1, 2, 3, 4 & 6. Motor whistling under ESC control. Yes, they do. In the extreme elder days, a motor speed was controlled by wasting power in a resistance element which had to be very closely matched to the motor. Nowadays, the variation in power is got by switching the supply on and odd VERY rapidly. Due to the constraints of the electronics involved, this usually results in a coil held in a strong magnetic field being moved in a series of steps at a frequency that is audible. Older ones didn't work just as well, but ran on a lower frequency and rumbled. Different motors differ in their susceptibility to produce sound, but since all motors contain the same elements as loudspeakers, they all do it. Just that some are louder than others. Some ESCs you don't hear, but passing dogs might.
Personally, I appreciate the whistle. It lets me know that something is going to happen.
All devices that plug into a receiver run on the timed pulses coming from the receiver. A mixer, in theory, takes the timing from the throttle channel, and looks at the pulses coming down the rudder channel. If the rudder channel pulse is saying "go straight", the throttle channel just passes its information along, unadulterated, to both ESCs. If the rudder channel is giving a longer or shorter pulse, indicating a turn, then the mixer adds a bit to one output, and subtracts a bit from the other which tells the ESCs to change their outputs.
The number of possible permutations is scary. I tend to break things down in an effort to get my logic straight by using a couple of servo testers as known supplies for the signals instead of the radio. Radio switches and added computer controls do muddy the logic somewhat.
The other handy items are a pair of servo Y leads and a pair of spare servos. These can be used as meters to look at what signals are being passed round the system, and in the case of ESCs, you get to see what they are being offered and are not stuck with just observing the motors behaviour. Much problem solving consists of finding ways to break a sequence down and finding out why actuality has diverged from theory.
Edited By Malcolm Frary on 11/04/2021 14:11:35