I am currently building a AUV that uses 4 x T100 thrusters, each one powered by their own 14.8V, 4000mAh, 40C, 4S LiPo battery. I am concerned about battery safety during testing, ie, over discharging. I bought a few cheap BMS to connect to each battery; however, I am not sure they are practical for my space-constrained design/waterproof enclosures I have made for the batteries already.
Does anyone have any ideas on how I can prevent over discharge/other unsafe conditions caused by my batteries during operation?
Do the ESCs have any built in safety functions that cut the power link if there is overcurrent, etc that goes through them?