PX4-Autopilot/docs/en/peripherals/esc_motors.md

ESCs & Motors

Many PX4 drones use brushless motors that are driven by the flight controller via an Electronic Speed Controller (ESC). The ESC takes a signal from the flight controller and uses it to set control the level of power delivered to the motor.

PX4 supports a number of common protocols for sending the signals to ESCs: PWM ESCs, OneShot ESCs, DShot ESCs, DroneCAN ESCs, PCA9685 ESC (via I2C), and some UART ESCs (from Yuneec).

Supported ESC

The following list is non-exhaustive.

ESC Device	Protocols	Firmwares	Notes
ARK 4IN1 ESC	Dshot, PWM	AM32	Has versions with/without connectors
Holybro Kotleta 20	DroneCAN, PWM	PX4 Sapog ESC Firmware
Vertiq Motor & ESC modules	Dshot, OneShot, Multishot, PWM	Vertiq firmware	Larger modules support DroneCAN, ESC and Motor in one
RaccoonLab CAN PWM ESC nodes	DroneCAN, Cyphal		Cyphal and DroneCAN notes for PWM ESC
VESC ESCs	DroneCAN, PWM	VESC project firmware
Zubax Telega	DroneCAN, PWM	Telega-based	ESC and Motor in one

See Also

For more information see:

• ESC Protocols — overview of main ESC/Servo protocols supported by PX4
• PWM ESCs and Servos
• OneShot ESCs and Servos
• DShot
• DroneCAN ESCs
• ESC Calibration
• ESC Firmware and Protocols Overview (oscarliang.com)