mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-03 13:38:52 +08:00
Jacob Dahl
f00e46f618
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
69 lines
2.8 KiB
Markdown
69 lines
2.8 KiB
Markdown
# ARK 4IN1 ESC (with/without Connectors)
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4 in 1 Electronic Speed Controller (ESC) that is made in the USA, NDAA compliant, and DIU Blue Framework listed.
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The ESC comes in variants without connectors that you can solder in place, and a variant that has built-in motor and battery connectors (no soldering required).
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## Where to Buy
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Order this module from:
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- [4IN1 ESC (with connectors)](https://arkelectron.com/product/ark-4in1-esc/) (ARK Electronics - US)
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- [ARK Electronics (without connectors)](https://arkelectron.com/product/ark-4in1-esc-cons/) (ARK Electronics US)
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## Hardware Specifications
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- Battery Voltage: 3-8s
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- 6V Minimum
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- 65V Absolute Maximum
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- Current Rating: 50A Continuous, 75A Burst Per Motor
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- [STM32F0](https://www.st.com/en/microcontrollers-microprocessors/stm32f0-series.html)
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- [AM32 Firmware](https://github.com/am32-firmware/AM32/pull/27)
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- Onboard Current Sensor, Serial Telemetry
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- 100V/A
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- Input Protocols
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- DShot (300, 600)
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- Bi-directional DShot
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- KISS Serial Telemetry
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- PWM
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- 8 Pin JST-SH Input/Output
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- 10 Pin JST-SH Debug
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- Motor & Battery Connectors (with-connector version)
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- MR30 Connector Limit Per Motor: 30A Continuous, 40A Burst
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- Four MR30 Motor Connectors
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- Dimensions (with connectors)
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- Size: 77.00mm x 42.00mm x 9.43mm
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- Mounting Pattern: 30.5mm
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- Weight: 24g
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- Dimensions (without connectors)
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- Size: 43.00mm x 40.50mm x 7.60mm
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- Mounting Pattern: 30.5mm
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- Weight: 14.5g
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Other
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- Made in the USA
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- Open source AM32 firmware
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- [DIU Blue Framework Listed](https://www.diu.mil/blue-uas/framework)
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## PX4 Configuration
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The ARK 4IN1 ESC supports DShot 300/600, Bidirectional DShot, and PWM input protocols.
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- **Bidirectional DShot**: Select BDShot300 or BDShot600 in the [Actuator Configuration](../config/actuators.md) to enable eRPM telemetry.
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- **[Extended DShot Telemetry (EDT)](https://github.com/bird-sanctuary/extended-dshot-telemetry)**: AM32 firmware supports EDT, which provides temperature, voltage, and current through the BDShot signal. Enable with `DSHOT_BIDIR_EDT=1`.
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- **AM32 EEPROM Settings**: Set `DSHOT_ESC_TYPE=1` to enable reading and writing ESC firmware settings via a ground station.
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See [DShot ESCs](../peripherals/dshot.md) for full setup details.
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## See Also
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- [ARK 4IN1 ESC CONS](https://docs.arkelectron.com/electronic-speed-controller/ark-4in1-esc) (ARK Docs)
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- [DShot and Bidirectional DShot](https://brushlesswhoop.com/dshot-and-bidirectional-dshot/) (brushlesswhoop.com - General DShot reference)
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- [Extended DShot Telemetry (EDT) Specification](https://github.com/bird-sanctuary/extended-dshot-telemetry) (bird-sanctuary)
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