ModalAI Forum

tom

Please reach out here: https://www.modalai.com/pages/blue-uas-cleared-fpv-customer-intake-form

Eric Katzfey

I think you need to keep BAT1_SOURCE set to 0.

Eric Katzfey

This is what Codex says:

The root cause is a PX4 source-enum bug, not the ESC, baud rate, or VOXL_ESC_PUB_BST.

  - The supplied parameters select BAT1_SOURCE=2, meaning “ESCs”: /home/modalai/development/log_debug/no-batt-status/
    vehicle.params:5.

  - But voxl_esc constructs its battery object as BATTERY_SOURCE_POWER_MODULE (0): src/drivers/actuators/voxl_esc/
    voxl_esc.cpp:51.

  - The battery library publishes only when the driver’s source equals BAT1_SOURCE: src/lib/battery/battery.cpp:172.
  - Therefore 0 != 2, and every battery report is silently suppressed.

  This matches all the evidence:

  - VOXL_ESC_PUB_BST=1.
  - All four M0138 channels, including current-sensing ID 2, communicate at 2 Mbaud: /home/modalai/development/log_debug/no-
    batt-status/output.txt:279.

  - The flight log contains 232,935 healthy esc_status samples but no battery_status.
  - The forum test showed ID 2 reporting BOARD_VOLTAGE and BOARD_CURRENT, proving the ESC produces the special telemetry
    packet. This is the expected M0138 behavior documented in the ModalAI ESC FAQ (https://docs.modalai.com/voxl-escs/faq/).

  The proper code fix is one line:

  _battery(1, nullptr, _battery_report_interval,
           battery_status_s::BATTERY_SOURCE_ESCS)

  As an immediate workaround with the existing binary, set BAT1_SOURCE to Power Module (0), leave POWER_MANAGER=none, restart
  voxl-px4, and check:

  px4-listener battery_status 5

  That should publish, although the resulting topic will incorrectly identify its source as a power module. The one-line source
  change is the permanent fix.

Can you try setting that parameter and see if it works?

Eric Katzfey

File:
output.txt

Eric Katzfey

I sent an email to the address you have linked to this account.

Eric Katzfey

Okay, shoot, let me see if we can get that fixed.

Eric Katzfey

The forum won't let you attach it in your reply?

Eric Katzfey

Can you upload the log file to https://review.px4.io/ and then send the link?

Eric Katzfey

Also share the output.txt file after running this: journalctl -u voxl-px4 -b --no-pager > output.txt

Eric Katzfey

Can you share the log file?

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