https://discuss.ardupilot.org/t/constantly-beeping-esc-and-jerky-motor/37679/7
I found solution to the problem. My tx pwm range for throttle was 1000 to 2000 and throttle range in Mission Planner was 1100 to 1900. I updated the range to 1000 to 2000 in mission planner and the beeping stopped.
Thanks for the help
Cheers.
