@ashwin I took a look at the Qualcomm developer site. My installation of Qualcomm Package Manager (QPM) 2.0 no longer works but they now say to use Qualcomm Software Center. So I was able to download and install v1.14.0 of that and by searching for "Hexagon" I was able to find the download link for "Qualcomm(R) Hexagon™ SDK 4.x"

Hello @JoeAR_21 ,

The debug log shows that the transition from the sinusoidal spin-up to closed-loop (based on back-emf) control is not working. There are several safety checks to prevent a bad motor from spinning up and the checks happen during this transition.

Most likely the motor windings or leads are compromised, either one of the phases is disconnected or there may be a short between two phases.

If you have a milliohm meter, you could accurately verify the phase resistance. A disconnected phase can be verified using a regular multi-meter by checking pairwise resistance between the 3 phases (should be the same and close to zero (in the range of 200-300 mOhm), depending on the specific motor used).

While an ESC issue is also possible, however, it is less likely to occur during a crash, unless the ESC was mechanically damaged.

Alex

Hello @hgutier ,

Can you please provide output of voxl-camera-server -l, which will scan all the connected cameras? You can just list the top part, something like this (just an example). Please note that this command will stop the background camera server service, if it's running, which can be restarted using systemctl start voxl-camera-server or just rebooting voxl2.

voxl-camera-server -l DEBUG: Attempting to open the hal module DEBUG: SUCCESS: Camera module opened on attempt 0 DEBUG: ----------- Number of cameras: 3 DEBUG: Cam idx: 0, Cam slot: 0, Slave Address: 0x0020, Sensor Id: 0x0214 DEBUG: Cam idx: 1, Cam slot: 1, Slave Address: 0x0030, Sensor Id: 0x0356 DEBUG: Cam idx: 2, Cam slot: 2, Slave Address: 0x0034, Sensor Id: 0x0077

Also, please list the following contents:

ls /usr/lib/camera/*sensormodule*

We will just double check that the software is set up correctly to use the TOF module.

Thank you

Alex