@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?

@0x45 if you get it working and you would like to share your change, we can test and incorporate into the driver. That could potentially make it easier for you to not have to use a custom px4 build for your application.

@dlee , that is great to hear! Since lowering ESC kp and ki to zero helped, it may mean one of the several potential issues outside of ESC: the flight controller (gyro) is measuring too much vibration from propellers (is there vibration dampening in your design?) your attitude controller Derivative gain may be too high, causing the noisy gyro data to be amplified and sent to motors However, if the vehicle is flying well right now, perhaps you do not need to do anything else. Tuning down the ESC response acts as a low pass filter that filters out the noisy RPM commands.

@swickliff, if only 1 out of 4 LEDs is blinking, that is very strange. When power is applied to the ESC, the bootloader on each ESC channel should always start and blink the blue led fast for 1 second. after that, firmware execution starts. If LED is not blinking at first, then there is most likely some HW issue that prevents the ESCs from booting. I am surprised that one out of four LEDs is actually blinking. Our ESCs are all tested during production (including spinning), but if you think that you received the ESC in a non-working state (it was not damaged after receiving it), then you should submit an RMA form for a replacement. https://www.modalai.com/pages/rma

@Vinny Thanks for your quick reply. I have no idea what caused this problem. After the first flight i noticed a certain smell that could have been caused by the capacitor transcending into the shadow realm - but that is the only time I remember anything odd happening to the chip. Since the modem is used in combination with the voxl2 in a research project at my university I'm not the only one that had his hands on it. Thus i can not rule out that a device was connected backwards causing this whole mess. Thank you for your time!

@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.

@swickliff please submit a request at https://modalai.com/rma .

@tom Yes. I removed "," from the config file and it worked. Thanks

@Aaky, yes if you change the camera configuration, just follow the same process: copy correct sensorbin (with correct slot id) to /usr/lib/camera/ as previously discussed confirm the camera is detected using voxl-camera-server -l update camera config xml with correct camera ids - the camera id’s will start with zero and increment by 1 for each camera. The camera id assignment happens in order of the camera slot id. Slot id is mapped to the physical connector. You may want to remove unused sensorbins from /usr/lib/camera just to avoid any confusion. You can always get them back from /usr/share/modalai/chi-cdk

@Nick-Stroumtsos Moderator said in Power supply brownout w/ the Microhard Carrier USB Dongle @Nick-Stroumtsos Our carrier board design is a few years old, there's a good chance it won't meet this newer spec. That is correct, it is not going to be supported on this design. We designed for the 30dBm max power modes from several years ago as shown here: [image: 1708033819478-f1f632e6-b6ae-4764-9042-22ea4426fe05-image.png] We have a power consumption table in our tech docs that helps a user determine the limits for various modes: https://docs.modalai.com/microhard-add-on-datasheet/#power-consumption but nothing above 30dBm. We'd need new hardware for that. Sorry, but at least hopefully that explains the behaviors you are seeing.

@Darshit-Desai , yes, feel free to modify the code as you need for right now for your own testing. Once i have a chance, i will make the mode selection (long / short) and FPS more flexible. I hope this unblocked your work and you can move forward. Alex