Hello people,

I would like to know how I can spin the 4 motors of my IRIS 3DR+ using a PWM wave. Although, I don't want any controller active while I'm spinning the motors, at least, not now. Afterwards, I want to use Ziegler-Nichols Method to find other PID values for the attitude angles.

I tried to spin the motors this way in loop() of ArduCopter.cpp:

hal.rcout->write(0,1400);
hal.rcout->write(1,1400);
hal.rcout->write(2,1400);
hal.rcout->write(3,1400);

but  it did not work. I'm sorry if my question is very simple to you guys, I'm new on it :) 

Thanks in advance.

Suzana