@Mastermind This is great info! Thanks for sharing!

Hi @sspiller This LED, D6, is an indicator that all power supplies for the board are ON (and GOOD) and the image sensor is OUT OF Reset. [image: 1692925189378-e5f4c9b6-8d8a-4346-a0ce-833bf912f621-image.png] When you see it toggling OFF, it implies the VOXL/VOXL 2 is holding the image sensor in reset.

@Mastermind In our next release (SDK 1.0.1) we will have the ability to use a UART on the DSP (assuming px4 isn't running on VOXL2) from the applications processor specifically for the use case of running an external flight controller through it.

@modaltb, Is there any news regarding this issue? Are you able to reproduce this phenomenon?

@dlee , sorry for the delay. Just to clarify, it is possible that your CW and CCW propellers are not exactly the same, therefore the CW and CCW motors are showing slightly different response to calibration. In this case we can calculate an average for this calibration and use that for all 4 motors. I modified the script to calculate the quadratic fit for all four calibration results together. import numpy as np import plotly.graph_objects as go rpms = np.arange(0,13000) #rpm range for the quadratic fit cals = [] fits = [] all_fits = [] #enter the calibration results from each motor cals.append([7.53669159958e-06, 0.336081465707, 112.878194918]) cals.append([2.9479165331e-06, 0.37353561309, 35.6265065345]) cals.append([8.8413818561e-06, 0.3256003514, 132.362831923]) cals.append([7.1523119742e-07, 0.405821707061, -98.2189291548]) fig = go.Figure() for idx in range(len(cals)): fit = np.polyval(cals[idx], rpms) fits.append(fit) fig.add_trace(go.Scatter(x=rpms, y=fits[idx], name='Fit %d'%idx)) #plot each fit #create an array that contains points sampled from each curve #and perform a polynomial fit on all the data to find the average all_data = np.array(fits).flatten('C') all_rpms = np.array([rpms,rpms,rpms,rpms]).flatten('C') #evaluate the average poly fit ply = np.polyfit(all_rpms, all_data, 2) av_fit = np.polyval(ply, rpms) #print the average fit coefficients print('Average Fit coefficients:') print(' pwm_vs_rpm_curve_a0 = ' + str(ply[2])) print(' pwm_vs_rpm_curve_a1 = ' + str(ply[1])) print(' pwm_vs_rpm_curve_a2 = ' + str(ply[0])) #plot the average fig.add_trace(go.Scatter(x=rpms, y=av_fit, name='Average Fit')) #finalize and show the figure fig.update_layout(title='Motor Voltage vs. RPM') fig.update_xaxes(title_text="RPM") fig.update_yaxes(title_text="Motor Voltage (mV)") fig.show() It results in the following plot and average coefficients. You can enter these coefficients into your custom esc parameters xml file. Average Fit coefficients: pwm_vs_rpm_curve_a0 = 45.66215105517507 pwm_vs_rpm_curve_a1 = 0.36025978431449995 pwm_vs_rpm_curve_a2 = 5.01030529655002e-06 [image: 1692214971344-2dd75e2f-f722-464d-be82-5548568ec25b-image.png]

@Davon-Prewitt Can you please take a picture of your setup? Usually when this happens too many extension flex cables have been used and the system is on the margin

@Gerhold-Ten-Voorde hi @Gerhold-Ten-Voorde yes this snapshot resolution should be supported now as well. I will send an email to you with a link to a nightly build to try out! Thanks! -Travis

Sorry for the lag @brycek, we have some pending updates that clean up streaming and add support for full resolution. Let me know if you're up to try any pre-release software and we can try to get you a test build to validate things are OK for you now.

@wilkinsaf I came across this article from Logitech: https://www.logitech.com/en-us/video-collaboration/resources/think-tank/articles/taa-ndaa-compliant-products.html Their webcams have worked well for us in the past so I'd think one of the mentioned products would work.

Hello @floooH Sorry about that, we will update the performance section soon. The mini ESC has been tested at 16V 15A continuous for 1 minute (15A per each channel, so 60A total). The test condition was under full air flow of 5" tri-blade propellers spinning at around 20K RPM and the temperature of ESC (measured by the MCU) was around 80 degrees C. You generally want to keep your ESC under 100C (temperature is measured by the sensor inside each MCU and reported via ESC feedback). The maximum voltage is 4S (up to at least 18V is safe). Maximum burst current at least 30A per channel (for few seconds) Even though the ESC can handle pretty large currents, due to its small form factor you need to be careful and watch the ESC temperature when you are designing / testing your drone. Small PCB of the mini ESC does not have much area for heat dissipation, so good airflow is required for large current flows. So the ESC is unlikely to break from over current (within reasonable range) but it could overheat if it is not appropriately cooled. In general we recommend the mini ESC to be used on drones < 750g, where you should not have much problem at all with heat dissipation even with minimal cooling. But for any larger drone or racing applications you will need to perform testing to ensure the ESC can stay < 100 deg C (ideally around 60-80C during the whole flight). I hope this helps, let me know if you need more info Alex

@Alex-Kushleyev @Eric-Katzfey Managed to get everything up and running with your advice - One thing I needed to do first was flash V1.0.0 as the system was running V1.0.0beta and had an older version of ESC tools V1.08. Once V1.0.0 was flashed the ESC tools was update to 1.20 and allowed me to update to the ESC firmware version 38. After everything flashed and updated I now have the battery information in QGroundControl! Many thanks again for your assistance!

@Ainars-Bralitis The quectel-CM program is part of the voxl-modem package, you can find the latest release here: http://voxl-packages.modalai.com/dists/qrb5165/sdk-1.0/binary-arm64/voxl-modem_1.0.5_arm64.deb

Please see app note here

Hi @Jon305Johnson We will not be offering 60A support for some months yet, but we are now testing our standard 4-in-1 ESC at 6S support. We built the first few proto units and expect to have some results in a matter of weeks. All forward progress. Thanks! Vinny

@ErezI When it comes to comparing the quadratic curve fits, it is difficult to look at just the coefficients and compare them. If you have multiple tests, you should plot the quadratic plots on the same figure and see how repeatable they are. What may seem like a noticeable variation in the coefficients, could still result in curves that are very similar. By the way, you should not just average values of a0, a1, and a2 to get a0_average, a1_average, and a2_average, as this will result in wrong curve. If you would like to find an average of all 4 runs, then you can just create a quadratic fit of all the points from the 4 data sets - that is the proper way to do it. However, if after plotting the 4 curves they look very similar, you can use any of the 4 individual fits. The PI (Proportional Integral) controller on the ESC will compensate for minor deviations. The error you saw with params not being valid was due to the latest version of voxl-esc tools using new parameter structure. So the solution is (which is what you already figured out) to update the firmware and params to latest. This type of change does not happen too often. We will add this to documentation to make this clear. Alex

@Aidan-Dempster , Good question. As you may already know, the 4 ESCs normally only send their feedback status packet when the host (flight controller) queries them. The feedback query bit is set for one ESC at a time when sending out the control packet to the 4 ESCs. The Flight controller requests the feedback from one ESC at a time in round robin fashion in order to avoid collisions on UART line. This is true for all ModalAI ESCs. Now, the mini ESC M0129 has a special setup in terms of current sensing. IDs 0-2 do not have any current measurement, but ID3 measures the total current. In order to avoid confusion with individual current measurement, we have added a new Power Status message, which ID3 sends out in addition to the standard feedback. So when the Flight Controller asks ID3 to send feedback, the ID3 will send back the normal feedback packet and the power status packet. Here is a link in PX4 for your reference: parsing of standard packet: https://github.com/modalai/px4-firmware/blob/voxl-dev/src/drivers/actuators/modal_io/modal_io.cpp#L303 parsing of power status and sending out battery status to PX4: https://github.com/modalai/px4-firmware/blob/voxl-dev/src/drivers/actuators/modal_io/modal_io.cpp#L393 It looks like the power status feature is only in voxl-dev branch of PX4 code at the moment. Hopefully that helps! Let me know if you have any other questions. Alex

Hello @andrespalomino , It is possible that during crash the motors have sustained some critical damage. Since you indicated the motors "burned" that usually means the winding insulation has melted and there is probably internal short inside the motor. when you say motors spin correctly when they are separately - are all 4 motors spinning at the desired 4500 rpm with very little current, if tested individually? Hopefully the ESC is still working fine (please check it for any indication of burned components). You can do a quick test in open loop mode before replacing the motors: python voxl-esc-spin.py --id 255 --power 10 --timeout 1 This will apply a fixed power of 10% and it is a very "gentle" test mode to make sure the new motors and ESC are working properly. You can test with propellers or without (maybe better without propellers at first). All 4 ESCs should spin around the same RPM and current should be very low. You can increase the test duration from 1 second if all goes well. As next step, I would suggest replacing the two motors that are not spinning correctly. Burned motors typically means they need to be replaced. After motor replacement, you should repeat the spin test in open loop mode (in previous step). Also, are you able to share the motor and propeller used on your vehicle? Alex