I have a quadplane set up with all actuators commanded by DRONECAN (ESCs themself use PWM, so I use CAN-PWM adapters). However, the arming process for the motors is a bit cumbersome. Since I have decided to have the lifting motors run at an idle-setting when armed, I have to arm, then disarm and arm again for the ESCs to actually arm and get ready. Ideally, I would have liked the possibility to set a disarmed value for CAN ESCs, and have that be pushed when I push the prearm button.
