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I've been working on this for nearly 10 hours straight, so you can't say I've haven't done research before posting. I recently built a f550 with APM 2.6 FC. I've been having a few problems trying to get it to fly. I've discovered that motor output 1 isn't working correctly. When Output 1 spins up, its spins up much slower than the others, causing it to flip. I've switched around to other outputs, and the motor and esc work fine. If I take a separate pair, they spin up slow if their on output 1, so I know that's the problem. I've tried to find a way to recode the firmware to replace output 1 with output seven. I replaced the add_motor(AP_MOTORS_MOT_1(to 7),   0, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  1); value in /library/ap_motors/ap_motorshexa.cpp. I've tried four different methods for compiling over and over, each with different errors and problems. http://ardupilot.org/dev/docs/building-ardupilot-for-apm2-x-on-windows-with-make.html#building-ardupilot-for-apm2-x-on-windows-with-make http://ardupilot.org/dev/docs/building-ardupilot-apm-with-visual-studio-visual-micro.html#building-ardupilot-apm-with-visual-studio-visual-micro http://ardupilot.org/dev/docs/building-ardupilot-with-arduino-windows.html#building-ardupilot-with-arduino-windows also http://ardupilot.org/dev/docs/building-ardupilot-with-arduino-windows.html                I've managed to get firware installed on the apm, but now it doesn't connect to the mission planner. I try to build it with visual studio, but all files get converted from pde, to cpp and visual studio wont open them as a project. Using the px4 environment either causes error message about "there needs to be only one arducopter.pde" or an end flag error in mission planner. I guess I need help, if anyone knows anyway to help me. Thanks. -Hans