The ESC beeps twice

[EliotBR (Eliot)]

Hi @PaoloN, welcome to the forum

@PaoloN

This is the sound I get: 3 beeps, then the annoying 2 beeps…

This is good, and is the expected behaviour:

@EliotBR

The initial three beeps (rising in pitch) are the ESC detecting each phase of the connected motor. Once the phases are detected, the ESC initialises to arm itself, producing a low sound (when it detects a valid (1100-1900us pulse-duration) signal), followed by a high sound (when it detects a valid “stopped” (1500us pulse-duration) signal). Once all five beeps have occurred, the ESC is armed and ready to be controlled.

That said, it sounds like both motors are making the motor phase detection beeps, but it’s unclear whether only one is making the two signal-related beeps.

@PaoloN

This is the log:
…

When I try to test the T200, it says 'Thorottle armed", then immediatly “Throttle disarmed”.

You notifications log isn’t showing anything obviously wrong, so the main things I’d try/check are

1. Check your vehicle frame, to ensure it’s configured as a boat
2. Check the SERVOn_FUNCTION parameters to see whether your motor assignments match the outputs you’ve connected the ESCs to
   • Skid-steer boats typically use 1 and 3
3. Make sure the vehicle is in manual mode
4. Test vehicle arming
   • If it doesn’t stay armed then I’d recommend downloading an autopilot log to look at, although it may be most effective to ask about it in the ArduPilot forum
5. Test the motors individually

It could also provide some peace of mind to test the motors and ESCs with a servo tester or some other PWM source for the signal, but given the ESCs are vibrating the motors to make the beeps it seems unlikely that the motors or ESCs are the problem here.