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    ESC Issue On SDK 1.0.0

    VOXL 2
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    • J
      John Nomikos 0 @tom
      last edited by John Nomikos 0 1 Aug 2023, 15:33 1 Aug 2023, 15:32

      @tom

      It does seem to be detecting the ESCs with that command.

      Strange that the blue light does not blink and spinning is not working on 1.0.0

      Here is the output:

      voxl2:/$ voxl-esc scan
      enabling bridge
      detected voxl-px4 is enabled
      Removed /etc/systemd/system/multi-user.target.wants/voxl-px4.service.
      detected voxl-px4 is running, stopping it now
      bridge enabled
      Detected Python version : 3.6.9 (default, Mar 10 2023, 16:46:00) 
      [GCC 8.4.0]
      Found voxl-esc tools bin version: 1.2
      VOXL Platform: M0054
      Detected VOXL2 M0054 or M0104!
      INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 2000000
      Sending library name request: libslpi_uart_bridge_slpi.so
      Received standard error event 2
      Sending initialization request
      INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 250000
      INFO: ESC(s) detected on port: /dev/slpi-uart-2, baud rate: 250000
      INFO: Detected protocol: firmware
      INFO: Additional Information:
      INFO: ---------------------
      	ID         : 0
      	Board      : version 31: ModalAi 4-in-1 ESC V2 RevB (M0049)
      	UID        : 0x2032353450415714003E004A
      	Firmware   : version   34, hash 833243c0
      	Bootloader : version  183, hash 0a80a32a
      
      	ID         : 1
      	Board      : version 31: ModalAi 4-in-1 ESC V2 RevB (M0049)
      	UID        : 0x20323534504157140042002B
      	Firmware   : version   34, hash 833243c0
      	Bootloader : version  183, hash 0a80a32a
      
      	ID         : 2
      	Board      : version 31: ModalAi 4-in-1 ESC V2 RevB (M0049)
      	UID        : 0x20323534504157140042002E
      	Firmware   : version   34, hash 833243c0
      	Bootloader : version  183, hash 0a80a32a
      
      	ID         : 3
      	Board      : version 31: ModalAi 4-in-1 ESC V2 RevB (M0049)
      	UID        : 0x203235345041571400420034
      	Firmware   : version   34, hash 833243c0
      	Bootloader : version  183, hash 0a80a32a
      
      ---------------------
      successfully pinged ESCs
      disabling bridge
      re-enabling voxl-px4
      Created symlink /etc/systemd/system/multi-user.target.wants/voxl-px4.service → /etc/systemd/system/voxl-px4.service.
      restarting voxl-px4
      bridge disabled
      
      J 1 Reply Last reply 1 Aug 2023, 19:15 Reply Quote 0
      • J
        John Nomikos 0 @John Nomikos 0
        last edited by 1 Aug 2023, 19:15

        @tom

        I found that doing voxl-esc spin is working.

        Testing on actuators tab on QGC does not.

        Also tried to do "px4-qshell commander arm -f" and it successfully armed and showed it was flying, but props are not spinning

        W E 2 Replies Last reply 1 Aug 2023, 22:41 Reply Quote 0
        • W
          wilkinsaf ModalAI Team @John Nomikos 0
          last edited by 1 Aug 2023, 22:41

          To clear things up.

          The ESC is not working when we arm. It does not spin with "actuators" tab.
          The ESC only spins a motor when we issue a "voxl-esc" on the command line

          E 1 Reply Last reply 1 Aug 2023, 23:01 Reply Quote 0
          • E
            Eric Katzfey ModalAI Team @wilkinsaf
            last edited by 1 Aug 2023, 23:01

            @wilkinsaf Please post the settings of all of the MODAL_IO_* parameters. E.g. px4-param show MODAL_IO_*

            J 1 Reply Last reply 1 Aug 2023, 23:07 Reply Quote 0
            • J
              John Nomikos 0 @Eric Katzfey
              last edited by 1 Aug 2023, 23:07

              @Eric-Katzfey here are the params. Let me know if you need anything else.

              voxl2:/$ px4-param show MODAL_IO_*
              Symbols: x = used, + = saved, * = unsaved
              x + MODAL_IO_BAUD [508,1061] : 2000000
              x + MODAL_IO_CONFIG [509,1062] : 1
              x + MODAL_IO_FUNC1 [510,1063] : 101
              x + MODAL_IO_FUNC2 [511,1064] : 104
              x + MODAL_IO_FUNC3 [512,1065] : 102
              x + MODAL_IO_FUNC4 [513,1066] : 103
              x   MODAL_IO_MODE [514,1067] : 0
              x   MODAL_IO_REV [515,1068] : 0
              x   MODAL_IO_RPM_MAX [516,1069] : 15000
              x + MODAL_IO_RPM_MIN [517,1070] : 3000
              x   MODAL_IO_SDIR1 [518,1071] : 0
              x   MODAL_IO_SDIR2 [519,1072] : 0
              x   MODAL_IO_SDIR3 [520,1073] : 0
              x   MODAL_IO_SDIR4 [521,1074] : 0
              x   MODAL_IO_T_COSP [522,1075] : 0.9900
              x   MODAL_IO_T_DEAD [523,1076] : 20
              x   MODAL_IO_T_EXPO [524,1077] : 35
              x   MODAL_IO_T_MINF [525,1078] : 0.1500
              x   MODAL_IO_T_PERC [526,1079] : 90
              x + MODAL_IO_VLOG [527,1080] : 1
              
               799/2092 parameters used.
              
              E 1 Reply Last reply 1 Aug 2023, 23:34 Reply Quote 0
              • E
                Eric Katzfey ModalAI Team @John Nomikos 0
                last edited by 1 Aug 2023, 23:34

                @John-Nomikos-0 Okay, I don't see anything obviously wrong with those. Can you arm the drone and collect a log?

                1 Reply Last reply Reply Quote 0
                • E
                  Eric Katzfey ModalAI Team @John Nomikos 0
                  last edited by 1 Aug 2023, 23:38

                  @John-Nomikos-0 When you arm you are using the -f flag to force it. What happens if you don't use the force flag? Does it give you some errors?

                  W 1 Reply Last reply 2 Aug 2023, 00:48 Reply Quote 0
                  • W
                    wilkinsaf ModalAI Team @Eric Katzfey
                    last edited by 2 Aug 2023, 00:48

                    @Eric-Katzfey John left to go home, but popped into the other room to run this

                    I keep on getting a failsafe activated the MOMENT we try and arm.
                    e6608e60-37c9-490d-a0a7-ed41a7ff23c0-image.png

                    I can not seem to get more than this message. I am going to manually run voxl-px4 to see if I can get better output

                    W 1 Reply Last reply 2 Aug 2023, 00:53 Reply Quote 0
                    • W
                      wilkinsaf ModalAI Team @wilkinsaf
                      last edited by 2 Aug 2023, 00:53

                      Here is the output from voxl-px4 once we requested to arm

                      INFO  [px4] Startup script returned successfully
                      INFO  [muorb] SLPI: Advertising remote topic ping
                      WARN  [uORB] orb_advertise_multi: failed to set queue size
                      INFO  [uORB] Marking DeviceNode(mavlink_log) as advertised in process_remote_topic
                      INFO  [muorb] SLPI: Armed by external command	
                      INFO  [logger] Start file log (type: full)
                      WARN  [uORB] orb_advertise_multi: failed to set queue size
                      INFO  [logger] [logger] /data/px4/log/2023-03-02/12_59_17.ulg	
                      INFO  [logger] Opened full log file: /data/px4/log/2023-03-02/12_59_17.ulg
                      WARN  [mavlink] Event dropped (37, 65526)
                      WARN  [mavlink] Event dropped (37, 65526)
                      INFO  [muorb] SLPI: Advertising remote topic logger_status
                      WARN  [mavlink] Dropped 65489 events (seq=65526)
                      WARN  [mavlink] Dropped 65489 events (seq=65526)
                      INFO  [uORB] Marking DeviceNode(mavlink_log) as advertised in process_remote_topic
                      INFO  [muorb] SLPI: Failsafe activated	
                      INFO  [muorb] SLPI: Disarmed by failsafe	
                      INFO  [uORB] Marking DeviceNode(parameter_server_set_value_request) as advertised in process_remote_topic
                      WARN  [mavlink] Event dropped (65527, 37)
                      WARN  [mavlink] Event dropped (65527, 37)
                      WARN  [mavlink] Dropped 28 events (seq=37)
                      WARN  [mavlink] Dropped 28 events (seq=37)
                      INFO  [muorb] SLPI: Marking DeviceNode(parameter_server_set_value_response) as advertised in process_remote_t
                      INFO  [logger] closed logfile, bytes written: 221550
                      
                      
                      E 1 Reply Last reply 2 Aug 2023, 00:58 Reply Quote 0
                      • E
                        Eric Katzfey ModalAI Team @wilkinsaf
                        last edited by 2 Aug 2023, 00:58

                        @wilkinsaf Okay, that's not very useful. Definitely going to have to figure out a way to make PX4 provide an actual reason. Our ESC guru Alex thinks that the older ESC firmware you have defaults to a different baudrate than we are expecting in SDK 1.0.0 PX4. So he will respond later with the ESC parameter change that will allow them to have the same baudrate.

                        W 1 Reply Last reply 2 Aug 2023, 01:00 Reply Quote 0
                        • W
                          wilkinsaf ModalAI Team @Eric Katzfey
                          last edited by wilkinsaf 2 Aug 2023, 01:02 2 Aug 2023, 01:00

                          @Eric-Katzfey Thanks Eric.

                          I imagine we are going to have to connect the ESC to FTDI to laptop. Or is it possible to change this on VOXL2 terminal.

                          W 1 Reply Last reply 2 Aug 2023, 01:03 Reply Quote 0
                          • W
                            wilkinsaf ModalAI Team @wilkinsaf
                            last edited by 2 Aug 2023, 01:03

                            I guess Alex will know that. Thanks!

                            E 1 Reply Last reply 2 Aug 2023, 01:20 Reply Quote 0
                            • E
                              Eric Katzfey ModalAI Team @wilkinsaf
                              last edited by 2 Aug 2023, 01:20

                              @wilkinsaf You should be able to do it directly on VOXL2 with voxl-esc.

                              Alex KushleyevA 1 Reply Last reply 2 Aug 2023, 13:44 Reply Quote 0
                              • Alex KushleyevA
                                Alex Kushleyev ModalAI Team @Eric Katzfey
                                last edited by 2 Aug 2023, 13:44

                                @wilkinsaf @John-Nomikos-0

                                Based on your description of the problem (when you switch from SDK 0.9 to 1.0.0, the ESCs start responding), it sounds like a mismatch in the UART baud rate in ESC and PX4 params. When going from 0.9 to 1.0.0 we have changed the baud rate for ESCs in PX4 params from 250K to 2M. Accordingly, we have updated the ESC params to 2M as well (ESC firmware and params are part of voxl-esc package). However, since you did not perform an ESC firmware / param update, your ESC is still running at 250K baud rate, but the latest PX4 is expecting 2Mbit.

                                From your output of esc scan, this is confirmed:

                                INFO: ESC(s) detected on port: /dev/slpi-uart-2, baud rate: 250000
                                

                                You have several options:

                                • Change your PX4 param MODAL_IO_BAUD from 2000000 to 250000 in order to match what your ESC is currently using
                                • Update the ESC firmware and params while the ESC is connected to VOXL2 (with SDK 1.0.0 installed, which will have the latest voxl-esc package with latest firmware and params). Please see this post about updating firmware and params: https://forum.modalai.com/topic/2509/voxl-2-mini-with-mini-4-in-1-esc-no-battery-information/5 . Please note that if you are currently using non-standard ESC params, you will need to make a few updates to them in order to make them compatible with the latest parameter files. If that is the case, let me know, i can help.

                                Alex

                                J 1 Reply Last reply 2 Aug 2023, 14:55 Reply Quote 0
                                • J
                                  John Nomikos 0 @Alex Kushleyev
                                  last edited by 2 Aug 2023, 14:55

                                  @Alex-Kushleyev

                                  Confirmed, changing the MODAL_IO_BAUD to 250000 fixed the problem for me. Thank you so much for the help!

                                  1 Reply Last reply Reply Quote 0
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