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docs/en/peripherals/dshot.md
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@ -110,18 +110,19 @@ The most important ones are:
:::
## Telemetry
Some ESCs are capable of sending telemetry back to the flight controller, including:
- temperature
- voltage
- current
- accumulated current consumption
- RPM values
## ESC Telemetry
Some ESCs are capable of sending telemetry back to the flight controller through a UART RX port.
These DShot ESCs will have an additional telemetry wire.
The provided telemetry includes:
- Temperature
- Voltage
- Current
- Accumulated current consumption
- RPM values
To enable this feature (on ESCs that support it):
1. Join all the telemetry wires from all the ESCs together, and then connect them to one of the RX pins on an unused flight controller serial port.
@ -152,8 +153,31 @@ Check manufacturer documentation for confirmation/details.
<Badge type="tip" text="PX4 v1.16" />
Bidirectional DShot enables ESC RPM (eRPM) data collection from each ESC at high frequencies.
This enhanced telemetry significantly improves the performance of [Dynamic Notch Filters](../config_mc/filter_tuning.md#dynamic-notch-filters) and enables more precise vehicle tuning.
Bidirectional DShot is a protocol that can provide telemetry including: high rate ESC RPM data, voltage, current, and temperature with a single wire.
The PX4 implementation currently enables only ESC RPM (eRPM) data collection from each ESC at high frequencies.
This telemetry significantly improves the performance of [Dynamic Notch Filters](../config_mc/filter_tuning.md#dynamic-notch-filters) and enables more precise vehicle tuning.
::: info
The [ESC Telemetry](#esc-telemetry) described above is currently still necessary if you want voltage, current, or temperature information.
It's setup and use is independent of bidirectional DShot.
:::
### Hardware Setup
The ESC must be connected to FMU outputs only.
These will be labeled `MAIN` on flight controllers that only have one PWM bus, and `AUX` on controllers that have both `MAIN` and `AUX` ports (i.e. FCs that have an IO board).
:::warning **Limited hardware support**
This feature is only supported on flight controllers with the following processors:
- STM32H7: First four FMU outputs
- Must be connected to the first 4 FMU outputs, and these outputs must also be mapped to the same timer.
- [KakuteH7](../flight_controller/kakuteh7v2.md) is not supported because the outputs are not mapped to the same timer.
- [i.MXRT](../flight_controller/nxp_mr_vmu_rt1176.md) (V6X-RT & Tropic): 8 FMU outputs.
No other boards are supported.
:::
### Configuration {#bidirectional-dshot-configuration}
@ -161,7 +185,3 @@ To enable bidirectional DShot, set the [DSHOT_BIDIR_EN](../advanced_config/param
The system calculates actual motor RPM from the received eRPM data using the [MOT_POLE_COUNT](../advanced_config/parameter_reference.md#MOT_POLE_COUNT) parameter.
This parameter must be set correctly for accurate RPM reporting.
:::warning
**Limited hardware support:** 4 outputs only on STM32H7 targets, 8 outputs on the [i.MXRT](../flight_controller/nxp_mr_vmu_rt1176.md) (V6X-RT & Tropic).
:::