great to see your rover test.
When you change some parameters in Ardupilot, although you save the parameter they will not be in effect until you power cycle your Flight controller.
Fort testing jerky steering… if you want to save your printed transmissions, for me it helps to test in “steering” mode as it seems more gently. Acro mode for example seems to not really care about acceleration with my rover 
@RainFly , how did you update to 4.1dev? I don’t see it ardupilot when cheking for beta firmware updates.
I do see one online in the firmware map.
I don’t want to flash it without loosing all my current settings and having to go through the setup again.
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Select Ctrl>Q from the Install Firmware screen in Mission Planner. It will populate with the latest -dev version. You won’t lose your settings but as always save the parameter file before doing so anyway.
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If you used Ctrl>Q from Mission Planner just use the .apj file that is selected as default.
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