Ardupilot: PWM Out 1-5 doesn't work with DShot on Kakute F7 Mini on Quad FRAME_CLASS

[tenten8401]

Bug report

Issue details
When using my Kakute F7 Mini, DShot outputs 1-5 do not work at all even with SERVO_BLH_MASK set to 63. 6 does appear to work. I'm pretty confident it's a bug as the wiki says all 6 outputs are dshot capable and one of them seems to work.

Version
Copter v4.0.3

Platform
[ ] All
[ ] AntennaTracker
[X] Copter
[ ] Plane
[ ] Rover
[ ] Submarine

Airframe type
Quad

Hardware type
Kakute F7 Mini

Logs

[rmackay9]

I'm glad the RCOut banner is included in this report and that it's useful.

[rmackay9]

@tenten8401, any chance you could post an onboard log file?

[tenten8401]

@rmackay9 Here you go
log_0_UnknownDate.bin.zip

[andyp1per]

@tenten8401 what version of blheli?

[tenten8401]

@andyp1per I believe BLHeli_S 16.7, but shouldn't matter because it does the banner thing regardless if an ESC is even plugged in or not (no ESC on output 6 either).

[tenten8401]

I should also add that none of the protocols work besides PWM, oneshot included (except for output 6)

[tenten8401]

Hmm.. so I just re-flashed 4.0.3 fresh and all 6 outputs work with Dshot now.. It's something with my parameters because after applying them it goes back to not working again..

[tenten8401]

Found the issue I think, as soon as I set FRAME_CLASS = 1 outputs 1-5 stop working, if I set FRAME_CLASS = 2 (or any other value) they all work as expected. If I had to guess it's because of 1-3 and 4-5 not sharing one output group.

[IamPete1]

Can you try using PWM type to set dshot rather than the BLHeli mask. Once you set a frame class it auto assigns motors to outputs 1-4 (for a quad). This then means MOT_PWM_TYPE is applied. I suspect we have a conflict between the BLHMask and the PWM_TYPE.

[tenten8401]

@IamPete1 Yeah you're probably right, I didn't even know MOT_PWM_TYPE existed. Now it's working as I'd expect.

[peterbarker]

My reading here is that the issue was sorted. Please re-open if I'm wrong.