Hi Jack, I´ve implemented your code but my motor is 4300KV and 60A and something goes wrong (the ESC that I´d used is the Gool RC WATERPROOF, 2-3S lipo BEC 5.8V/3A (60A)). I don´t know if I should change some parameters such as the Max_speed and Min_speed and the arm value of the ESC myESC (...,...,...