Are Xaircraft ESC's compatible to the ARDUCOPTER system? If so, I am open to suggestions. the xaircraft esc's use a different pulse-length range than regular esc's.
"Pulse width between 200us and 1200us can be used for power tuning. "
If you can set your range for the esc's in the firmware then you should be able to use them. this was also a problem with the OpenPilot?? CopterControl?? board but it was overcome by using the 200-1200 range.