Although I believe there is no option to change motor spin direction in Mission Planner, can I simply first use the SERVO1_REVERSE parameter (or whichever numbers are appropriate) to do this, save my settings, and then run Mission Planner setup?

I need a solution that does NOT involve physically rewiring.

Or perhaps I must dig into the program and rebuild it with this hard-coded?

Advice appreciated.

-- Anthony

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Assuming you mean brushless motors with multirotor firmware running on PWM controlled ESC's there is no way autopilot can command them to change direction.

If you cannot swap wires on incorrectly connected motors, the only option is to reprogram the ESCs that need reversing, that is usually done using the PWM/servo connectors.

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