ESCs and Motors


ArduPilot supports a wide variety of ESCs, motors, and Electronic Fuel systems. The pages below provide setup instructions for the most popular types

ESC for Brushless Motors

ESCs (Electronic Speed Controls) have many different protocols for communicating with the autopilot for motor speed control, and and can also provide telemetry information on motor rpm, battery voltage. The capabilities will vary with each individual ESC model. Some ESCs have specialized firmware that allows easy configuration of operating parameters. The following sections explain the required ArduPilot setup to utilize the protocols, telemetry, and setup programs that various ESCs utilize. See ESC (Electronic Speed Controls) for a guide to terminology.

ESCs using BLHeli32 or BLHeli-S Configuration Firmware



Currently ArduPilot only supports telemetry on BLHeli or DroneCAN/CAN ESCs, not throttle signal wire reported telemetry that some single unit ESCs report.