Direct battery connection: Motor spins full RPM (no control)
ESC connection: Fine-grained control over entire RPM range
Plus: Built-in protection, current limiting, safety features

ESC 30A specification means:
- Can handle 30A continuous current
- Peak: Usually 50-100A for short bursts

ESC rated "2-6S" means:
- 2S LiPo: 7.4V minimum
- 6S LiPo: 22.2V maximum

Continuous current:     40A
Burst current:          60A
Voltage range:          2-6S LiPo (7.4-22.2V)
BEC output:             5V / 2A (for receiver)
Firmware:               BLHELI
Switchable frequency:   8 kHz or 16 kHz
Weight:                 28g

Motor KV rating (RPM per volt):
Motor KV 920 at 12V = 920 × 12 = 11,040 RPM max

ESC must handle this RPM:
Most ESCs: 200,000 ERPMs (electronic RPM)
Some racing ESCs: 400,000+ ERPMs

Check: Motor RPM < ESC max RPM (with margin)

Power (W) = Voltage (V) × Current (A)

Example: 12V 30A ESC
Maximum power = 12V × 30A = 360W

From battery:
  Red wire    → Battery positive
  Black wire  → Battery negative/GND

To motor:
  Three wires → Three motor coils (order can be reversed for direction)

From controller:
  Signal (white/yellow)   → PWM input
  Power (red)            → 5V from BEC
  Ground (black)         → Common ground

ESC outputs: A, B, C phases
Motor coils: Phase A, B, C (color coded)

Connection: ESC A → Motor coil A, B → B, C → C
Reverse: Swap any two wires (e.g., A ↔ B) to reverse direction

Battery → ESC
          ├─ Powers motor (high current)
          └─ BEC outputs 5V (2A typical)
                └─ Powers flight controller

Advantage: Only one battery needed
Disadvantage: ESC failure = no control

1. Over-current protection
   └─ If current exceeds rating, throttle reduces
   
2. Low voltage cutoff (LVC)
   └─ Stops motor before battery dies completely
   
3. Over-temperature
   └─ Reduces current if ESC gets too hot
   
4. Stall protection
   └─ If motor can't spin, reduces power to prevent damage

Motor jams (locked): Wants to draw 100A
ESC 40A limit: Throttles back to 40A
Over-current protection: Reduces to 30A after 5 seconds
Result: Motor protected, system doesn't burn out

Advantages:
✓ Precise control (11-bit resolution vs 8-bit PWM)
✓ Low latency (~25 µs vs 1000+ µs)
✓ Can read ESC telemetry (temperature, current)
✓ CRC error checking

Requirements:
- DShot-compatible flight controller
- DShot-compatible ESC
- Special cabling

Example: BLHeli_32 with DShot600

Data available:
- Actual RPM
- Current draw (amps)
- Temperature
- Voltage

Usage:
- Monitor motor health
- Detect problems early
- Adjust control in real-time

Battery: 4S LiPo (14.8V nominal)
Motors: 4× 920KV (11,040 RPM max at 14.8V)
ESCs: 4× 40A rated

Wiring:
Battery → Power Distribution Board (PDB)
PDB → ESC 1, 2, 3, 4 (power)
ESC 1,2,3,4 → Motors 1,2,3,4 (three-phase wires)

Signal:
Flight controller → ESC 1,2,3,4 (PWM on pins 1,2,3,4)

Calibration:
1. Max throttle on transmitter
2. Connect battery
3. Min throttle on transmitter (calibration complete)