# PWM Calibration

Dshot is the recommended input protocol. When using the ARK 4IN1 ESC with PWM input, you must complete a PWM calibration to ensure the 0-100% input range and arming is correct. Without a calibration, motors may not arm or reach full speed.

[Betaflight Instructions](https://oscarliang.com/how-to-calibrate-esc/)

[PX4 Instructions](https://docs.px4.io/main/en/advanced_config/esc_calibration.html)

[Ardupilot Instructions](https://ardupilot.org/copter/docs/esc-calibration.html)

