Help! Only 2 motors work in "motor test"!

I put Betaflight on my board and everything works fine, my UAV flies. When I put Ardupilot on the board, I connect, calibrate, and go to the motor test, only two of the motors (A,D) spin up. The other two won’t work.
FC: Matek F405-SE
ESC: BLHeli-32 30A

Post you parameter file, let’s see what outputs are assigned.

ACRO_BAL_PITCH,1
ACRO_BAL_ROLL,1
ACRO_RP_EXPO,0.3
ACRO_RP_P,4.5
ACRO_THR_MID,0
ACRO_TRAINER,2
ACRO_Y_EXPO,0
ACRO_YAW_P,4.5
ADSB_ENABLE,0
AHRS_COMP_BETA,0.1
AHRS_CUSTOM_PIT,0
AHRS_CUSTOM_ROLL,0
AHRS_CUSTOM_YAW,0
AHRS_EKF_TYPE,2
AHRS_GPS_GAIN,1
AHRS_GPS_MINSATS,6
AHRS_GPS_USE,1
AHRS_ORIENTATION,0
AHRS_RP_P,0.2
AHRS_TRIM_X,0.01454685
AHRS_TRIM_Y,0.003107021
AHRS_TRIM_Z,0
AHRS_WIND_MAX,0
AHRS_YAW_P,0.2
ANGLE_MAX,4500
ARMING_ACCTHRESH,0.75
ARMING_CHECK,1
ARMING_MIS_ITEMS,0
ARMING_RUDDER,2
ATC_ACCEL_P_MAX,110000
ATC_ACCEL_R_MAX,110000
ATC_ACCEL_Y_MAX,27000
ATC_ANG_LIM_TC,1
ATC_ANG_PIT_P,4.5
ATC_ANG_RLL_P,4.5
ATC_ANG_YAW_P,4.5
ATC_ANGLE_BOOST,1
ATC_INPUT_TC,0.15
ATC_RAT_PIT_D,0.0036
ATC_RAT_PIT_FF,0
ATC_RAT_PIT_FLTD,20
ATC_RAT_PIT_FLTE,0
ATC_RAT_PIT_FLTT,20
ATC_RAT_PIT_I,0.135
ATC_RAT_PIT_IMAX,0.5
ATC_RAT_PIT_P,0.135
ATC_RAT_RLL_D,0.0036
ATC_RAT_RLL_FF,0
ATC_RAT_RLL_FLTD,20
ATC_RAT_RLL_FLTE,0
ATC_RAT_RLL_FLTT,20
ATC_RAT_RLL_I,0.135
ATC_RAT_RLL_IMAX,0.5
ATC_RAT_RLL_P,0.135
ATC_RAT_YAW_D,0
ATC_RAT_YAW_FF,0
ATC_RAT_YAW_FLTD,0
ATC_RAT_YAW_FLTE,2.5
ATC_RAT_YAW_FLTT,20
ATC_RAT_YAW_I,0.018
ATC_RAT_YAW_IMAX,0.5
ATC_RAT_YAW_P,0.18
ATC_RATE_FF_ENAB,1
ATC_RATE_P_MAX,0
ATC_RATE_R_MAX,0
ATC_RATE_Y_MAX,0
ATC_SLEW_YAW,6000
ATC_THR_MIX_MAN,0.1
ATC_THR_MIX_MAX,0.5
ATC_THR_MIX_MIN,0.1
AUTOTUNE_AGGR,0.1
AUTOTUNE_AXES,7
AUTOTUNE_MIN_D,0.001
AVD_ENABLE,0
AVOID_ANGLE_MAX,1000
AVOID_BEHAVE,0
AVOID_DIST_MAX,5
AVOID_ENABLE,3
AVOID_MARGIN,2
BATT_AMP_OFFSET,0
BATT_AMP_PERVLT,31.7
BATT_ARM_MAH,0
BATT_ARM_VOLT,0
BATT_BUS,0
BATT_CAPACITY,3300
BATT_CRT_MAH,0
BATT_CRT_VOLT,0
BATT_CURR_PIN,11
BATT_FS_CRT_ACT,0
BATT_FS_LOW_ACT,0
BATT_FS_VOLTSRC,0
BATT_LOW_MAH,0
BATT_LOW_TIMER,10
BATT_LOW_VOLT,10.5
BATT_MONITOR,4
BATT_SERIAL_NUM,-1
BATT_VOLT_MULT,11
BATT_VOLT_PIN,10
BATT2_MONITOR,0
BATT3_MONITOR,0
BATT4_MONITOR,0
BATT5_MONITOR,0
BATT6_MONITOR,0
BATT7_MONITOR,0
BATT8_MONITOR,0
BATT9_MONITOR,0
BCN_ALT,0
BCN_LATITUDE,0
BCN_LONGITUDE,0
BCN_ORIENT_YAW,0
BCN_TYPE,0
BRD_ALT_CONFIG,0
BRD_BOOT_DELAY,0
BRD_OPTIONS,1
BRD_PWM_COUNT,10
BRD_RTC_TYPES,1
BRD_RTC_TZ_MIN,0
BRD_SAFETYOPTION,3
BRD_SD_SLOWDOWN,0
BRD_SERIAL_NUM,0
BTN_ENABLE,0
CAM_AUTO_ONLY,0
CAM_DURATION,10
CAM_FEEDBACK_PIN,-1
CAM_FEEDBACK_POL,1
CAM_MAX_ROLL,0
CAM_MIN_INTERVAL,0
CAM_RELAY_ON,1
CAM_SERVO_OFF,1100
CAM_SERVO_ON,1300
CAM_TRIGG_DIST,0
CAM_TRIGG_TYPE,0
CAM_TYPE,0
CHUTE_ENABLED,0
CIRCLE_CONTROL,1
CIRCLE_RADIUS,1000
CIRCLE_RATE,20
COMPASS_AUTO_ROT,2
COMPASS_AUTODEC,1
COMPASS_CAL_FIT,16
COMPASS_CUS_PIT,0
COMPASS_CUS_ROLL,0
COMPASS_CUS_YAW,0
COMPASS_DEC,0
COMPASS_DEV_ID,0
COMPASS_DEV_ID2,0
COMPASS_DEV_ID3,0
COMPASS_DEV_ID4,0
COMPASS_DEV_ID5,0
COMPASS_DEV_ID6,0
COMPASS_DEV_ID7,0
COMPASS_DEV_ID8,0
COMPASS_DIA_X,0
COMPASS_DIA_Y,0
COMPASS_DIA_Z,0
COMPASS_DIA2_X,0
COMPASS_DIA2_Y,0
COMPASS_DIA2_Z,0
COMPASS_DIA3_X,0
COMPASS_DIA3_Y,0
COMPASS_DIA3_Z,0
COMPASS_ENABLE,1
COMPASS_EXTERN2,0
COMPASS_EXTERN3,0
COMPASS_EXTERNAL,0
COMPASS_FLTR_RNG,0
COMPASS_LEARN,0
COMPASS_MOT_X,0
COMPASS_MOT_Y,0
COMPASS_MOT_Z,0
COMPASS_MOT2_X,0
COMPASS_MOT2_Y,0
COMPASS_MOT2_Z,0
COMPASS_MOT3_X,0
COMPASS_MOT3_Y,0
COMPASS_MOT3_Z,0
COMPASS_MOTCT,0
COMPASS_ODI_X,0
COMPASS_ODI_Y,0
COMPASS_ODI_Z,0
COMPASS_ODI2_X,0
COMPASS_ODI2_Y,0
COMPASS_ODI2_Z,0
COMPASS_ODI3_X,0
COMPASS_ODI3_Y,0
COMPASS_ODI3_Z,0
COMPASS_OFFS_MAX,1800
COMPASS_OFS_X,0
COMPASS_OFS_Y,0
COMPASS_OFS_Z,0
COMPASS_OFS2_X,0
COMPASS_OFS2_Y,0
COMPASS_OFS2_Z,0
COMPASS_OFS3_X,0
COMPASS_OFS3_Y,0
COMPASS_OFS3_Z,0
COMPASS_OPTIONS,0
COMPASS_ORIENT,0
COMPASS_ORIENT2,0
COMPASS_ORIENT3,0
COMPASS_PMOT_EN,0
COMPASS_PRIO1_ID,0
COMPASS_PRIO2_ID,0
COMPASS_PRIO3_ID,0
COMPASS_SCALE,0
COMPASS_SCALE2,0
COMPASS_SCALE3,0
COMPASS_TYPEMASK,0
COMPASS_USE,1
COMPASS_USE2,1
COMPASS_USE3,1
DEV_OPTIONS,0
DISARM_DELAY,10
EK2_ABIAS_P_NSE,0.005
EK2_ACC_P_NSE,0.6
EK2_ALT_M_NSE,3
EK2_ALT_SOURCE,0
EK2_BCN_DELAY,50
EK2_BCN_I_GTE,500
EK2_BCN_M_NSE,1
EK2_CHECK_SCALE,100
EK2_EAS_I_GATE,400
EK2_EAS_M_NSE,1.4
EK2_ENABLE,1
EK2_EXTNAV_DELAY,10
EK2_FLOW_DELAY,10
EK2_FLOW_I_GATE,300
EK2_FLOW_M_NSE,0.25
EK2_FLOW_USE,1
EK2_GBIAS_P_NSE,0.0001
EK2_GLITCH_RAD,25
EK2_GPS_CHECK,31
EK2_GPS_TYPE,0
EK2_GSCL_P_NSE,0.0005
EK2_GYRO_P_NSE,0.03
EK2_HGT_DELAY,60
EK2_HGT_I_GATE,500
EK2_HRT_FILT,2
EK2_IMU_MASK,1
EK2_LOG_MASK,1
EK2_MAG_CAL,3
EK2_MAG_EF_LIM,50
EK2_MAG_I_GATE,300
EK2_MAG_M_NSE,0.05
EK2_MAG_MASK,0
EK2_MAGB_P_NSE,0.0001
EK2_MAGE_P_NSE,0.001
EK2_MAX_FLOW,2.5
EK2_NOAID_M_NSE,10
EK2_OGN_HGT_MASK,0
EK2_POS_I_GATE,500
EK2_POSNE_M_NSE,1
EK2_RNG_I_GATE,500
EK2_RNG_M_NSE,0.5
EK2_RNG_USE_HGT,-1
EK2_RNG_USE_SPD,2
EK2_TAU_OUTPUT,25
EK2_TERR_GRAD,0.1
EK2_VEL_I_GATE,500
EK2_VELD_M_NSE,0.7
EK2_VELNE_M_NSE,0.5
EK2_WIND_P_NSE,0.1
EK2_WIND_PSCALE,0.5
EK2_YAW_I_GATE,300
EK2_YAW_M_NSE,0.5
EK3_ENABLE,0
ESC_CALIBRATION,0
FENCE_ACTION,1
FENCE_ALT_MAX,100
FENCE_ENABLE,0
FENCE_MARGIN,2
FENCE_RADIUS,300
FENCE_TOTAL,0
FENCE_TYPE,7
FHLD_BRAKE_RATE,8
FHLD_FILT_HZ,5
FHLD_FLOW_MAX,0.6
FHLD_QUAL_MIN,10
FHLD_XY_FILT_HZ,5
FHLD_XY_I,0.3
FHLD_XY_IMAX,3000
FHLD_XY_P,0.2
FLOW_ADDR,0
FLOW_FXSCALER,0
FLOW_FYSCALER,0
FLOW_ORIENT_YAW,0
FLOW_POS_X,0
FLOW_POS_Y,0
FLOW_POS_Z,0
FLOW_TYPE,0
FLTMODE_CH,5
FLTMODE1,0
FLTMODE2,0
FLTMODE3,0
FLTMODE4,0
FLTMODE5,0
FLTMODE6,0
FOLL_ENABLE,0
FRAME_CLASS,4
FRAME_TYPE,1
FS_CRASH_CHECK,1
FS_EKF_ACTION,1
FS_EKF_THRESH,0.8
FS_GCS_ENABLE,0
FS_OPTIONS,0
FS_THR_ENABLE,1
FS_THR_VALUE,975
FS_VIBE_ENABLE,1
GCS_PID_MASK,0
GND_ABS_PRESS,98596.84
GND_ABS_PRESS2,0
GND_ABS_PRESS3,0
GND_ALT_OFFSET,0
GND_EFFECT_COMP,1
GND_EXT_BUS,-1
GND_FLTR_RNG,0
GND_PRIMARY,0
GND_PROBE_EXT,0
GND_TEMP,0
GPS_AUTO_CONFIG,1
GPS_AUTO_SWITCH,1
GPS_BLEND_MASK,5
GPS_BLEND_TC,10
GPS_DELAY_MS,0
GPS_DELAY_MS2,0
GPS_DRV_OPTIONS,0
GPS_GNSS_MODE,0
GPS_GNSS_MODE2,0
GPS_HDOP_GOOD,140
GPS_INJECT_TO,127
GPS_MIN_DGPS,100
GPS_MIN_ELEV,-100
GPS_NAVFILTER,8
GPS_POS1_X,0
GPS_POS1_Y,0
GPS_POS1_Z,0
GPS_POS2_X,0
GPS_POS2_Y,0
GPS_POS2_Z,0
GPS_RATE_MS,200
GPS_RATE_MS2,200
GPS_RAW_DATA,0
GPS_SAVE_CFG,2
GPS_SBAS_MODE,2
GPS_SBP_LOGMASK,-256
GPS_TYPE,1
GPS_TYPE2,0
GRIP_ENABLE,0
INS_ACC_BODYFIX,2
INS_ACC_ID,1245450
INS_ACC2_ID,0
INS_ACC2OFFS_X,0
INS_ACC2OFFS_Y,0
INS_ACC2OFFS_Z,0
INS_ACC2SCAL_X,0
INS_ACC2SCAL_Y,0
INS_ACC2SCAL_Z,0
INS_ACC3_ID,0
INS_ACC3OFFS_X,0
INS_ACC3OFFS_Y,0
INS_ACC3OFFS_Z,0
INS_ACC3SCAL_X,0
INS_ACC3SCAL_Y,0
INS_ACC3SCAL_Z,0
INS_ACCEL_FILTER,20
INS_ACCOFFS_X,0.09503907
INS_ACCOFFS_Y,-0.1356976
INS_ACCOFFS_Z,0.8251657
INS_ACCSCAL_X,1
INS_ACCSCAL_Y,0.9988994
INS_ACCSCAL_Z,0.9963998
INS_ENABLE_MASK,127
INS_FAST_SAMPLE,1
INS_GYR_CAL,1
INS_GYR_ID,2162954
INS_GYR2_ID,0
INS_GYR2OFFS_X,0
INS_GYR2OFFS_Y,0
INS_GYR2OFFS_Z,0
INS_GYR3_ID,0
INS_GYR3OFFS_X,0
INS_GYR3OFFS_Y,0
INS_GYR3OFFS_Z,0
INS_GYRO_FILTER,20
INS_GYROFFS_X,-0.01754298
INS_GYROFFS_Y,0.03411241
INS_GYROFFS_Z,-0.01361758
INS_HNTCH_ENABLE,0
INS_LOG_BAT_CNT,1024
INS_LOG_BAT_LGCT,32
INS_LOG_BAT_LGIN,20
INS_LOG_BAT_MASK,0
INS_LOG_BAT_OPT,0
INS_NOTCH_ENABLE,0
INS_POS1_X,0
INS_POS1_Y,0
INS_POS1_Z,0
INS_POS2_X,0
INS_POS2_Y,0
INS_POS2_Z,0
INS_POS3_X,0
INS_POS3_Y,0
INS_POS3_Z,0
INS_STILL_THRESH,2.5
INS_TRIM_OPTION,1
INS_USE,1
INS_USE2,1
INS_USE3,1
LAND_ALT_LOW,1000
LAND_REPOSITION,1
LAND_SPEED,50
LAND_SPEED_HIGH,0
LGR_DEPLOY_ALT,0
LGR_DEPLOY_PIN,-1
LGR_DEPLOY_POL,0
LGR_OPTIONS,3
LGR_RETRACT_ALT,0
LGR_STARTUP,0
LGR_WOW_PIN,-1
LGR_WOW_POL,0
LOG_BACKEND_TYPE,1
LOG_BITMASK,176126
LOG_DISARMED,0
LOG_FILE_BUFSIZE,16
LOG_FILE_DSRMROT,0
LOG_FILE_TIMEOUT,5
LOG_MAV_BUFSIZE,8
LOG_REPLAY,0
LOIT_ACC_MAX,500
LOIT_ANG_MAX,0
LOIT_BRK_ACCEL,250
LOIT_BRK_DELAY,1
LOIT_BRK_JERK,500
LOIT_SPEED,1250
MIS_OPTIONS,0
MIS_RESTART,0
MIS_TOTAL,0
MNT_ANGMAX_PAN,4500
MNT_ANGMAX_ROL,4500
MNT_ANGMAX_TIL,4500
MNT_ANGMIN_PAN,-4500
MNT_ANGMIN_ROL,-4500
MNT_ANGMIN_TIL,-4500
MNT_DEFLT_MODE,3
MNT_JSTICK_SPD,0
MNT_LEAD_PTCH,0
MNT_LEAD_RLL,0
MNT_NEUTRAL_X,0
MNT_NEUTRAL_Y,0
MNT_NEUTRAL_Z,0
MNT_RC_IN_PAN,0
MNT_RC_IN_ROLL,0
MNT_RC_IN_TILT,0
MNT_RETRACT_X,0
MNT_RETRACT_Y,0
MNT_RETRACT_Z,0
MNT_STAB_PAN,0
MNT_STAB_ROLL,0
MNT_STAB_TILT,0
MNT_TYPE,0
MOT_BAT_CURR_MAX,0
MOT_BAT_CURR_TC,5
MOT_BAT_IDX,0
MOT_BAT_VOLT_MAX,0
MOT_BAT_VOLT_MIN,0
MOT_BOOST_SCALE,0
MOT_HOVER_LEARN,2
MOT_PWM_MAX,0
MOT_PWM_MIN,0
MOT_PWM_TYPE,5
MOT_SAFE_DISARM,0
MOT_SAFE_TIME,1
MOT_SLEW_DN_TIME,0
MOT_SLEW_UP_TIME,0
MOT_SPIN_ARM,0.1
MOT_SPIN_MAX,0.95
MOT_SPIN_MIN,0.15
MOT_SPOOL_TIME,0.5
MOT_THST_EXPO,0.65
MOT_THST_HOVER,0.35
MOT_YAW_HEADROOM,200
NTF_BUZZ_ENABLE,1
NTF_BUZZ_VOLUME,100
NTF_DISPLAY_TYPE,0
NTF_LED_BRIGHT,3
NTF_LED_LEN,1
NTF_LED_OVERRIDE,0
NTF_LED_TYPES,199
NTF_OREO_THEME,0
OA_TYPE,0
OSD_ARM_SCR,0
OSD_CHAN,0
OSD_DSARM_SCR,0
OSD_FONT,0
OSD_FS_SCR,0
OSD_H_OFFSET,32
OSD_MSG_TIME,10
OSD_OPTIONS,1
OSD_SW_METHOD,0
OSD_TYPE,1
OSD_UNITS,0
OSD_V_OFFSET,16
OSD_W_BATVOLT,10
OSD_W_NSAT,9
OSD_W_RSSI,30
OSD1_ALTITUDE_EN,1
OSD1_ALTITUDE_X,23
OSD1_ALTITUDE_Y,8
OSD1_ASPD1_EN,0
OSD1_ASPD1_X,0
OSD1_ASPD1_Y,0
OSD1_ASPD2_EN,0
OSD1_ASPD2_X,0
OSD1_ASPD2_Y,0
OSD1_ASPEED_EN,0
OSD1_ASPEED_X,2
OSD1_ASPEED_Y,13
OSD1_ATEMP_EN,0
OSD1_ATEMP_X,0
OSD1_ATEMP_Y,0
OSD1_BAT_VOLT_EN,1
OSD1_BAT_VOLT_X,24
OSD1_BAT_VOLT_Y,1
OSD1_BAT2_VLT_EN,0
OSD1_BAT2_VLT_X,0
OSD1_BAT2_VLT_Y,0
OSD1_BAT2USED_EN,0
OSD1_BAT2USED_X,0
OSD1_BAT2USED_Y,0
OSD1_BATUSED_EN,1
OSD1_BATUSED_X,23
OSD1_BATUSED_Y,3
OSD1_BLHAMPS_EN,0
OSD1_BLHAMPS_X,24
OSD1_BLHAMPS_Y,14
OSD1_BLHRPM_EN,0
OSD1_BLHRPM_X,22
OSD1_BLHRPM_Y,12
OSD1_BLHTEMP_EN,0
OSD1_BLHTEMP_X,24
OSD1_BLHTEMP_Y,13
OSD1_BTEMP_EN,0
OSD1_BTEMP_X,0
OSD1_BTEMP_Y,0
OSD1_CHAN_MAX,0
OSD1_CHAN_MIN,0
OSD1_CLIMBEFF_EN,0
OSD1_CLIMBEFF_X,0
OSD1_CLIMBEFF_Y,0
OSD1_CLK_EN,0
OSD1_CLK_X,0
OSD1_CLK_Y,0
OSD1_COMPASS_EN,1
OSD1_COMPASS_X,15
OSD1_COMPASS_Y,3
OSD1_CURRENT_EN,1
OSD1_CURRENT_X,25
OSD1_CURRENT_Y,2
OSD1_DIST_EN,0
OSD1_DIST_X,22
OSD1_DIST_Y,11
OSD1_EFF_EN,0
OSD1_EFF_X,22
OSD1_EFF_Y,10
OSD1_ENABLE,1
OSD1_FLTIME_EN,0
OSD1_FLTIME_X,23
OSD1_FLTIME_Y,10
OSD1_FLTMODE_EN,1
OSD1_FLTMODE_X,2
OSD1_FLTMODE_Y,8
OSD1_GPSLAT_EN,1
OSD1_GPSLAT_X,9
OSD1_GPSLAT_Y,13
OSD1_GPSLONG_EN,1
OSD1_GPSLONG_X,9
OSD1_GPSLONG_Y,14
OSD1_GSPEED_EN,1
OSD1_GSPEED_X,2
OSD1_GSPEED_Y,14
OSD1_HDOP_EN,0
OSD1_HDOP_X,0
OSD1_HDOP_Y,0
OSD1_HEADING_EN,1
OSD1_HEADING_X,13
OSD1_HEADING_Y,2
OSD1_HOME_EN,1
OSD1_HOME_X,14
OSD1_HOME_Y,1
OSD1_HORIZON_EN,1
OSD1_HORIZON_X,14
OSD1_HORIZON_Y,8
OSD1_MESSAGE_EN,1
OSD1_MESSAGE_X,2
OSD1_MESSAGE_Y,6
OSD1_PITCH_EN,0
OSD1_PITCH_X,0
OSD1_PITCH_Y,0
OSD1_ROLL_EN,0
OSD1_ROLL_X,0
OSD1_ROLL_Y,0
OSD1_RSSI_EN,1
OSD1_RSSI_X,1
OSD1_RSSI_Y,1
OSD1_SATS_EN,1
OSD1_SATS_X,1
OSD1_SATS_Y,3
OSD1_STATS_EN,0
OSD1_STATS_X,0
OSD1_STATS_Y,0
OSD1_TEMP_EN,0
OSD1_TEMP_X,0
OSD1_TEMP_Y,0
OSD1_THROTTLE_EN,1
OSD1_THROTTLE_X,24
OSD1_THROTTLE_Y,11
OSD1_VSPEED_EN,1
OSD1_VSPEED_X,24
OSD1_VSPEED_Y,9
OSD1_WAYPOINT_EN,0
OSD1_WAYPOINT_X,0
OSD1_WAYPOINT_Y,0
OSD1_WIND_EN,0
OSD1_WIND_X,2
OSD1_WIND_Y,12
OSD1_XTRACK_EN,0
OSD1_XTRACK_X,0
OSD1_XTRACK_Y,0
OSD2_ENABLE,0
OSD3_ENABLE,0
OSD4_ENABLE,0
PHLD_BRAKE_ANGLE,3000
PHLD_BRAKE_RATE,8
PILOT_ACCEL_Z,250
PILOT_SPEED_DN,0
PILOT_SPEED_UP,250
PILOT_THR_BHV,0
PILOT_THR_FILT,0
PILOT_TKOFF_ALT,0
PLND_ENABLED,0
PRX_IGN_ANG1,0
PRX_IGN_ANG2,0
PRX_IGN_ANG3,0
PRX_IGN_ANG4,0
PRX_IGN_ANG5,0
PRX_IGN_ANG6,0
PRX_IGN_WID1,0
PRX_IGN_WID2,0
PRX_IGN_WID3,0
PRX_IGN_WID4,0
PRX_IGN_WID5,0
PRX_IGN_WID6,0
PRX_ORIENT,0
PRX_TYPE,0
PRX_YAW_CORR,0
PSC_ACC_XY_FILT,2
PSC_ACCZ_D,0
PSC_ACCZ_FF,0
PSC_ACCZ_FLTD,0
PSC_ACCZ_FLTE,20
PSC_ACCZ_FLTT,0
PSC_ACCZ_I,1
PSC_ACCZ_IMAX,800
PSC_ACCZ_P,0.5
PSC_ANGLE_MAX,0
PSC_POSXY_P,1
PSC_POSZ_P,1
PSC_VELXY_D,0.5
PSC_VELXY_D_FILT,5
PSC_VELXY_FILT,5
PSC_VELXY_I,1
PSC_VELXY_IMAX,1000
PSC_VELXY_P,2
PSC_VELZ_P,5
RALLY_INCL_HOME,1
RALLY_LIMIT_KM,0.3
RALLY_TOTAL,0
RC_OPTIONS,0
RC_OVERRIDE_TIME,3
RC_SPEED,490
RC1_DZ,20
RC1_MAX,1900
RC1_MIN,1100
RC1_OPTION,0
RC1_REVERSED,0
RC1_TRIM,1500
RC10_DZ,0
RC10_MAX,1900
RC10_MIN,1100
RC10_OPTION,0
RC10_REVERSED,0
RC10_TRIM,1500
RC11_DZ,0
RC11_MAX,1900
RC11_MIN,1100
RC11_OPTION,0
RC11_REVERSED,0
RC11_TRIM,1500
RC12_DZ,0
RC12_MAX,1900
RC12_MIN,1100
RC12_OPTION,0
RC12_REVERSED,0
RC12_TRIM,1500
RC13_DZ,0
RC13_MAX,1900
RC13_MIN,1100
RC13_OPTION,0
RC13_REVERSED,0
RC13_TRIM,1500
RC14_DZ,0
RC14_MAX,1900
RC14_MIN,1100
RC14_OPTION,0
RC14_REVERSED,0
RC14_TRIM,1500
RC15_DZ,0
RC15_MAX,1900
RC15_MIN,1100
RC15_OPTION,0
RC15_REVERSED,0
RC15_TRIM,1500
RC16_DZ,0
RC16_MAX,1900
RC16_MIN,1100
RC16_OPTION,0
RC16_REVERSED,0
RC16_TRIM,1500
RC2_DZ,20
RC2_MAX,1900
RC2_MIN,1100
RC2_OPTION,0
RC2_REVERSED,0
RC2_TRIM,1500
RC3_DZ,30
RC3_MAX,1900
RC3_MIN,1100
RC3_OPTION,0
RC3_REVERSED,0
RC3_TRIM,1500
RC4_DZ,20
RC4_MAX,1900
RC4_MIN,1100
RC4_OPTION,0
RC4_REVERSED,0
RC4_TRIM,1500
RC5_DZ,0
RC5_MAX,1900
RC5_MIN,1100
RC5_OPTION,0
RC5_REVERSED,0
RC5_TRIM,1500
RC6_DZ,0
RC6_MAX,1900
RC6_MIN,1100
RC6_OPTION,0
RC6_REVERSED,0
RC6_TRIM,1500
RC7_DZ,0
RC7_MAX,1900
RC7_MIN,1100
RC7_OPTION,0
RC7_REVERSED,0
RC7_TRIM,1500
RC8_DZ,0
RC8_MAX,1900
RC8_MIN,1100
RC8_OPTION,0
RC8_REVERSED,0
RC8_TRIM,1500
RC9_DZ,0
RC9_MAX,1900
RC9_MIN,1100
RC9_OPTION,0
RC9_REVERSED,0
RC9_TRIM,1500
RCMAP_PITCH,2
RCMAP_ROLL,1
RCMAP_THROTTLE,3
RCMAP_YAW,4
RELAY_DEFAULT,0
RELAY_PIN,-1
RELAY_PIN2,-1
RELAY_PIN3,-1
RELAY_PIN4,-1
RELAY_PIN5,-1
RELAY_PIN6,-1
RNGFND_GAIN,0.8
RNGFND1_ADDR,0
RNGFND1_FUNCTION,0
RNGFND1_GNDCLEAR,10
RNGFND1_MAX_CM,700
RNGFND1_MIN_CM,20
RNGFND1_OFFSET,0
RNGFND1_ORIENT,25
RNGFND1_PIN,-1
RNGFND1_POS_X,0
RNGFND1_POS_Y,0
RNGFND1_POS_Z,0
RNGFND1_PWRRNG,0
RNGFND1_RMETRIC,1
RNGFND1_SCALING,3
RNGFND1_STOP_PIN,-1
RNGFND1_TYPE,0
RNGFND2_ADDR,0
RNGFND2_FUNCTION,0
RNGFND2_GNDCLEAR,10
RNGFND2_MAX_CM,700
RNGFND2_MIN_CM,20
RNGFND2_OFFSET,0
RNGFND2_ORIENT,25
RNGFND2_PIN,-1
RNGFND2_POS_X,0
RNGFND2_POS_Y,0
RNGFND2_POS_Z,0
RNGFND2_PWRRNG,0
RNGFND2_RMETRIC,1
RNGFND2_SCALING,3
RNGFND2_STOP_PIN,-1
RNGFND2_TYPE,0
RNGFND3_ADDR,0
RNGFND3_FUNCTION,0
RNGFND3_GNDCLEAR,10
RNGFND3_MAX_CM,700
RNGFND3_MIN_CM,20
RNGFND3_OFFSET,0
RNGFND3_ORIENT,25
RNGFND3_PIN,-1
RNGFND3_POS_X,0
RNGFND3_POS_Y,0
RNGFND3_POS_Z,0
RNGFND3_PWRRNG,0
RNGFND3_RMETRIC,1
RNGFND3_SCALING,3
RNGFND3_STOP_PIN,-1
RNGFND3_TYPE,0
RNGFND4_ADDR,0
RNGFND4_FUNCTION,0
RNGFND4_GNDCLEAR,10
RNGFND4_MAX_CM,700
RNGFND4_MIN_CM,20
RNGFND4_OFFSET,0
RNGFND4_ORIENT,25
RNGFND4_PIN,-1
RNGFND4_POS_X,0
RNGFND4_POS_Y,0
RNGFND4_POS_Z,0
RNGFND4_PWRRNG,0
RNGFND4_RMETRIC,1
RNGFND4_SCALING,3
RNGFND4_STOP_PIN,-1
RNGFND4_TYPE,0
RNGFND5_ADDR,0
RNGFND5_FUNCTION,0
RNGFND5_GNDCLEAR,10
RNGFND5_MAX_CM,700
RNGFND5_MIN_CM,20
RNGFND5_OFFSET,0
RNGFND5_ORIENT,25
RNGFND5_PIN,-1
RNGFND5_POS_X,0
RNGFND5_POS_Y,0
RNGFND5_POS_Z,0
RNGFND5_PWRRNG,0
RNGFND5_RMETRIC,1
RNGFND5_SCALING,3
RNGFND5_STOP_PIN,-1
RNGFND5_TYPE,0
RNGFND6_ADDR,0
RNGFND6_FUNCTION,0
RNGFND6_GNDCLEAR,10
RNGFND6_MAX_CM,700
RNGFND6_MIN_CM,20
RNGFND6_OFFSET,0
RNGFND6_ORIENT,25
RNGFND6_PIN,-1
RNGFND6_POS_X,0
RNGFND6_POS_Y,0
RNGFND6_POS_Z,0
RNGFND6_PWRRNG,0
RNGFND6_RMETRIC,1
RNGFND6_SCALING,3
RNGFND6_STOP_PIN,-1
RNGFND6_TYPE,0
RNGFND7_ADDR,0
RNGFND7_FUNCTION,0
RNGFND7_GNDCLEAR,10
RNGFND7_MAX_CM,700
RNGFND7_MIN_CM,20
RNGFND7_OFFSET,0
RNGFND7_ORIENT,25
RNGFND7_PIN,-1
RNGFND7_POS_X,0
RNGFND7_POS_Y,0
RNGFND7_POS_Z,0
RNGFND7_PWRRNG,0
RNGFND7_RMETRIC,1
RNGFND7_SCALING,3
RNGFND7_STOP_PIN,-1
RNGFND7_TYPE,0
RNGFND8_ADDR,0
RNGFND8_FUNCTION,0
RNGFND8_GNDCLEAR,10
RNGFND8_MAX_CM,700
RNGFND8_MIN_CM,20
RNGFND8_OFFSET,0
RNGFND8_ORIENT,25
RNGFND8_PIN,-1
RNGFND8_POS_X,0
RNGFND8_POS_Y,0
RNGFND8_POS_Z,0
RNGFND8_PWRRNG,0
RNGFND8_RMETRIC,1
RNGFND8_SCALING,3
RNGFND8_STOP_PIN,-1
RNGFND8_TYPE,0
RNGFND9_ADDR,0
RNGFND9_FUNCTION,0
RNGFND9_GNDCLEAR,10
RNGFND9_MAX_CM,700
RNGFND9_MIN_CM,20
RNGFND9_OFFSET,0
RNGFND9_ORIENT,25
RNGFND9_PIN,-1
RNGFND9_POS_X,0
RNGFND9_POS_Y,0
RNGFND9_POS_Z,0
RNGFND9_PWRRNG,0
RNGFND9_RMETRIC,1
RNGFND9_SCALING,3
RNGFND9_STOP_PIN,-1
RNGFND9_TYPE,0
RNGFNDA_ADDR,0
RNGFNDA_FUNCTION,0
RNGFNDA_GNDCLEAR,10
RNGFNDA_MAX_CM,700
RNGFNDA_MIN_CM,20
RNGFNDA_OFFSET,0
RNGFNDA_ORIENT,25
RNGFNDA_PIN,-1
RNGFNDA_POS_X,0
RNGFNDA_POS_Y,0
RNGFNDA_POS_Z,0
RNGFNDA_PWRRNG,0
RNGFNDA_RMETRIC,1
RNGFNDA_SCALING,3
RNGFNDA_STOP_PIN,-1
RNGFNDA_TYPE,0
RPM_MAX,100000
RPM_MIN,10
RPM_MIN_QUAL,0.5
RPM_PIN,54
RPM_SCALING,1
RPM_TYPE,0
RPM2_PIN,-1
RPM2_SCALING,1
RPM2_TYPE,0
RSSI_TYPE,0
RTL_ALT,1500
RTL_ALT_FINAL,0
RTL_CLIMB_MIN,0
RTL_CONE_SLOPE,3
RTL_LOIT_TIME,5000
RTL_SPEED,0
SCHED_DEBUG,0
SCHED_LOOP_RATE,400
SERIAL_PASS1,0
SERIAL_PASS2,-1
SERIAL_PASSTIMO,15
SERIAL0_BAUD,115
SERIAL0_PROTOCOL,2
SERIAL1_BAUD,57
SERIAL1_OPTIONS,0
SERIAL1_PROTOCOL,1
SERIAL2_BAUD,57
SERIAL2_OPTIONS,0
SERIAL2_PROTOCOL,1
SERIAL3_BAUD,38
SERIAL3_OPTIONS,0
SERIAL3_PROTOCOL,5
SERIAL4_BAUD,38
SERIAL4_OPTIONS,0
SERIAL4_PROTOCOL,5
SERIAL5_BAUD,57
SERIAL5_OPTIONS,0
SERIAL5_PROTOCOL,-1
SERIAL6_BAUD,57
SERIAL6_OPTIONS,0
SERIAL6_PROTOCOL,-1
SERIAL7_BAUD,57
SERIAL7_OPTIONS,0
SERIAL7_PROTOCOL,-1
SERVO_BLH_AUTO,0
SERVO_BLH_DEBUG,0
SERVO_BLH_MASK,0
SERVO_BLH_OTYPE,0
SERVO_BLH_POLES,14
SERVO_BLH_PORT,0
SERVO_BLH_REMASK,0
SERVO_BLH_TEST,0
SERVO_BLH_TMOUT,0
SERVO_BLH_TRATE,10
SERVO_RATE,50
SERVO_ROB_POSMAX,4095
SERVO_ROB_POSMIN,0
SERVO_SBUS_RATE,50
SERVO_VOLZ_MASK,0
SERVO1_FUNCTION,0
SERVO1_MAX,1900
SERVO1_MIN,1100
SERVO1_REVERSED,0
SERVO1_TRIM,1500
SERVO10_FUNCTION,0
SERVO10_MAX,1900
SERVO10_MIN,1100
SERVO10_REVERSED,0
SERVO10_TRIM,1500
SERVO11_FUNCTION,0
SERVO11_MAX,1900
SERVO11_MIN,1100
SERVO11_REVERSED,0
SERVO11_TRIM,1500
SERVO12_FUNCTION,0
SERVO12_MAX,1900
SERVO12_MIN,1100
SERVO12_REVERSED,0
SERVO12_TRIM,1500
SERVO13_FUNCTION,0
SERVO13_MAX,1900
SERVO13_MIN,1100
SERVO13_REVERSED,0
SERVO13_TRIM,1500
SERVO14_FUNCTION,0
SERVO14_MAX,1900
SERVO14_MIN,1100
SERVO14_REVERSED,0
SERVO14_TRIM,1500
SERVO15_FUNCTION,0
SERVO15_MAX,1900
SERVO15_MIN,1100
SERVO15_REVERSED,0
SERVO15_TRIM,1500
SERVO16_FUNCTION,0
SERVO16_MAX,1900
SERVO16_MIN,1100
SERVO16_REVERSED,0
SERVO16_TRIM,1500
SERVO2_FUNCTION,0
SERVO2_MAX,1900
SERVO2_MIN,1100
SERVO2_REVERSED,0
SERVO2_TRIM,1500
SERVO3_FUNCTION,0
SERVO3_MAX,1900
SERVO3_MIN,1100
SERVO3_REVERSED,0
SERVO3_TRIM,1500
SERVO4_FUNCTION,0
SERVO4_MAX,1900
SERVO4_MIN,1100
SERVO4_REVERSED,0
SERVO4_TRIM,1500
SERVO5_FUNCTION,0
SERVO5_MAX,1900
SERVO5_MIN,1100
SERVO5_REVERSED,0
SERVO5_TRIM,1500
SERVO6_FUNCTION,0
SERVO6_MAX,1900
SERVO6_MIN,1100
SERVO6_REVERSED,0
SERVO6_TRIM,1500
SERVO7_FUNCTION,0
SERVO7_MAX,1900
SERVO7_MIN,1100
SERVO7_REVERSED,0
SERVO7_TRIM,1500
SERVO8_FUNCTION,0
SERVO8_MAX,1900
SERVO8_MIN,1100
SERVO8_REVERSED,0
SERVO8_TRIM,1500
SERVO9_FUNCTION,0
SERVO9_MAX,1900
SERVO9_MIN,1100
SERVO9_REVERSED,0
SERVO9_TRIM,1500
SID_AXIS,0
SIMPLE,0
SPRAY_ENABLE,0
SR0_ADSB,0
SR0_EXT_STAT,2
SR0_EXTRA1,4
SR0_EXTRA2,4
SR0_EXTRA3,2
SR0_PARAMS,0
SR0_POSITION,2
SR0_RAW_CTRL,0
SR0_RAW_SENS,2
SR0_RC_CHAN,2
SR1_ADSB,0
SR1_EXT_STAT,0
SR1_EXTRA1,0
SR1_EXTRA2,0
SR1_EXTRA3,0
SR1_PARAMS,0
SR1_POSITION,0
SR1_RAW_CTRL,0
SR1_RAW_SENS,0
SR1_RC_CHAN,0
SR2_ADSB,0
SR2_EXT_STAT,0
SR2_EXTRA1,0
SR2_EXTRA2,0
SR2_EXTRA3,0
SR2_PARAMS,0
SR2_POSITION,0
SR2_RAW_CTRL,0
SR2_RAW_SENS,0
SR2_RC_CHAN,0
SR3_ADSB,0
SR3_EXT_STAT,0
SR3_EXTRA1,0
SR3_EXTRA2,0
SR3_EXTRA3,0
SR3_PARAMS,0
SR3_POSITION,0
SR3_RAW_CTRL,0
SR3_RAW_SENS,0
SR3_RC_CHAN,0
SRTL_ACCURACY,2
SRTL_POINTS,300
STAT_BOOTCNT,1
STAT_FLTTIME,0
STAT_RESET,0
STAT_RUNTIME,0
SUPER_SIMPLE,0
SYSID_ENFORCE,0
SYSID_MYGCS,255
SYSID_SW_MREV,120
SYSID_THISMAV,1
TCAL_ENABLED,0
TELEM_DELAY,0
TERRAIN_ENABLE,1
TERRAIN_FOLLOW,0
TERRAIN_OPTIONS,0
TERRAIN_SPACING,100
THR_DZ,100
THROW_MOT_START,0
THROW_NEXTMODE,18
THROW_TYPE,0
TUNE,0
TUNE_MAX,0
TUNE_MIN,0
VISO_ORIENT,0
VISO_POS_X,0
VISO_POS_Y,0
VISO_POS_Z,0
VISO_TYPE,0
WP_NAVALT_MIN,0
WP_YAW_BEHAVIOR,2
WPNAV_ACCEL,100
WPNAV_ACCEL_Z,100
WPNAV_RADIUS,200
WPNAV_RFND_USE,1
WPNAV_SPEED,500
WPNAV_SPEED_DN,150
WPNAV_SPEED_UP,250

Next time just attach the parameter file. Saves a lot of paging. It’s configured as an OctoQuad (co-axial 8 motors) and there are no Motor outputs assigned.

Sorry about that, next time I will post the file. In the setup tab I selected the picture of the quadcopter. I don’t know why it would be configured as octo. Also, I could not find a place in mission planner to assign motors. Is there a good resource on how to do this?

Change FRAME_CLASS parameter to 1 and power cycle the board. Then it should be at default with SERVO1_PROTOCOL 33 (Motor 1), SERVO2_PROTOCOL 34 (Motor 2) and so on. Confirm that 4 are assigned.

There is some info here:
https://ardupilot.org/copter/docs/connect-escs-and-motors.html

BTW-You are not the 1st person to have this problem, it’s why I asked for the parameter file first as it’s an easy fix :slight_smile:

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Should I change the FRAME_CLASS in the parameter file and then load the whole thing, or is there an easier way to do it?

Just as I noted. Change and write just that 1 parameter and power cycle the board. Then reconnect to Mission Planner again and check that the outputs have been configured. Or post another parameter file after doing so if you like.

Yeah man! Somebody give this guy a cigar! Thank you for helping people out, thank you for helping me.

Happy to help. One more thing you should do before the maiden flight is set the Initial Tuning Parameters. If it’s a quad with smaller props (4-7" say) it won’t fly well on defaults. Use the Tuning Plug-in in Mission Planner by hitting Alt>A after connection. Enter the prompted info and make the suggested changes.

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Cool, I will do that. It looks like my motors are not in the right order. Can I change that by doing something like setting SERVO1_FUNCTION to 34 instead of 33?

Nevermind, I found the servo output tab.

If you came from Betaflight there is the option for the Betaflight Motor Order if that makes things easier. Many 4-in 1 ESC’s are arranged for that order. In this case FRAME_TYPE is 12. And be sure you understand the order the Motor Test is run in. Some find it non intuitive.

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