@restore If you are running large motors / props, i would recommend adding a nice capacitor just in case. (680uF or larger, low ESR). Just in case.
Here are two tests of M0134-6 ESC, one without capacitor and one with external 470uF capacitor. The test was a ramp test of 4 motors from 0 to 40% power, while 2 motors were loaded with propellers and 2 motors were unloaded (don't ask me why, just something i was testing at the time..)
Note that regular M0134 ESC, which is rated for 4S only, does not have an issue at 4S. When voltage is higher, such as 6S, there is a lot more switching noise, which can have an effect on ESC performance.
In the test without capacitor, you will notice current measurements becoming noisy and also RPM is not stable, almost wave-like. This means that the ESC was measuring very noisy motor timing and not able to hold a constant speed and constant input power.
You could conduct similar ramp tests (using voxl-esc tools), while vehicle is being tied down, so it does not fly off. Then observe the quality of RPM, current and voltage measurements. The command you can use is:
./voxl-esc-spin.py --id 255 --init-cmd 10 --init-time 1.0 --power 60 --ramp-time 3.0 --timeout 4.0 --cmd-rate 1000 --enable-plot 1
(using higher command rate to get more data for nice plots). You can vary the maximum power in the test as needed, maybe up to 90% for a stress test, but make sure 60, 70, 80 tests are fine first 🙂 )
test without external capacitor
m0134-6_no_cap (1).png
test with external capacitor
m0134-6_with_cap (1).png