Hello all,
I’m setting up my boat with the Basic BlueRobotics ESC paired with T200 Thruster.
Since the ESC runs the BLHeli_S firmware, which parameters I must set/define in ardurover to properly configure it? I mean parameters like MOT_PWM_TYPE, SERVO_BLH_MASK, SERVO_BLH_3DMASK, SERVO_BLH_AUTO, etc…
Thank you in advance!
Hi @JF2021,
I haven’t used ArduRover so am not super familiar with the required parameter setup (if there is any). Our BasicESC is bidirectional, and controlled by a standard servo-style PWM signal. It doesn’t support sending telemetry about each thruster to the vehicle, so many of the SERVO_BLH_... parameters are likely unused even if they have values set.
In ArduSub 4.0.3 I have
| Parameter | Value |
|---|---|
MOT_PWM_TYPE |
Normal |
SERVO_BLH_DEBUG |
Disabled |
SERVO_BLH_MASK |
0 |
SERVO_BLH_OTYPE |
None |
SERVO_BLH_POLES |
14 |
SERVO_BLH_PORT |
Console |
SERVO_BLH_REMASK |
0 |
SERVOBLH_TEST |
Disabled |
SERVO_BLH_TIMEOUT |
0 s |
SERVO_BLH_TRATE |
10 Hz |
If I update to the latest development version (4.2.0), I get the additional parameters
| Parameter | Value |
|---|---|
SERVO_BLH_3DMASK |
0 |
SERVO_BLH_RVMASK |
0 |
I presume (but can’t guarantee) that the parameters should be the same for rover 
Many thanks for the information!
I’ll look for each parameter individually and check if those values make sense…