Firmware features

Motor control

  • Sensorless 6-step (trapezoidal) commutation — BEMF zero-cross detection for rotor position.

  • Sinusoidal startup mode — smooth, reliable spin-up for larger/heavier motors.

  • Linear throttle response — optimized for FPV and precision flight.

  • Variable PWM frequency — tunable dead-time and switching rate for different motor/ESC hardware.

The hardware includes provisions for Hall sensor feedback, but Hall sensor feedback is not currently supported in software.

Input protocols

Protocol

Notes

Servo PWM

Standard RC 1000–2000 µs

DShot 300

Digital, packet-based

DShot 600

Higher speed digital

Bi-directional DShot

Returns RPM telemetry to the flight controller via GCR encoding

Telemetry output

  • KISS standard ESC telemetry — single-wire serial: temperature, voltage, current, RPM, consumption.

  • Bi-directional DShot — eRPM embedded in the DShot response frame (no extra wire needed).

Configuration and updates

  • Firmware upgradeable via:

    • Betaflight passthrough (no programmer needed)

    • Single-wire serial (USB-serial adapter)

    • NXP passthrough image for the RT1176 VMU

  • Configurators:

Bootloader

  • A separate bootloader is required for initial flashing (via ST-LINK / GD-LINK / AT-LINK).

  • After that, all updates go over the signal wire — no programmer needed.