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feat(dshot): Extended Telemetry and EEPROM support

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Overhauls the DShot driver with per-timer BDShot selection, multi-timer                                                                                                                                  
sequential capture, Extended DShot Telemetry (EDT), and AM32 ESC EEPROM                                                                                                                                  
read/write via MAVLink. Expands ESC support from 8 to 12 channels.                                                                                                                                       
                                                                                                                                                                                                   
BDShot:                                                                                                                                                                                                  
- Per-timer BDShot protocol selection via actuator config UI                                                                                                                                             
- Multi-timer sequential burst/capture on any DMA-capable timer                                                                                                                                          
- Adaptive per-channel GCR bitstream decoding                                                                                                                                                            
- Per-channel online/offline detection with hysteresis                                                                                                                                                   
                                                                                                                                                                                                   
Extended DShot Telemetry (EDT):                                                                                                                                                                          
- Temperature, voltage, current from BDShot frames (no serial wire)                                                                                                                                      
- New DSHOT_BIDIR_EDT parameter                                                                                                                                     
- EDT data merged with serial telemetry when both available                                                                                                                                              
                                                                                                                                                                                                   
AM32 EEPROM:                                                                                                                                                                                             
- Read/write AM32 ESC settings via MAVLink ESC_EEPROM message                                                                                                                                            
- ESCSettingsInterface abstraction for future ESC firmware types                                                                                                                                         
- New DSHOT_ESC_TYPE parameter                                                                                                                                                                           
                                                                                                                                                                                                   
Other changes:                                                                                                                                                                                           
- Per-motor pole count params DSHOT_MOT_POL1–12 (replaces MOT_POLE_COUNT)                                                                                                                              
- EscStatus/EscReport expanded to 12 ESCs with uint16 bitmasks                                                                                                                                           
- Numerous bounds-check, overflow, and concurrency fixes                                                                                                                                                 
- Updated DShot documentation
This commit is contained in:
Jacob Dahl
2026-03-17 16:38:33 -08:00
committed by GitHub
parent c9ee06ff17
commit f00e46f618
48 changed files with 2997 additions and 1692 deletions
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docs/en/config_mc/filter_tuning.md
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@@ -72,7 +72,7 @@ The ESC RPM feedback is used to track the rotor blade pass frequency and its har
ESC RPM feedback requires ESCs capable of providing RPM feedback such as [DShot](../peripherals/dshot.md) with telemetry connected, a bidirectional DShot set up ([work in progress](https://github.com/PX4/PX4-Autopilot/pull/23863)), or [UAVCAN/DroneCAN ESCs](../dronecan/escs.md).
Before enabling, make sure that the ESC RPM is correct.
You might have to adjust the [pole count of the motors](../advanced_config/parameter_reference.md#MOT_POLE_COUNT).
You might have to adjust the per-motor pole count (`DSHOT_MOT_POL1`–`DSHOT_MOT_POL12`).
The following parameters should be set to enable and configure dynamic notch filters: