If you were using LibrePilot I could point you to our wiki article.
I assume that you are using PWM for your ESC protocol.
There is probably a way to do this all at once, but I don't know your firmware so I will tell you how to do it manually using just RC receiver, not FC board.
So a little help for someone not using LP to calibrate using some other brand of firmware:
- PROPS OFF!!!!!!!!!!!!!!!!!!!!!!!!!
- all ESCs unplugged from FC signal (servo) connectors but still plugged into the motors
- you MUST use two different power supplies for airborne: a nicad pack (or separate lipo/BEC) (plug in to any unused channel or unplug a channel and plug it in there) that ALWAYS powers the RC receiver and the normal flight pack that you plug in and out of ESC at the right time
- transmitter throttle trim to center and configure it for normal output (endpoints normal, not dual rate, not idle up, etc)
- make it where you can get to the receiver throttle channel because you will be plugging and unplugging there. if you have a servo cable extension, that will probably help.
- power on receiver with nicad
- power on transmitter
<loop>
- transmitter throttle stick to high
- plug in one ESC (next ESC) to RC receiver throttle channel so now you have receiver powered on but ESC has no power
- power up that one ESC (or powering up all is also OK) probably using normal flight battery and immediately ...
- immediately listen for musical tone from THAT motor (tone should happen immediately) and when you hear it, reduce the transmitter throttle stick to low
- you should hear confirmation musical tone from motor
- unplug ESC power but leave RC receiver and transmitter powered on
- unplug ESC signal from receiver throttle channel
- goto <loop> for next ESC