@ErezI I think we did it, but i'll try again. Thanks

@modaltb Support is hard! I am not sure I could do it.

@Aaron-Porter So I made a mistake that the IMU-server was not running during my screen shots. But I figured out the issue. Yo can use the starling file you have to run the command, voxl-configure-qvio factory_enable_imu_apps This will tell qvio-server to look for imu_apps instead of imu0.

Hi @Jyotish-Kumar The ESC malfunctioning should not impact the 5V output side of the power module. If you are getting low resistance on that diode, then it was over-voltaged. That diode is rated for 27V, so the only thing I can think of that would cause that is a short to the VBAT input from the ESC to the 5V rail. Then, if the ESC malfunctioned leading to an energy dump that can create >27V in uncontrolled back EMF. Was this setup in a crash? Was is powered by a power supply? Both of those are common reasons for our protection diodes on the Power Module or ESC or Voxl2 to get damaged from extreme over-voltage due to energy dumps. If you do an RMA, we can certainly test the Voxl2 in an isolated environment to make sure it is still functioning. If we see that diode is damaged, we might be able to repair it at some cost, but it may be that some other system component was your root cause and you can do it again if you do not identify and fix the reason(s). Thanks!

@Gdanan Do you have other services running? Maybe try to disable unneeded services while calibrating?

@tanguy-sagere I wonder if you upgrade to SDK 1.0 if the issue resolves itself

@John-Nomikos-0 Thank you. OK, here is the big difference that is most likely the reason for your behavior. In your new params you used kp, ki, max_kpe, max_kpi terms set to zero, but old params have nonzero: <param name="kp" value="130"/> <!-- RPM controller proportional gain --> <param name="ki" value="30"/> <!-- RPM controller proportional gain --> <param name="max_kpe" value="300"/> <!-- maximum proportional erorr term (max is 999) --> <param name="max_kie" value="100"/> <!-- maximum integral error term (max is 999) --> <param name="max_rpm_delta" value="1200"/> <!-- cap for maximum rpm error used in RPM controller --> Considering that you have not calibrated the ESC for your motor and propeller (meaning that the feed-forward term in the RPM controller is wrong), if you also disable the feedback terms of the RPM controller (kp, ki) then the behavior of the ESC will be completely off from what is desired. Even with incorrect feed forward term (pwm_vs_rpm_curve terms), if feedback terms are enabled, they can compensate, to some degree, but with the feedback terms set to zero, there is no hope for the ESC to turn the motor at the desired speed. You can keep using the old firmware and params if that works for you, but if you wanted to switch to latest ESC firmware and params, then i suggest trying to use the same non-zero RPM controller params. Alex

@Moderator Thank you

So this is the correct functionality, and that the Data is updated relative to the IMU and not to the Body of the Drone.

@Eric-Katzfey yes

@Eric-Katzfey said in VOXL2 IO (M0065) support on PX4 1.14 in SDK 1.0.0: @Jon305Johnson I would estimate about a month for RC functionality (SBus) and another month for PWM @Eric-Katzfey any updates or projections on the M0065 integration into 1.14?

Hi @wilkinsaf Our Schematic for the "B-Quad" (Voxl2 Developer Test Board, M0144) are live!! https://docs.modalai.com/voxl2-dev-test-board-datasheet/#schematics In there, you can see an example of how to design the proper connections for powering Voxl2 from J5. VDCIN_5V would be from a 6A capable power supply on your host system (carrier board): [image: 1692914469252-80eff3be-05ab-47a2-968a-3425fefebe49-image.png]