@Stefan-Amundarain , Quick tip: if you use --id 2 during the calibration, the total current will be reported because the ESC ID2 senses the total board current. Note that if you have other load connected to the ESC, like VOXL2, that current will also be included, but it's better than nothing. Generally VOXL2 will consume little power compared to a motor spining a 5-inch propeller at high speed. The current measurement is not used for anything in the calibration, but it is a good sanity check to make sure things are behaving properly. The first plot (commanded motor voltage vs rpm is close to linear, which is a good result). Do not try to "blindly" change the a0, a1, and a2 parameters, as they are the coefficients of a quadratic curve used for feed-forward component of the RPM controller. It is not possible to just guess it. Also another tip, if you are running this calibration VOXL2 (as opposed to a PC), if you enable the cpu performance mode (voxl-set-cpu-mode perf), it should reduce some delays in running the calibration script and the data should look a bit cleaner (although i don't think it is an issue here). After performing the calibration and updating the calibration esc params file, make sure you are actually uploading that to the ESC using voxl-esc-upload-params.py script. Finally, after updating the params, what command are you using to test the ESC? You can gently test the RPM response using a ramp test, similar to what is described here: https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/blob/master/voxl-esc-tools/doc/low_kv_motor_tuning.md?ref_type=heads#power-ramp-test , but instead of power ramp, you can do an rpm ramp: ./voxl-esc-spin.py --id 2 --rpm 12000 --ramp-time 3.0 --timeout 3.5 --enable-plot 1 --cmd-rate 250 I would be curious to see the plot of that test. You can vary the rpm target in the test (make it higher) as you become more comfortable with the performance. The closest param file to what you are testing is probably this one : https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/blob/master/voxl-esc-params/FPV_RevB/m0138_xing2_1855_5x4x3.xml?ref_type=heads using Xing2 2207 1855kv with 5.1x4.1x3 tri-blade propeller, but this tuning is for 6S battery -- do not use this param file directly because the a0, a1, a2 params will be wrong (because you are using 4S) Please double check your results and if it is still not working, i can test your calibration file on my setup with the xing2 motor with a 4S battery. Alex

Hello @zauberflote1! Thanks for sharing. Made any progress on this package?

@Zachary-Lowell-0 Flight tests resulted in the failure of VOA operations. I set CP_GUIDE_ANG to 30 degrees. Unfortunately, after takeoff, the drone behaved as if it was locked and allowed to move only one way with a lot of resistance. I tried changing the parameters randomly but nothing worked. Could you please share your set of parameters?

@skl1g14 Thank you for sharing the urdf files! The link you shared however goes to a 404 page. Can you share another location for the given files? Thanks again in advance!

@tom Thank you.

@soraminds 1. Yes if you have a static IP set up with your cellular provider or you you use a VPN service such as tailscale to get the ground station and sentinel on the same network. Yes

@Eric-Katzfey I got it, thank you so much.

@Zachary-Lowell-0 Thank you for letting me know. this is my first time working with a multi-cell battery and a smart charger. I will be careful not to connect multiple batteries at the same time.

@tom P.S. I am currently working with the Drone Sentinel VOXL 2 and the drone is connected via LTE but without Wi-Fi, because there is no wifi dongle.

@jonathankampia got it. Thank you so much.

Hi @swickliff If this is still troubling you, are you willing to do an RMA so we can inspect and make sure things are solidly setup again for you? You can get started by reaching out here: rma@modalai.com

@jonathankampia , were you able to first confirm that you can control the gimbal using the actuator test in QGC for the pwm channel 5 (make sure to remove propellers for testing, just in case)? it should work just like any other pwm channel, i am assuming you already have channels 1-4 already set up and working with ESCs? If PWM actuator test is working through QGC, then you have VOXL2 IO board set up correctly and the rest of the logic for actually driving the pwm signal should be the same as for regular PX4 drone (which does not use VOXL). At the end of the day, the VOXL2 IO driver receives 8 channel values from the mixer and just sends the desired pwm values out to the VOXL2 IO board. All the logic above the mixer is standard PX4 and if you have a question about that, you can also try the PX4 forum (since we are not necessarily the best PX4 experts). You can try your python script, make sure propellers are off until you know exactly what you are doing and are ready to fly Alex

@ctitus , I have implemented this change on a branch here : https://gitlab.com/voxl-public/voxl-sdk/services/voxl-camera-server/-/commit/591f5683c7e2123c31aaa18af6a87e0c3820bd22 , it seems to be working. I did not add any custom AE mode, since this parameter only applies to the ISP-based auto exposure. Based on your experience, do you see any issues with this approach? It is working fine in initial testing. Perhaps your application is a bit different and you need the custom AE selection. Alex

@Zachary-Lowell-0 Hi, sorry for the late reply. This was the issue (lol)

@groupo yes all the code is open sourced for this exact purpose - if you wish to make updates, you can fork your own instance of the repository - make your edits, compile, flash the deb onto your voxl2 and then provided everythign works as expected you can make an MR on gitlab from your fork to the dev branch and one of us will review and test prior to adding into the next release.

@Moderator [image: 1730146896479-bf357fde-1761-4850-8a9a-4b9ba6c37115-image-resized.png] This is after power cycle (poweroff -f, power source off, turn on again)

@Alex-Kushleyev thanks - I think the voxl-streamer was enabled, but not running. Problem solved, thank you!