Drone goes into ESC calibration mode upon powering up

PX4 Autopilot
1

Using an orange cube with an Arduino ESP32 as the telemetry module and using a remote plugged into the base station with USB to control the drone. Every so often, the drone enters ESC calibration mode, and a few times the drone has armed itself, cutting my hand. I have installed a physical safety switch onboard the drone, occasionally it puts itself back in ESC calibration mode but has not armed itself yet with these changes.

Any help would be appreciated, I would love to continue working on this drone without losing my fingers haha.

2

More information: when the drone is plugged into the base station via usb, the drone goes through its regular initiation sequence. I am running a UDP connection through the WiFi gateway that automatically connects once the vehicle is powered up.