# Ardupilot ESC Passthrough

Connect the ESC to a Flight Controller flashed with Ardupilot (eg ARK FPV). Power on your ESC and Flight controller and connect to your Host PC via USB. Modify the Ardupilot parameters using [QGroundControl](https://qgroundcontrol.com/):

**Setup Ardupilot parameters to use DShot**

```
## Motor mapping
SERVO1_FUNCTION 34  	# Motor 2 -- this should match your motor layout
SERVO2_FUNCTION 35  	# Motor 3
SERVO3_FUNCTION 36  	# Motor 4
SERVO4_FUNCTION 33  	# Motor 1

## Dshot ESC setup
MOT_PWM_TYPE 6 		# DShot600
SERVO_DSHOT_ESC 1 	# BLHeli32/Kiss

## Bidirectional Dshot ESC setup
SERVO_BLH_BDMASK 15 	# Channels 1 - 4
```

**Setup Ardupilot parameters for ESC Passthrough**

```
## ESC Passthrough
SERVO_BLH_AUTO to 1
SERVO_BLH_MASK to 15 (if using output channels 1 - 4)
```

Follow the instructions on the [AM32 Firmware](/products/electronic-speed-controller/ark-4in1-esc/firmware/flash-am32.md) page to flash firmware.


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