# Do i need to calibrate 4 in 1 ESC for Voxl 2?

Source: https://forum.modalai.com/topic/2947/do-i-need-to-calibrate-4-in-1-esc-for-voxl-2
Category: ESCs, Sensors and Accessories (https://forum.modalai.com/category/15/escs-sensors-and-accessories)
Tags: esc
Posted: 2023-12-12 20:09:28 UTC by Guest
Replies: 0 · Views: 909

## Jacob Camarillo (ModalAI staff) · 2023-12-12 23:15:47 UTC

HI @AP123, you can find information about calibration for M0134 [here](https://docs.modalai.com/modal-esc-v2-manual/#calibration). The calibration procedure in voxl2_io driver in voxl-px4 is not designed to work with 4 in 1 ESC, it is for off the shelf ESCs such as BLHeli. Additional information about if you need to calibrate your 4 in 1 ESC can be found in [this repo](https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/blob/master/voxl-esc-tools/calibration.md). 

I believe we already provide parameters (calibration) for 4 in 1 ESC for certain motor/propeller combinations which can be loaded via ```voxl-esc``` utility on voxl2. 

From tech docs: 
```bash
Q: When is ESC Calibration Required?
A: When switching battery types (from 3S LiPo to 4S LiPo, etc), or when a new type of motor or new type of propeller is used.
```