Due to initial flight test instability issues, I decided to punt and reset all parameters to their defaults and start over. This meant going through all of the calibrations, etc. While doing so, the familiar constant slow ESC beeping reared up again and I couldn’t remember how I stopped it the last time. A search online led me to the Ardupilot documentation regarding the safety switch enabling. I do not have a safety switch but have a dedicated toggle switch on my transmitter for arming/disarming. The solution to the ESC beeping problem was to disable the BRD_SAFETYOPTION parameter (set to 0). I also had to remember to set RC6_OPTION to 153 (channel 6 is mapped to the toggle switch I’m using). Once I wrote the parameters to the controller and power cycled the constant beeping went away and I can arm/disarm at will.
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