a little info i couldnt find anywhere else. while programming my quadrocopter, i somehow messed up the throttle start and end-points of one of the esc's. the motor started only when the throttle was already in the middle. after some googling and experimenting, i found out how to reprogramm the endpoints. this will probably work with other esc's too.here's the exact procedure:- connect esc to receiver and motor, do NOT connect battery- on the (turned on) remote move to full throttle- now connect the battery- the esc will beep twice (two short beeps)- right after that, move the throttle back to idle/off/stop- the esc will now do the normal beeps (in my case 3 beeps for 3s lipo)- it can probably be used now, but i would "reboot" (disconnect battery and connect again) just to make sure it worked.this procedure fixed it. i then did this to all 4 esc's, and for the first time, all the props started moving and stopped at the same time. also got the best and most stable hover up until now.im surprisingly quickly getting to very stable results. all the axes are stabilised now. i removed the accelerator mixing for the moment (vibrations are problably making it useless right now) until i connect a display and see what's going on exactly. for short flights this isnt a problem. the quadro lifts off and stays very calm, no wobbling, no heavy vibrations (except motors of course), it's just slighty moving around, but i can control it with the remote. this probably can be stabilised with the accelerometer to.also did some hacking to the board, and connected another 4017 (to the unused output compare unit of timer 1) so i could drive the esc at 200hz, works perfectly!! love those esc's!here's the code of the PI-controller:int sens_nick = (gyro_y>>1)+(y_angle2>>10); //the current gyro data + integrated gyro data (shifting is precise enough at the moment :)int sens_roll = (gyro_x>>1)+(x_angle2>>10);int sens_yaw = (gyro_z>>1)+(z_angle2>>10);int inp_nick = -50+((serinp[1]-3750)>>3); //a little trim, plus the input from the ppm-decoder/remote-controlint inp_roll = -50+((serinp[0]-3750)>>3);int inp_yaw = -30+((serinp[3]-3750)>>3);//seradj is added to the throttle-input and passed to each esc.seradj[2] = (sens_nick-inp_nick) -inp_yaw-sens_yaw; //backseradj[3] = -(sens_nick-inp_nick) -inp_yaw-sens_yaw; //frontseradj[0] = (sens_roll-inp_roll) + inp_yaw+sens_yaw; //rightseradj[1] = -(sens_roll-inp_roll) + inp_yaw+sens_yaw; //left
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I think each brand has different programming methods, but you're right that most involve some sort of throttle maneuver like you described.