VESC SIX esc with Pixhawk

Has anyone used a VESC speed controller and comment on the experience please?

Iā€™m about to do a rover w/ 4 VESC 4.12 and a Black Cube. I will publish my findings.

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how did you get on? would you recommend the VESC ?
canbus i read doesnt support negative values, so its forwards only for rover, or is that fixed ? thanks in advance