Garbage attitude control
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Hey @Patrick-Hinchey ,
Thanks for the video, I'm gonna get some teammates to help early this week who are much more versed in this area.
Here's my setup, it's VOXL2 with VOXL2 IO, as you can see it's flyable but a little rough, I too initially had a wobble that prevented me from flying and changed params a bit from our default Sentinel settings to get it airborne:
https://www.youtube.com/watch?v=1INto92k-v0I'll get some members of the team early this week to better answer your second question and we'll keep cranking away.
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Hi @Patrick-Hinchey, we are actively working on figuring out the answer your question about "why the same gains on the same machine would work great on the Pixhawk4 but not on the VOXL2." There are several differences between the PX4 code running on VOXL2 compared to Pixhawk4. Specifically, the path of the PWM commands to the motors including the px4io setup is different on VOXL2 compared to Pixhawk4. Additionally, VOXL2 uses a different IMU than Pixhawk4 and that IMU is configured differently. We will keep you posted on what we are able to figure out.
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I hope all is well!
I'm sorry you're dealing with this - I know it can be frustrating.
I'm jumping here a little late and may have missed something. I was wondering, can you confirm that you have the correct motor mapping:
Also, were you able to successfully run through a PWM ESC calibration using these Instructions? Which specific ESCs are you using? Did you hear the expected chimes (maybe firmware not accepting)?
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Thank you for your insight everyone,
We have an important milestone coming up in 2 weeks so we're going to use the external flight controller until then and then resume troubleshooting this issue after that - trying all the suggestions above.
Thanks, see you in 2 weeks!
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Hi, I have the same problem. I have VOXL 2 I/O and every time I try to take it off it wobbles and crashes. I have a quad x, I have done the ESC calibration and I have followed all the instructions. Is there any solution to this problem?
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Hi, I have the same problem. I have VOXL 2 I/O and every time I try to take it off it wobbles and crashes. I have a quad x, I have done the ESC calibration and I have followed all the instructions. Is there any solution to this problem?
@Chad-Sweet @xav04 I have had a chance to get our new ModalAI x T-motor F55A ESCs out of the box and plug them in. I can communicate with them over FTDI converter on my laptop, but the VOXL2 doesn't recognise them.
There's not much troubleshooting I can do as the tutorial just says to plug it in and set the correct PX parameters. Do I remember correctly that I read somewhere the MAVLink console doesn't work on VOXL2? It certainly doesn't work on mine.
The motors don't spin when I arm, and I'm not getting any telemetry info from them.
I followed the tutorial for VOXL EXC V2. IS there anything special I need for the F55A? -
Hey @Patrick-Hinchey I can get on the phone with you tomorrow if easier just let me know.
It's likely the baud rate on the VOXL2 side that needs to be updated. There's a param
UART_ESC_BAUDthat by default is 250kbitFile not found · modalai/px4-firmware
PX4 Autopilot Software. Contribute to modalai/px4-firmware development by creating an account on GitHub.
GitHub (github.com)
I believe the default baud on this F55A config is going to be 2Mbit (
2000000as the param).When you mentioned you are talkin' to them over FTDI, is this through the voxl-esc python tools?
As for the MAVLink console, we don't have the plumbing going for some of the commands over the UDP link from QGC to VOXL2.
That said, you can get to the nuttx like shell via command line if you SSH onto target or adb (captured here, as a work around )
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Hey @Patrick-Hinchey I can get on the phone with you tomorrow if easier just let me know.
It's likely the baud rate on the VOXL2 side that needs to be updated. There's a param
UART_ESC_BAUDthat by default is 250kbitFile not found · modalai/px4-firmware
PX4 Autopilot Software. Contribute to modalai/px4-firmware development by creating an account on GitHub.
GitHub (github.com)
I believe the default baud on this F55A config is going to be 2Mbit (
2000000as the param).When you mentioned you are talkin' to them over FTDI, is this through the voxl-esc python tools?
As for the MAVLink console, we don't have the plumbing going for some of the commands over the UDP link from QGC to VOXL2.
That said, you can get to the nuttx like shell via command line if you SSH onto target or adb (captured here, as a work around )
@modaltb Sorry for not replying. Is there an option to set up email notifications?
Yep I was talking to the ESC with voxl-esc python tools. And I believe it was indeed at 2Mbaud.We've decided to use the FlightCore V2 as the flight controller going forward, with VOXL2 acting only as companion computer. We may revisit this sometime in the future as a weight-reduction exercise, but not any time soon
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OK thanks for the info, we are still looking at the main issue at hand in this thread still.... it's slow progress right now, but we will update here when I have positive movement to share.
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Hi,
I have integrated the VOXL2 onto a standard carbon-fibre drone frame, roughly 400mm between diagonal motor mounts. This frame has been flown many times with Betaflight and Pixhawk flight controllers and always flies beautifully.
The VOXL2 is performing awfully. I initially loaded on m500 PIDs and it couldn't even take off without shaking violently. I detuned the gains down to almost nothing before it would stop oscillating. I can coax the thing into the air now, but the gains are so low that disturbance rejection is terrible and it's just sloppy. It's impossible to tighten the gains without it shaking itself apart.
I originally had the VOXL2 hard-mounted, but then I tired mounting it with 2 different levels of foam. Neither worked. Here's the kicker - I set it up to use a Pixhawk 4 as external controller and it flew b-e-a-utifully straight away on default PIDs.
I have tried two different VOXLs and they both perform the same. The oscillations are present in both Stabilize and Acro mode, so the Rate loop is to blame.
For context, I have 10 years of experience tuning PX4, Ardupilot and Betaflight controllers on aircraft from 20g to 200kg, so this isn't 'how do I tune the PIDs?', rather 'what am I missing?'.
Normally when I see this kind of behaviour, it's caused by vibration, but looking at the 'vibe' meter on QGC, X and Y vibe is non-existant, and Z vibe about 5% of the clipping threshold.
So what am I missing?
We just completed a remote flight with telemetry controlled by the VOXL2 over VPN, I controlled it from 20km away so I'm pretty happy right now, but it would be even better if we could eliminate the external flight controller.
Thanks,
Patrick@Patrick-Hinchey
hi patrick
did you manage to solve the tune problem ?
we king of facing same problem with our drone
any help will be appreciate
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