Hi @awagner Apologies for the delayed response. It looks like this post slipped through during our recent forum and documentation site refactor. Are you still experiencing issues with your M0041-4? A few clarifying questions will help: When you mention "that is dead too", can you please clarify what exactly is no longer working? The M0041-4 power module, the VOXL 2 Mini, your power supply, or some combination of the three? Can you share more details about your ESC, make, model, and how the battery pads are connected to the power module? A photo of your wiring connections would be very helpful here. On the spark at plug-in: direct battery connection is the standard way to power up a drone, so that in itself is not unexpected. The spark on connection is not uncommon with a 6S pack due to charge balancing and inrush transient at the moment of contact (especially with our FPV ESC with near 1,000uF of capacitance). That said, we do include protection on the M0041-4 for this reason, so something unusual may have happened in your specific setup, which is why we'd like to see the connections. As a general note, we typically see XT-30 used up to 4S and XT-60 up to 6S. Running 6S on an XT-30 is outside the more common usage pattern and worth flagging as a potential factor. We had some folks mistake a 4S ESC for 6S due to exactly that on early Stinger models. We've since remedied that. One practical note: depending on what has failed, a replacement power module may be a faster and cheaper path than a full debug effort. That said, we do want to help you identify the root cause so this does not repeat. Replacing hardware without understanding the failure just puts the next module at the same risk. Let us know and share photos if you can. Again, sorry for the long delayed response. Thanks!

@Allister-Lim , If you are not monitoring the battery voltage while working with your battery-powered VOXL, it is possible that you are over-discharging the batteries to the point of failure. Especially with LiPo batteries, it is unsafe to over-discharge them, so please be careful. (It seems that you are also using LiPo batteries, in addition to ModalAI Li-Ion batteries also shown (green)). There is nothing wrong with using LiPo batteries, but you have to be more careful with those. Over-discharged batteries lose capacity and Lipo Batteries may become dangerous. It is a good idea to use an appropriate DC power supply when working with VOXL2 while it is powered on continuously. 12V 3-5A Power supply, connected to the APM (which will provide 5V for VOXL) should be sufficient. You should have no problem finding one, but in case you need, here is a link to the AC adapter that we sell : https://www.modalai.com/collections/accessories/products/ps-xt60 Alex

@tom Thank you very much for your information.

HI @souksakone Also, do not ARM the drone when using a power supply. You WILL damage the ESC and we will not honor any RMA/Warranties in that condition. We place warning labels on all main power supply cables for that. Thanks!

@psafi the html file is saved in the same folder where you run voxl-esc-spin* scripts if you have --enable-plot 1 . on VOXL2, the plot wont show up on screen, since there is no screen attached to VOXL2 (which would work on a linux pc), but it will be saved to html. In order to save to html, you will need to have plotly installed. You may first need to install pip3 apt update apt install python3-pip pip3 install plotly --upgrade Alex

@Alex-Kushleyev Thanks for the advice! Sorry for the delay in following up. Dan and I are on the same team and I currently have the physical drone in my possession. I've attached a video of what the motor spinning actually looks and sounds like. The motor you see is actually a replacement, and the behavior is the same. It appears we may actually have an ESC issue or an issue at the connection point between the motor wires and ESC. The video shown is the result of running: voxl2:/usr/share/modalai/voxl-esc-tools$ python3 voxl-esc-spin.py --id 1 --power 15 Modal AI Starling 2 Max - Motor Spin Test Video When running the voxl-esc-verify-params.py script, the output shows that params are all matching: voxl2:/usr/share/modalai/voxl-esc-tools$ python3 voxl-esc-verify-params.py Detected Python version : 3.6.9 (default, Mar 10 2023, 16:46:00) [GCC 8.4.0] Found voxl-esc tools bin version: 1.9 VOXL Platform: M0054 Detected RB5 Flight, VOXL2 M0054 or M0104! INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 2000000 Sending library name request: libslpi_qrb5165_io.so Sending initialization request INFO: ESC(s) detected on port: /dev/slpi-uart-2, baud rate: 2000000 INFO: Params from ID 0 match ../voxl-esc-params/D0012_Starling_MAX/esc_params_m0129_f2203_5_1500kv_7x3.7x3.xml INFO: Params from ID 1 match ../voxl-esc-params/D0012_Starling_MAX/esc_params_m0129_f2203_5_1500kv_7x3.7x3.xml INFO: Params from ID 2 match ../voxl-esc-params/D0012_Starling_MAX/esc_params_m0129_f2203_5_1500kv_7x3.7x3.xml INFO: Params from ID 3 match ../voxl-esc-params/D0012_Starling_MAX/esc_params_m0129_f2203_5_1500kv_7x3.7x3.xml INFO: Success! Params in all ESCs are valid and identical. Any thoughts on next steps here?

Ok, thanks!

@James-Strawson The failed batteries include both types, with a higher occurrence among the Gaoneng packs.

@Mihir-Bala The APM PCB is identical, you are likely referring to the PCBs If you want the lights solution possible, you should use the Mini 4-in-1 ESC which has a 5V regulator built in to power VOXL 2

Hi @xiangfuli Did you arm your drone with the wall power supply?

@Vinny thank you so much for the thorough and punctual response! I will give this rework a shot per your instruction and report back if I have any issues.

Thank you for a kind reply.

Hi Andrew, This is great info, thanks for clarifying. Unfortunately, our current product offerings do not support the "Pixhawk" style APM ADC inputs for current and voltage monitoring. However, I would bet that you could find source code for an Arduino or STM project where these ADC values have been converted to appropriate PX4 I2C digital formats that you can then feed into our products. Keep in mind, the I2C bus needs to be at 5V and you should provide the I2C pullups on your converter module (anything from 10K to 4.7K works well for our I2C translator). Thanks! Vinny

@jskard Would it be possible for you to please open up new forum posts for these new questions so that they can be better tracked? Thanks!

Hi ModalTB, I was able to resolve the issue looking deeper into QGroundControl. I had set the system to HITL after following your awesome tutorial: https://www.youtube.com/watch?v=-uoIxAkiYtk To fix this, I switched the system back to "Generic Quadcopter" in order to receive battery data. Thank you for your through response. It helped me to resolve this. Best Regards, Justin

No, we do not.