Hello Modal AI team,

I'm currently testing Ardupilot firmware on the Flight Core v2, and I am trying to use the VOXL Mini 4-in-1 ESC in PWM mode (not UART)
The motors do spin, but I'm facing two criticla issues:

1. PWM min/max values do not match the ESC range
Even after setting standard values:

• SERVO _MIN = 1000
• SERVO _TRIM = 1000
• SERVO _MAX= 2000
• MOT_PWM_TYPE = 0(Nomal) ※If I change this parameter for 6(Dshot600), Motor don't spin well.

the ESC does not respond correctly.
It looks like the ESC expects a different throttle calibration range, and the output from Ardupilot is not lining up with the ESC's internal min/max mapping.

2. Motors keep spinning even after Disarm
Even when the vehicle is disarmed, the motors continue spinning at a low RPM.
However, the ESC still keeps the motors running, which makes me suspect that the ESC interprets the "idle PWM" differently from standard hobby ESCs

3. Questions
3-1. Does the VOXL Mini 4-in-1 ESC require a specific PWM range or calibration sequence when used outside PX4/VOXL?
3-2. Is there a recommended PWM frequency or pulse width range for compatibility with Ardupilot?
3-3. Are there known limitations when using ESC in PWM mode with Ardupilot(instead of the UART protocol it was designed for)?
3-4. Is there any way to explicitly set the ESC's zero-throttle PWM value?

4. Test Environment

• FC : Modal AI Flight Core v2
• ESC : VOXL Mini 4-in-1 ESC (PWM input pins used)
• Firmware : Ardupilot Copter
• GCS : Mission Planner
• MOTOR : T-Motor Air2216/kv920
• Controller : SIYI FT24 (Sbus)
• Battery : 3S 5,300mAh LiPo

Any guidance or documentation on the correct PWM range, calibration method, or expected behavior would be greatly appreciated.

Thank you!