Turtle Mode & ESC Beeper | BETAFLIGHT 3.2 BLHELI HOW-TO

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Betaflight 3.2 and BLHeli now support Dshot Commands. Two of the most interesting Dshot Commands are "turtle mode" and "esc beeper" mode. ESC beeper means the motors beep when you flick a switch, so you don't need a separate beeper to find your lost quad in the tall grass. Turtle mode lets you temporarily reverse your motors so you can flip back over when you crash upside down.
YOU'RE GONNA LEARN HOW TO MAKE YOUR QUAD DO IT.
Excited? Let's go.
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The video about setting up flight modes is here:
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A FEW IMPORTANT NOTES:
1. Until Betaflight 3.2 RC6, you need to go to the CLI and type "set small_angle=180" to make turtle mode work. I do this on all my quads as part of my default setup so I didn't notice it was necessary. This will allow your quad to arm at any angle (even if you are carrying it in your hands) so be careful.
2. If you aren't using nylock nuts, you are more likely to unscrew a prop when using turtle mode.
3. BLHeli_32 does NOT support Dshot commands by default. I tested this on an RTF quad with _32 ESCs but apparently they were already flashed with the correct firmware. If you are running BLHeli_32 you need one of the firmwares from Github to support Dshot Commands. You can download them here:
You need to flash either the Wraith .hex file or the Spedix .hex file depending on which one is correct for your ESC. Use the "Flash Local File" option on BLHeliSuite.
4. BEEPER MODE WILL MELT YOUR MOTORS if you leave it running too long. Don't just set it on and leave it for 3 minutes while you search for your quad. Flip it on, let the motors beep a few times, then listen and turn it off.
5. If you are trying to do Dshot ESC Beeper and it's not working, here's a likely cause. Betaflight RC6 added a feature to let you choose to use your regular beeper instead of the motor beeper. So by default, the motor beeper is turned off.
If you want to turn it on, go to the CLI and type:
set beeper_dshot_beacon_tone = 1
save