# ESC calibration joystick mapping

**URL:** <https://discuss.cubepilot.org/t/esc-calibration-joystick-mapping/9789>\
**Category:** HereLink\
**Created:** [7 October 2022 20:31 UTC](https://discuss.cubepilot.org/t/esc-calibration-joystick-mapping/9789 "2022-10-07T20:31:33Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![Matt1](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/matt1/32/5816_2.png) [@Matt1](https://discuss.cubepilot.org/u/Matt1)\
**Post date:** [7 October 2022 20:31 UTC](https://discuss.cubepilot.org/t/esc-calibration-joystick-mapping/9789/1 "2022-10-07T20:31:34Z")

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I am currently building an Autonomous boat. I have 2 motors and 2 servos. I am currently using a CubeOrange with the Herelink controller system and QGroundControl on the handheld controller. I am having trouble calibrating the esc and mapping the joystick. I want the right joystick in the center position to be zero so my motors do not spin up, but when I try to calibrate them they end up mapped in a weird position where I have to hold the joystick in a diagonal position so they don’t spin up.

I managed to get my servos for steering mapped perfectly with the servos set to ground steering and adjusting the PWM values. I have my two servos on Main Out pins 1 and 2

The motors are on main out pins 3 and 4. I have tried setting them to motor 1 and 2, throttle, but they seem to spin up the easiest using ground steering which doesn’t seem right.

Any suggestions?

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**Author:** ![stryngs](https://discuss.cubepilot.org/letter_avatar_proxy/v4/letter/s/22d042/32.png) [@stryngs](https://discuss.cubepilot.org/u/stryngs)\
**Post date:** [11 January 2023 03:31 UTC](https://discuss.cubepilot.org/t/esc-calibration-joystick-mapping/9789/2 "2023-01-11T03:31:50Z")

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Getting the sticks to cooperate can kind of be a bit of a struggle. I would do:

1. Calibrate by the Herelink app first
2. Calibrate by the GCS app

Give that a whirl and if it fails to work let me know, I was able to figure mine out and it was very troublesome.

Posts which may be of use:

> [@Cannot get Rover to reverse](https://discuss.cubepilot.org/t/cannot-get-rover-to-reverse/10171):
>
> Hello, I have a rover and I am using the Herelink 1.1. The ESC is a Traxxas VXL-3s. I cannot figure out how to get the rover to go in reverse. In previous versions of software this hardware would reverse, now it no longer does. It should also be noted that the throttle only seems to go one speed, there is no more curve; on or off. Any tips would be most helpful.

[Throttle stuck - #6 by stryngs](https://discuss.cubepilot.org/t/throttle-stuck/6866/6) \<\< Really helpful for the order of operations.