@Alex-Kushleyev Thank you for your reply. I used MSU-M0026-1-01. When changing to Green-ish, the gain becomes 69 (sorry, no snapshot). I have a few other snapshots. [image: 1662688247773-786fdb6c-da16-4177-a18b-147b99df3493-image.png] [image: 1662688265282-7b8f9d28-eba0-4764-b840-f295ceae19c1-image.png]

Perfect thank you! I have the sensor up and running.

We can specify which stereo camera should be calibrated using, 'voxl-calibrate-camera stereo_front -s 6x8 -l 0.038'

We do not have any experience at this point with Microhard's meshing algorithm. You could reach out to Microhard?

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

By default on all M0090 variants, all the transceiver/buffer circuits which take the 1.8V Kernel Debug UART to 3.3V TTL for J6 are DNI'd (not populated). The only thing that can be done is to probe on raw circuit pad locations for TX and RX to get the signals at a 1.8V level. Here are those snapshots to help guide you should you wish to pursue that route: [image: 1658427255298-637f7086-e575-4be7-a94f-4eaea8658da8-image.png] However, the ICs are located on the bottom side of the PCB, so when mated with Voxl2, you cannot probe directly, which would require soldering on wires to the PCB pads. That would likely violate any warranties on this specific PCB if you did that. [image: 1658427443052-0049d0fe-caea-4884-8da0-2364d45c2302-image.png]

Hello @DarkKnightCH , the mixer file does not only define the AUX1 and AUX2. Please note this line, which specify the configuration of a quadrotor in X orientation : https://github.com/modalai/px4-firmware/blob/1.11.3/ROMFS/px4fmu_common/mixers/quad_x.main.mix#L1 , specifically R: 4x

@Alex-Kushleyev When using RPM control, the mapping between thrust and RPM is usually an almost perfect quadratic, so you should probably use THR_MDL_FAC = 1 to make it quadratic. However, let me double check that last point.. The value of this parameter should not change when you change motor / propeller, since thrust is almost always a pure quadratic vs rpm. Hi @Alex-Kushleyev , did you manage to find out if THR_MDL_FAC should be set to 1 or should i calibrate the thrust curve? PX4's docs specified in https://docs.px4.io/v1.12/en/config_mc/pid_tuning_guide_multicopter_basic.html that if the ESC is a RPM-controlled one, no tuning is required: For PWM controllers, 0.3 is a good default (which may benefit from further tuning). For RPM-based controllers, use 1 (no further tuning is required as these have a quadratic thrust curve). But i noticed from ModalAI's reference params (eg Seeker's https://gitlab.com/voxl-public/flight-core-px4/px4-parameters/-/blob/master/platforms/v1.12/Seeker/Seeker_v1_param_rev_A.params) that the you guys did a calibration regardless # Dyno test shows this model should be 0.90 1 1 THR_MDL_FAC 0.90 9

@Chad-Sweet Ok thanks for your time.

We screen all of them, but some models adjust pretty easily. Twist the lens gently and you will see it change focus

Thanks @Chad-Sweet and @Alex-Kushleyev for the suggestions. Indeed it was a faulty ESC. Swapped it out and all temps are look fairly similar. On idle (room temp 25deg), the ESC temp stabilizes at around 50 odd degrees C.

@modalab Thanks, starting my assembly and verifying parts. I didn't recall any antenna with the kit, will have to get some in the mail. Thanks for the reply

Hello stevet, The reported voltage is the voltage measured by the ESC. In fact all 4 ESCs on the 4-in-1 ESC measure the voltage, you can try to run the calibrate script on others and double check the result. The current of 2.9A for a motor similar to EMAX 1306B is quite reasonable, in fact is probably on the low side (not a concern). If you are using a power supply that is capable of outputting 7.4V at much higher amps (lets say 10A), then follow these steps to figure out what is wrong: when ESC reports 2.9A, check to make sure the power supply also reports the same or similar current. run the calibration on a different ESC id to make sure the voltage measurement is similar to your first test use a multi-meter to measure the voltage right at the power input pads of the ESC (may need to solder temporary wires to ESC and connect them to multi-meter in order to do it safely.. use your judgement) the multi-meter voltage measurement should match very closely the voltage measured (under load) in the ESC the issue is most likely in the wiring between the power supply and the ESC (including possibility of a bad connector or bad solder joint at the connector). Alex

You can find that library here: https://developer.modalai.com/asset/download/98

Okay, in the meantime, I ended up creating a subscriber for the tof_pc and I managed to extract the x,y and z points. Im assuming that the z point that I extracted from the voxl_mpa_to_ros is the same as the one used in voxl-inspect-points, so that z axis is also reported in meters correct? Thanks for you help so far.

Our PWM breakout board does not have the positive rail connected.

@Chad-Sweet Thanks it works now.

Thank you very much for sharing!

Thanks for your suggestions. I ran the pwm test command in the MavLink console and confirmed all motors except the suspect one so looks like I'm going to replace an ESC. I do appreciate your guidance.

the TOF module pin-out matches the VOXL J2 pin-out found here We have also updated the documentation to include that pin-out here