@Moderator We heard back from our supplier, the lens mount is M6*P0.2

Low-kV motors are currently not fully supported, as they may experience de-sync at high power. By "low kv", I mean kv < 600. This happens because low kv motors typically have high winding inductance, which results in long demagnetization time and loss of motor timing.

We are working on improving the firmware to handle this issue. An update will be coming within several weeks.

The demagnetization issue is not a function of the 6S version of our M0134 ESC, but it is a function of the motor itself. However, the low kv motors are often made to run on higher voltages (6S) so that is why the issue can be observed on the M0134-6 and not observed on 4s ESCs (since typical motors for 4S or less will have higher kV values)

Meanwhile, there is not much that can be done to improve the performance. Updating ESC param sense_advance from 0 to 20 should help a little bit:

<param name="sense_advance" value="20"/>

When testing new motor / prop configurations, it is highly recommended to use voxl-esc tools and a step command can be very useful:

./voxl-esc-spin-step.py --id 3 --power 30 --step-amplitude 50 --cmd-rate 1000 --enable-plot 1 --timeout 2.0 --step-frequency 1.0 --enable-plot 1

This command does the following:

• spins ESC ID 3 in power mode (not rpm mode)
• initial power is 30%
• at frequency of 1hz a step size of 50% of power will be applied (up 50% and then down 50%)
• the test will terminate after 2 seconds
• plot will be displayed after the test

It is good to use this kind of test because it simulates very abrupt change in ESC command (probably not realistic, but still, a properly tuned ESC should handle this properly). The test is short which should prevent permanent damage to the motor / ESC.

It is also good to start off with lower amplitude steps (10, 20, 30, 40, 50, etc) and work your way up, because if it fails at lower step size, there is less change of a electrical failure of the ESC / motor and there is no point to increase the step size, because it already failed at a lower value.

A sample output from the above test command is below:

You can see initial smooth spin-up during the first 1 second (spin-up params can be changed in ESC params xml). Then the ESC kicks up the power to 30% and then to 80%. The steady state current at 80% power is about 7A but the current spike during transition reaches 28A.

@utari_ais You should be able to just ctrl-C or exit the terminal

@utari_ais Are you using a seeker? If so you need to flash the voxl1 release, not voxl2

@utari_ais It takes a couple minutes and provides output along the way. What are you seeing?

@afdrus OK, you could be right. Hopefully the source code helps? We don't use it in this way, so you may need to modify

@john-garman Hi John, we're sorry - we do not know. we do not manufacture ourselves. we can ask though

@mkriesel Yes, we only support specific configurations. You can see them documented here: https://docs.modalai.com/voxl2-camera-configs/

Q: will the M0134-6 VOXL 4-in-1 ESC support KDE 4012XF motors with 16 in props?

Q: are there more specification details on what is supported in the 6S version?

@ck Can't give you an answer as it would require an inspection from our team