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Files

Michael Fritsche 0932ad144b feat(drivers): add support for hiwonder 4 channel encoder motor module (#27229 )

* driver: hiwonder encoder motor module

* fix(drivers): Change HiwonderEMM from CRTP API to non-template ModuleBase

* fix(drivers): exclude hiwonder_emm driver from sitl build, as it fails i2c dependencies

* feat(drivers, hiwonder4channel): add parameter update subsciption

* feat(drivers, hiwonder4channel): add requested changes of original PR

* fix(drivers, hiwonder4channel): add default in hiwonder_emm module.yaml

* fix(drivers, hiwonder4channel): formatting

* fix(drivers, hiwonder4channel): add the hiwonder driver to all px4board s that include the roboclaw driver

* cleanup(drivers, hiwonder4channel): update copyright year

* chore(drivers): move hiwonder driver startup call from rc.board_sensors to rc.rover

* chore(drivers): hiwonder 4 channel - improve HIWONDER_EMM_EN description

* chore(drivers): hiwonder4channel - move to int8 for internal speed values

* chore(drivers): hiwonder4channel - move unconfigurable value to initialization.

* chore(drivers): hiwonder4channel - add reboot_required to enable parameter

* chore(drivers): hiwonder4channel - add docs

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Co-authored-by: chfriedrich98 <chfriedrich@student.ethz.ch>

2026-05-13 15:09:39 +02:00

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ESCs & Motors

Many PX4 drones use brushless motors that are driven by the flight controller via an Electronic Speed Controller (ESC). The ESC takes a signal from the flight controller and uses it to set control the level of power delivered to the motor.

PX4 supports a number of common protocols for sending the signals to ESCs: PWM ESCs, OneShot ESCs, DShot ESCs, DroneCAN ESCs, PCA9685 ESC (via I2C), and some UART ESCs (from Yuneec).

Supported ESC

The following list is non-exhaustive.

ESC Device	Protocols	Firmwares	Notes
ARK 4IN1 ESC	Dshot, PWM	AM32	Has versions with/without connectors
Hiwonder 4Ch Encoder Motor	I2C		Brushed-DC, 4 channels with encoder feedback (rovers)
Holybro Kotleta 20	DroneCAN, PWM	PX4 Sapog ESC Firmware
Vertiq Motor & ESC modules	Dshot, OneShot, Multishot, PWM	Vertiq firmware	Larger modules support DroneCAN, ESC and Motor in one
RaccoonLab CAN PWM ESC nodes	DroneCAN, Cyphal		Cyphal and DroneCAN notes for PWM ESC
VESC ESCs	DroneCAN, PWM	VESC project firmware
Zubax Telega	DroneCAN, PWM	Telega-based	ESC and Motor in one

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ESCs & Motors

Supported ESC

See Also

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