please feel free to ask anything, I’m trying to create a sub using drone configuration and only use the 4/6 motors.
Hi @tsori -
Welcome to the forums!
In order to help, we’ll need a lot more context.
What flight controller are you using? Are you running BlueOS on a companion raspberry pi? What version of ArduSub are you trying to use? You likely want to select an ArduSub frame that uses 4 thrusters rather than not connect 2/6 on a frame, as this can lead to unexpected results…
It sounds like your flight controller isn’t running if your motors are beeping, or you’re using ESCs that are not reversible, so the center throttle signal being sent isn’t initializing them…
Hey Tony! glad to be a part of this forum!
Ok, so first of all, I’m trying to use the BlueROV frame type for a different aerial project. so not sure if that’s the right place to ask for help.
Anyways, if it’s possible - I’m using Pixhawk 1 (2.4.8), So im not using BlueOS on Rasberry pi but just got ardusub firmware on my pixhawk.
using the latest ardusub firmware, and as you’re saying - I’m pretty sure the my motor beeps because im using ESCs that are not reversible but actually I don’t really need this feature - not sure if it’s possible to just disable it since it’s a necessary feature for the ROV!
Hi
I understand the flight controller is a Pixhawk — what ESC controller are you using? Tony White’s lead seems to make sense. Do you have access to an oscilloscope to check what your Pixhawk is outputting to the ESC? That way we’ll know whether the signal is correct and where to look for the problem. Alternatively, you can try connecting the ESC to a Raspberry Pi and running a simple script to test the ESC while bypassing the Pixhawk.
Hi @tsori, welcome to the forum 
This may be a challenge - ArduSub is designed for underwater use, so you’ll definitely need some firmware customisations if you’re trying to use it in the air. As an immediate example that comes to mind, ArduSub resets the barometer if it detects the vehicle is out of the water while armed.
Reversible motors are a pretty fundamental part of ArduSub’s motion control expectations. You could try setting MOT_PWM_TYPE to PWMAngle (9) and then changing the SERVOn_TRIM values to 1100 for each of your motor outputs, but I’m unsure whether it would work or if other changes (including to the firmware) would be required.
If that doesn’t resolve the issue I expect it is likely more straightforward to reconfigure your ESCs and/or get ones that are already reversible.
If you’re unsure whether your ESCs are reversible then it would be helpful if you could describe or record the beeps that are occurring, and let us know which ESCs and firmware you’re using, in case it’s something simpler like a clock mismatch that’s meaning you just need some small trim adjustments or similar to get the ESCs to work as expected.
Hey Eliot, wanted to firstly say huge thanks for y’all!
Second, I’ll attach 2 recording, the one with many beeps is when I set the mot_pwm_type to 9 and the less “beeps” is when I set it to DSHOT600 (I assume my esc is DSHOT based)
Hey Eliot! again, huge thanks for the help - it’s truly appreciated.
I’m attaching a recording of 2 types of “beeps” the one with more beeps is when I set mot_pwm_type fo 9 and the less beeps is when it’s set to DSHOT600 (that I assume is the esc firmware because that’s the only one with the less beeps)
anyways, the slider, both on qgc and MP is greyed out so I cant motor test even after arming_check=0. I also tried setting it to 9 and change the trims to 1100, did the same with DSHOT but no success. I do believe the best choice is to use a reversible esc but I prefer to use what I currently have - I might try and create this frame configuration on arducopter but it’s probably going to be a hard to code mission.
Anyways, even if that’s a dead end - thanks again for everything!
.mp3 files - Unique Download Link | WeTransfer
Sorry, I meant to respond to this earlier.
The file upload is expired now, but from what I recall the beeps were higher pitched and much faster than the ones used by our ESC firmware, so it’s unfortunately not clear to me what they mean / relate to.
1100 is what we normally use, but I believe other ESCs often use the full 1000 to 2000 µs pulse-duration range, so perhaps it would work to set the trim to 1000 instead.
ArduSub is derived from ArduCopter, and they share their motor driver libraries. If the motors aren’t controllable with ArduSub then it’s unlikely they will work any better with ArduCopter (regardless of which vehicle frame is selected), though you are of course welcome to try and find out 