Changing PWM frequency

Using Arduino Programming Questions
5

Yes I actually need all of the 4 pins. I took a look into the aeroquad section and noticed that they have a similar solutoion to this, PWM with timers.
Code can be found here:

I copied the neccessary parts to give it a try.

#define PWM_FREQUENCY 50   // in Hz
#define PWM_PRESCALER 64

#define PWM_COUNTER_PERIOD (F_CPU/PWM_PRESCALER/PWM_FREQUENCY)

void initializeMotors(){
    //http://arduino.cc/en/Hacking/PinMapping168 /328
    DDRB = DDRB | B00001110;                                  // Set ports to output PB1-3
    DDRD = DDRD | B00001000;                                  // Set port to output PD3
    
    commandAllMotors(1000);                                     // Initialise motors to 1000us (stopped)
    
    // Init PWM Timer 1  16 bit
    TCCR1A = (1<<WGM11)|(1<<COM1A1)|(1<<COM1B1);
    TCCR1B = (1<<WGM13)|(1<<WGM12)|(1<<CS11);
    ICR1 = PWM_COUNTER_PERIOD;
    // Init PWM Timer 2   8bit                                 // WGMn1 WGMn2 = Mode ? Fast PWM, TOP = 0xFF ,Update of OCRnx at BOTTOM
    TCCR2A = (1<<WGM20)|(1<<WGM21)|(1<<COM2A1)|(1<<COM2B1);    // Clear OCnA/OCnB on compare match, set OCnA/OCnB at BOTTOM (non-inverting mode)
    TCCR2B = (1<<CS22)|(1<<CS21);                              // Prescaler set to 256, that gives us a resolution of 16us
    // TOP is fixed at 255                                     // Output_PWM_Frequency = 244hz = 16000000/(256*(1+255)) = Clock_Speed / (Prescaler * (1 + TOP))
}

void writeMotors() {
    OCR2B = motorCommand[MOTOR1] / 16 ;                       // 1000-2000 to 128-256
//    OCR1A = motorCommand[MOTOR2] * 2 ;
//    OCR1B = motorCommand[MOTOR3] * 2 ;
//    OCR2A = motorCommand[MOTOR4] / 16 ;
}

void commandAllMotors(int command) {
    OCR2B = command / 16 ;      //MOTOR1
//    OCR1A = command * 2 ;       //MOTOR2
//    OCR1B = command * 2 ;       //MOTOR3
//    OCR2A = command / 16 ;      //MOTOR4
    
}

And main loop:

void setup(){
  Serial.begin(9600);
  initializeMotors();
}

void loop(){
  
  for(int x = 1000; x < 2000; x++){
      motorCommand[MOTOR1] = x;
      writeMotors();
      delay(200);
  }
  
    for(int y = 2000; y > 1000; y--){
      motorCommand[MOTOR1] = y;
      writeMotors();
      delay(200);
  }
  
}

I've tried to change the

PWM_FREQUENCY

parameter to even as low as 50hz, but the motors will just beep continously.

To see what the maximum refresh rate is I made a manual sketch where I can change the frequency and just put the digital pin as 1s and 0s.
The result was a maximum frequency of 285hz.

int freq = 3500; //in micros

void setup(){
  Serial.begin(9600);
  for(int x = 0; x <1000; x++){ 
  digitalWrite(3, 1);
  delayMicroseconds(1000);
  digitalWrite(3, 0);
  delayMicroseconds(freq);
}

}

void loop(){
  
  for(int x = 1000; x < 2000; x++){
        digitalWrite(3, 1);
        delayMicroseconds(x);
        digitalWrite(3, 0);
        delayMicroseconds(freq);
  }
  
    for(int y = 2000; y > 1000; y--){
        digitalWrite(3, 1);
        delayMicroseconds(y);
        digitalWrite(3, 0);
        delayMicroseconds(freq);
  }  
}

Can any1 see whats wrong with the first code, from aeroquad?

Cheers