# Bluejay [](https://github.com/mathiasvr/bluejay/releases/latest) [](https://discord.gg/phAmtxnMMN) 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 - Power configuration: Startup power and RPM protection - Numerous optimizations and bug fixes See the project [changelog](CHANGELOG.md) for a list of changes. ## Flashing ESCs Bluejay firmware can be flashed to BLHeli_S compatible ESCs and configured using the following configurator tools: - [ESC Configurator](https://esc-configurator.com/) (PWA) - [Bluejay Configurator](https://github.com/mathiasvr/bluejay-configurator/releases) (Standalone) You can also do it manually by downloading the [release binaries](https://github.com/mathiasvr/bluejay/wiki/Release-binaries). ## Contribute Any help you can provide is greatly appreciated! If you have problems, suggestions or other feedback you can open an [issue](https://github.com/mathiasvr/bluejay/issues). You can also join our [Discord server](https://discord.gg/phAmtxnMMN) to ask questions and discuss Bluejay! ### Build Please see the [wiki](https://github.com/mathiasvr/bluejay/wiki/Building-from-source) for instructions on how to build Bluejay from source.