# Bluejay Digital ESC firmware for controlling brushless motors in multirotors. > Based on [BLHeli_S](https://github.com/bitdump/BLHeli) revision 16.7 Bluejay aims to be an open source successor to BLHeli_S adding several improvements to ESCs with Busy Bee MCUs. ## Current Features - Digital signal protocol: DShot 150, 300 and 600 - Bidirectional DShot: RPM telemetry - Selectable PWM frequency: 24, 48 and 96 kHz - PWM dithering: 11-bit effective throttle resolution See the project [changelog](CHANGELOG.md) for a detailed list of changes. ## Flashing ESCs Bluejay firmware can be flashed to BLHeli_S compatible ESCs and configured using [Bluejay Configurator](https://github.com/mathiasvr/blheli-configurator/releases) (a fork of BLHeli Configurator). ### Release binaries All releases can be found in the [releases](https://github.com/mathiasvr/bluejay/releases) section. Release files use a naming convention similar to BLHeli: `{T}_{M}_{D}_{P}_{V}.hex`. | | | | |---|--------------------|---------------------------------------------------------| | T | `A` - `W` | Target ESC layout | | M | `L` or `H` | MCU type: `L` (BB1 24MHz), `H` (BB2 48MHz) | | D | `0` - `90` | Dead time (`0` *only* for ESCs with built-in dead time) | | P | `24`, `48` or `96` | PWM frequency [kHz] | | V | eg. `0.7` | Bluejay version | ## Contribute Any help you can provide is greatly appreciated! If you problems, suggestions or other feedback you can open an [issue](https://github.com/mathiasvr/bluejay/issues).