# Arduino ESC Compatibility

Source: https://forum.modalai.com/topic/3620/arduino-esc-compatibility
Category: ESCs, Sensors and Accessories (https://forum.modalai.com/category/15/escs-sensors-and-accessories)
Tags: esc
Posted: 2024-07-08 18:36:18 UTC by kcmacauley
Replies: 1 · Views: 425

## kcmacauley · 2024-07-08 18:36:18 UTC

Hello!

Is it possible to connect the VOXL ESC Mini 4-in-1 with an Arduino? Is there documentation that details the UART Communication protocol? 

Thanks!

## Reply by Alex Kushleyev (ModalAI staff) · 2024-07-08 19:06:53 UTC

@kcmacauley , the voxl-esc driver is implemented in PX4, so you can see how the data packets are generated to send RPM commands and receive the feedback from each ESC.

https://github.com/modalai/px4-firmware/blob/voxl-dev/src/drivers/actuators/voxl_esc/voxl_esc.cpp#L1230
https://github.com/modalai/px4-firmware/blob/voxl-dev/src/drivers/actuators/voxl_esc/voxl_esc.cpp#L1252

Also, an outdated implementation, which you can also refer to, can be found here : https://gitlab.com/voxl-public/support/esc-driver -- it can be compiled and tested standalone, but we do not maintain or support it. 

Our `voxl-esc` python tools provide a lot more functionality, but not entirely open source : https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc

Finally, an even more outdated (but more formal) document can be found here : https://developer.qualcomm.com/qfile/34042/80-p4698-19_b_qualcomm_snapdragon_navigator_esc_protocol_spec.pdf. Also, not supported or complete, but can be used as a reference.

If you have any specific questions about protocol, I can answer, but you should be able to get what you need for basic flight from the PX4 driver. For offline testing and tuning it is best to use the `voxl-esc` python tools.

Alex