Hello.
I’m a college student preparing for a thesis.
The topic of the paper is ‘A study on flight behavior in the event of motor abnormalities during flight’.
When the controller channel 7 toggle key is placed in high, I want to code the PWM of motor 4 to be fixed at 1300.
I am using the firmware of the Copter 4.0.4 version.
How do I code for this experiment?
Please help me… 
I’m fairly certain Lua scripting could offer a solution. There are fully featured frame types controlled almost solely via scripting.
For a graduate thesis, there is no reason to use such outdated firmware. Update to the latest stable release (4.3.3 as of now).
See:
https://ardupilot.org/copter/docs/common-lua-scripts.html
I’m watching Lua script YouTube ‘Yuri’s Homebrew & DIY’.
Could you tell me how to code the firmware as well?