⚠️ ARCHIVE NOTICE ⚠️
This documentation is no longer being maintained!
- The new ArduSub docs are located in the ArduPilot wiki. Updated pages will be redirected.
- The Companion Computer Software is also archived, and has been replaced by BlueOS.
- For Control Station Software, see QGroundControl or Cockpit (our new alternative).
Electronic Speed Controls (ESCs)
ArduSub is designed to work with brushless and brushed Electronic Speed Controls (ESCs) to control motors and thrusters. A corresponding ESC will need to be used for a similar motor type. For example if a brushless thruster is used, then a brushless ESC will be needed.
ArduPilot does not support controlling both brushed and brushless motors at the same time.
The minimum requirements for an ESC of either type are:
- Bi-directional control - they operate in forward and reverse (most ESCS for UAVs and hobby drones only operate in one direction)
- Controlled by a PWM input where:
- 1900 us is full forward
- 1500 us is stopped
- 1100 us is full reverse
Brushless ESCs
The following brushless ESCs are supported for use with ArduSub:
Brushed ESCs
No brushed ESCs have been reported to be used with ArduSub, but here is the reference documentation from ArduPilot: