Hello,
I am building a surface vessel which will be controlled through a Pixhawk 2.1 flight controller using Mission Planner. I am trying to connect 2 x Basic ESC (which are connected to 2 x T200 thrusters) but I am not getting any response. I did all the parameter changes recommended.
I tried following the instructions from this link https://ardupilot.org/rover/docs/thrusters.html, but the Basic ESC uses another firmware version.
Could anyone help me?
Thank you in advance
Hello,
Our ESCs use the BlHeli-S Firmware and come pre-configured for bidirectional operation. They expect a regular PWM instead of D-Shot, though.
What have you tried so far?
Thank you for your reply.
I applied the change to the parameter MOT_PWM_TYPE but it is still not working.
It gives me the following message:“Set parameter error. Ensure your version is AC3.3+.”
All firmware are updated.
The ESC is connected to the main out port 1 and it is powered on, the RF is connected correctly.
The MOT_PWM_TYPE is set to 0: Normal
MOT_PWM_FREQ 16 kHz.
The T200 thruster biped 3 times when turned on, but that is all.
Hi!
Did you get to know why you were getting that error? I am also getting the same error. Can you help me out
Hi @Hassan1, welcome to the Blue Robotics forum 
This post is from several years ago, and current firmwares are likely to behave somewhat differently.
If you have the same setup and parameters as the original poster then I expect the issue is with the 16 kHz PWM frequency, as our Basic ESC has a specified maximum update rate of 400 Hz[1].
If you have a different setup then I’d recommend making a new post about your specific issue, including specifying the hardware and autopilot firmware you’re using.
For context, the ESCs expect a PWM signal with pulses up to 1900 µs in duration, so there’s a hard physical limit at ~526 Hz before one pulse could be completely blended into the next one, and given electrical signals don’t switch instantly, and voltage measurements also take some amount of time, the practical frequency limit is lower. ↩︎