Using Dshot and PWM simultaneously


I’m using a Pixhawk 4 Mini flight controller on a quad with a BLHeli ESC using Dshot on the Main 1-4 outputs. Now I also want to connect an analog PWM servo to the Pixhawk for camera stabilization.

According to the wiki:

  • PWM 1, 2, 3 and 4 in group1
  • PWM 5 and 6 in group2
  • PWM 7 and 8 in group3
  • PWM 9, 10 and 11 in group4

Channels within the same group need to use the same output rate. If any channel in a group uses DShot then all channels in the group need to use DShot.

So it could be possible to use e.g. MAIN5 as a PWM output for the servo control, but how do I set up in the mission planner that I want dshot only on the MAIN1-4 outputs, and for the others PWM? I don’t see any parameters for that. Or is dshot activated only on the channels that are assigned to motor output?

When you set MOT_PWM_TYPE to a Dshot protocol and make no other changes what does the banner massage say in the Messages screen on boot. Example here:

Dshot pwm

This isn’t a Pixhawk 4 Mini so the timing groups are different but let’s see what you have.

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I think you can do that using the SERVO_BLH_MASK parameter

Okay, I think this solves my question:

Thank you very much.

Yep, you should be good to go.