How to control motor ESC with Arduino?

Hi all,

I’m trying to use my old AR drone’s motors and ESCs for a new project, and ultimately want to be able to control each motor with an Arduino. I’ve searched through multiple forums of people trying to control them, yet I can’t find solid information as to what type of control they use. Some say I2C and some say UART, but all have concluded not PWM. If I can determine which communication to use, then I can go from there. Secondly, does anyone know the pinout of the motor board? There are five wires going to each motor, with the far left and far right wires being for power(red and black)–so are the inner three for the ESC control? If anyone can clear this up for me it would be greatly appreciated.

These are some of the links I’ve looked through:
https://wiki.paparazziuav.org/wiki/Ap.parrot_minidrone. <-- that’s a good one

http://www.drone-forum.com/forum/viewtopic.php?f=72&t=4529&hilit=63258%23p63258&sid=5a787d71acfe58e75a084f90e7772136&start=45

Thanks!