Delay in Motor Initialization and Beep Sequence on My 5-inch Copter (ArduPilot)

Hey everyone, I’ve been working on a 5-inch copter build with the following components:

  • Matek H743 Slim V3
  • SpeedBee ESC BLH32 50A
  • EMAX 2306 Motors
  • ELRS RadioMaster RP4TD
  • iFlight Blitz Mini GPS

After connecting everything together, I followed the usual calibration steps, set up parameters, and finished the hover learning and altitude hold tuning. The only thing left is the auto-tune.

However, I’ve noticed something weird during startup. When the motors beep, motor 1 takes about 15 seconds to beep, and then it takes another 6 seconds for the other motors to beep in sequence. All the motors don’t beep simultaneously like they did in Betaflight.

Also, in Betaflight, the motors beep almost immediately after the battery is connected, while in ArduPilot it takes much longer. Is this normal behavior for ArduPilot, or is there something I need to adjust to speed up the initialization process, especially for the motor arming?

Any help would be appreciated. Thanks!


i have check for hardware before , i connect speedbee F7 that already frameware by beta flight and it intialized directly

When you ran the motor test in Mission Planner how did that go? Any issues there? Are you using bdshot?

No it work fine, motor run at 3% so i put MOTs_spin_Arm 0.05 and min as 0.08 , also i use bdshot and the copter is fly there are no issue in motor , what i ask why it take long tume to beep and arm

I was just trying to rule out any other issues. Ardupilot does take longer to initialize than betaflight does so there might not be any real issue here.

I know that part but my question is why motor one is beep first then othere beeps after few sec? Why not they beap sequently

Just a theory: If you’re using pins 1,2,3,4 for the motors on the H743, pin 1&2 are in a different timing group from 3&4. So maybe it has to do with how Ardupilot is initializing the output groups. Remember that a 4 in 1 ESC is really 4 ESCs on one board so they will act independently.

Maybe somebody else will jump in, but I’ve noticed this before on other builds and it’s never been a problem.

Post a link to a flight log anyway. More for the parameter file which we can extract.

here is bin file for my flight.

Not much to see. Disable SERVO_BLH_MASK, you don’t need that.