@Hunter-Scott Can you supply a px4 log file?

@taiwohazeez Could the propellers have been removed and replaced such that they are no longer in the proper position? If they are reversed they will be trying to push the drone down instead of up.

@Jetson-Nano Okay, well we don't support that right now. If you want to make your own build then you can probably just replace all of the files in the src/drivers/actuators/voxl_esc with the files from the voxl-fpv-dev branch.

@Jetson-Nano It's hard to follow what you are asking. Are you trying to add turtle mode to another ESC driver? Are you trying to get turtle mode working with a joystick and VOXL ESC?

@bambamoda The VOXL 2 can support 8 PWM outputs with this add-on board: https://www.modalai.com/products/voxl2-io?variant=40610514206771.

@taiwohazeez Can you please provide the flight log?

@greg_s Hi there, can you post these 2 files from your drone:

/etc/modalai/voxl-vision-hub.conf
/etc/modalai/voxl-open-vins-server.conf

One thing from your screenshot is I sort of see the drone's position and the trajectory planned. For example as in this screenshot, the drone's xyz position should be visible (xyz axes) and a trajectory (black & red lines) should be displayed before executing a trajectory. The drone should be moving in realtime hovering in position. If it's static the vio was likely lost.

@Jetson-Nano This is a feature that was designed specifically for our FPV drones so that is the only branch that has it supported.

@bambamoda Are you asking about flight controllers (FC) that can do 8 motors or ESCs that can do 8 motors?

@Jetson-Nano The turtle mode is built into the px4 voxl_esc driver so it will only work with that ESC.