@Chase-Riley yes, we can work with Doodle Labs to get this resolved

@dlee we don't have those benchmarks yet, sorry. The IRS2975C based TOF should go 1-2m further than the old one

@Alex-Kushleyev Oh, very fascinating. Thank you for the update! I'd actually somewhat given up on DFS and started testing your new ToF beta product, but when I can I'll try boot my DFS rig back up and see if the fix helps. Edit: Nevermind, I just checked and my DFS rig is on SDK v1.1.2, so this fix shouldn't be applicable. I might still try it out just in case, though.

@Denver-Bennett Great, glad to hear that helped!

@Moderator No, it does not. You need to rely on QGC or other reporting tools.

@Eric-Katzfey okay - too bad. Is it still on the to-do list or no longer in the plans?

@Chase-Riley Yes, as Alex said, most standard builds do not include the voxl_esc driver. Only the ModalAI products include it as a standard part of the build. So you will need to add that to you build configuration.

@K-Stute , sounds great! if it happens again, let us know, we can debug. Alex

@blue , i just fixed (a few days ago) the calibration script (on voxl-esc dev branch) to plot the total current for M0138 in the calibration procedure, however, yes you still need to run the calibration test using ID2. This is because ID2 measures the total current and it only sends back the data if the feedback is requested from it. If you are running a test on a single ESC which is not ID2, then ID2 is not asked to send any data back, this allows for 4x the feedback rate for that single ESC that is being tested. So on M0138 if you want to see the current output, you should use ID2 for testing: ./voxl-esc-calibrate.py --id 2 --pwm-min 10 --pwm-max 95 Currently, the current ( ) is not used for anything in the calibration procedure, but it is good to look at it to make sure it follows a smooth curve as the power ramps up. Thanks, I try to add as much data to plot as possible because it is often easier to spot issues by looking at the plots. By the way, it seems your data time scale is kind of coarse (seems like 14-15hz). Sometimes this can happen if your USB-to-serial adapter buffers too much data.. are you using a PC or VOXL for this test? if you are using FTDI, this may be helpful to test out : https://granitedevices.com/wiki/FTDI_Linux_USB_latency You should be able to get really nice plots when using 2Mbit baud rate and --cmd-rate 1000 or even 2000 helps catch any small spikes or anomalies. In your calibration test that you originally posted (where the current was reported zero), it looks like towards the end, the top left curve (commanded motor voltage vs rpm) starts curving up a bit more, that can suggest that the motor is not operating optimally at that point. I am not sure which motor / propeller you are testing, but sometimes it helps to adjust the ESC commutation advance from 0 to 20 or so (esc param <param name="timing_advance" value="20"/>). You could try that and see if the high end shape of the curve does not curve up as much. Alex

After multiple tries of updating the firmware and uploading the parameters, it seems to have finally worked!!

@mark SDK 1.1.1 and greater is required https://docs.modalai.com/M0107/

@Alex-Kushleyev That worked, thank you! And yes, it is the rolling shutter effect, I believe it was just more noticeable with the color change. Everything seems to be working now!

@Alex-Kushleyev Yes thank you, we will be going through all of the calibrations as our application is completely custom.

Update on following up on this topic. I was able to use other camera including Logitech Brio as suggested on ModalAI webpage. It only support YUV format not MJPEG streaming. With YUV format on Logitech Brio, I was only able to get 1920x1080 at 5 fps. But could not get MJPEG working.

if CPU was causing the issue, then you would see slower FPS, not degraded performance. This sounds like the actual TOF sensor is heating up and at some point starts throttling itself by reducing the emitted power, which helps cool it down. You could test it by selectively cooling TOF sensor (and not voxl) and see if performance goes back up.

@Alex-Kushleyev Thanks for all the info! I'll keep those things in mind when soldering to the pads.

@Moderator said in VOXL ESC Mini 4-in-1 Current per Motor: Is it possible to step up voltage? Can you please clarify the question? Mini ESC is designed for small drones ( < 500g ). The ESC has been tested to handle 15A continous at 15V input continuously (60+ seconds), but with full direct air flow from propellers. This would simulate a full throttle "punch-out" on a small FPV drone (high current, but also lots of direct airflow = cooling). Do not use this ESC if the drone needs 10-15A per channel just to hover. Use it in application where hover current per motor is less than 5A (ideally 2-3A which is very typical) and absolute maximum continuous current per motor can be 10-15A. For example, motors used for small FPV drones often are around 1306 size (3-4S Lipo). Those motors are usually rated for up to 10-12A continous (for 30-60 seconds). Larger motors can be used as long as maximum motor current does not exceed 10-15A (still 2-3A at hover) and there is sufficient cooling. Always check ESC board temperature during initial flights / tuning. Temperature must stay below 110C at all times (critical), typically in the range of 40-70C for most applications. The ESC will most likely fail above 125C. Temperature of the ESC board is the limiting factor because the board is so small. Mosfets can handle a lot of current as long as they don't overheat. So the design of the drone is very important (either use low current so that temperature is not an issue or properly design air flow from propellers and/or add heat spreader to keep the ESC board temperature in normal range for higher current draw applications). ESC provides real time temperature feedback and it can be viewed in PX4 / QGC. Additionally, the PX4 logs contain the temperature information.

@riteshsharma Was there an error in our documentation that we need to fix? Did you make some changes that you think may be valuable to others and, if so, are you willing to share them?