Update fw and params causing NO ESC detected

[Will]

Hi,

Try to update ESC FW from version 36 to version 39 and update the Sentinel_V1.xml to replace the value of motor_kv from 880 to 980 due to I am using SunnySky x2212 instead of x2216.

All uploading were done without any problem, please check below, but somehow, ESC board can't communicate anymore, I can see the blue led light when booting.

Please help how to recover the ESC, thanks.

Below is update log :

(base) will@will:~/projects/voxl-esc/voxl-esc-tools$ ./voxl-esc-upload-firmware-all.sh -f firmware/modalai_esc_firmware_m0117_1_v0_39_RC6_3d7ee4eb.bin
Detected Python version : 3.10.12 (main, Jun 11 2023, 05:26:28) [GCC 11.4.0]
Found voxl-esc tools bin version: 1.4

INFO: Firmware file name : firmware/modalai_esc_firmware_m0117_1_v0_39_RC6_3d7ee4eb.bin
INFO: Firmware file size : 24272 bytes

INFO: All COM ports:
/dev/ttyUSB0 : CP2102 USB to UART Bridge Controller - CP2102 USB to UART Bridge Controller
INFO: UART Port Candidates:
/dev/ttyUSB0
INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 2000000
INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 250000
INFO: ESC(s) detected on port: /dev/ttyUSB0, baud rate: 250000
INFO: ESC(s) detected: [0, 1, 2, 3]
INFO: Sending reset command to ESC ID 0
INFO: Installing firmware to ESC ID 0 : firmware/modalai_esc_firmware_m0117_1_v0_39_RC6_3d7ee4eb.bin
Progress: 100% [##################################################]

INFO: Firmware successfully updated for ESC id 0
Detected Python version : 3.10.12 (main, Jun 11 2023, 05:26:28) [GCC 11.4.0]
Found voxl-esc tools bin version: 1.4

INFO: Firmware file name : firmware/modalai_esc_firmware_m0117_1_v0_39_RC6_3d7ee4eb.bin
INFO: Firmware file size : 24272 bytes

INFO: All COM ports:
/dev/ttyUSB0 : CP2102 USB to UART Bridge Controller - CP2102 USB to UART Bridge Controller
INFO: UART Port Candidates:
/dev/ttyUSB0
INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 2000000
INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 250000
INFO: ESC(s) detected on port: /dev/ttyUSB0, baud rate: 250000
INFO: ESC(s) detected: [1, 2, 3]
INFO: Sending reset command to ESC ID 1
INFO: Installing firmware to ESC ID 1 : firmware/modalai_esc_firmware_m0117_1_v0_39_RC6_3d7ee4eb.bin
Progress: 100% [##################################################]

INFO: Firmware successfully updated for ESC id 1
Detected Python version : 3.10.12 (main, Jun 11 2023, 05:26:28) [GCC 11.4.0]
Found voxl-esc tools bin version: 1.4

INFO: Firmware file name : firmware/modalai_esc_firmware_m0117_1_v0_39_RC6_3d7ee4eb.bin
INFO: Firmware file size : 24272 bytes

INFO: All COM ports:
/dev/ttyUSB0 : CP2102 USB to UART Bridge Controller - CP2102 USB to UART Bridge Controller
INFO: UART Port Candidates:
/dev/ttyUSB0
INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 2000000
INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 250000
INFO: ESC(s) detected on port: /dev/ttyUSB0, baud rate: 250000
INFO: ESC(s) detected: [2, 3]
INFO: Sending reset command to ESC ID 2
INFO: Installing firmware to ESC ID 2 : firmware/modalai_esc_firmware_m0117_1_v0_39_RC6_3d7ee4eb.bin
Progress: 100% [##################################################]

INFO: Firmware successfully updated for ESC id 2
Detected Python version : 3.10.12 (main, Jun 11 2023, 05:26:28) [GCC 11.4.0]
Found voxl-esc tools bin version: 1.4

INFO: Firmware file name : firmware/modalai_esc_firmware_m0117_1_v0_39_RC6_3d7ee4eb.bin
INFO: Firmware file size : 24272 bytes

INFO: All COM ports:
/dev/ttyUSB0 : CP2102 USB to UART Bridge Controller - CP2102 USB to UART Bridge Controller
INFO: UART Port Candidates:
/dev/ttyUSB0
INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 2000000
INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 250000
INFO: ESC(s) detected on port: /dev/ttyUSB0, baud rate: 250000
INFO: ESC(s) detected: [3]
INFO: Sending reset command to ESC ID 3
INFO: Installing firmware to ESC ID 3 : firmware/modalai_esc_firmware_m0117_1_v0_39_RC6_3d7ee4eb.bin
Progress: 100% [##################################################]

INFO: Firmware successfully updated for ESC id 3
(base) will@will:~/projects/voxl-esc/voxl-esc-tools$ ./
firmware/ voxl-esc-led.py voxl-esc-spin-sine.py voxl-esc-upload-params.py
logs/ voxl-esc-neopixel-test.py voxl-esc-spin-step.py voxl-esc-verify-params.py
pycache/ voxl-esc-scan.py voxl-esc-tools-bin/
voxl-esc-board-detect.py voxl-esc-spin-helper.sh voxl-esc-upload-firmware-all.sh
voxl-esc-calibrate.py voxl-esc-spin.py voxl-esc-upload-firmware.py
(base) will@will:~/projects/voxl-esc/voxl-esc-tools$ ./^C
(base) will@will:~/projects/voxl-esc/voxl-esc-tools$ python voxl-esc-upload-params.py --params-file ../voxl-esc-params/
boards/ FPV_RevB/ old/ Seeker_V1/ Starling_V1/
D0013/ mavic_mini_2/ RB5_Flight_V1/ Sentinel_V1/ tunes/
(base) will@will:~/projects/voxl-esc/voxl-esc-tools$ python voxl-esc-upload-params.py --params-file ../voxl-esc-params/Sentinel_V1/Sentinel_V1
Sentinel_V1_x2212.xml Sentinel_V1.xml
(base) will@will:~/projects/voxl-esc/voxl-esc-tools$ python voxl-esc-upload-params.py --params-file ../voxl-esc-params/Sentinel_V1/Sentinel_V1_x2212.xml
Detected Python version : 3.10.9 (main, Mar 1 2023, 18:23:06) [GCC 11.2.0]
Found voxl-esc tools bin version: 1.4

INFO: Params file name : ../voxl-esc-params/Sentinel_V1/Sentinel_V1_x2212.xml
INFO: Params file size : 7561 bytes

INFO: All COM ports:
/dev/ttyUSB0 : CP2102 USB to UART Bridge Controller - CP2102 USB to UART Bridge Controller
INFO: UART Port Candidates:
/dev/ttyUSB0
INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 2000000
INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 250000
INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 921600
INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 230400
INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 57600
INFO: ESC(s) detected on port: /dev/ttyUSB0, baud rate: 57600
INFO: ESCs detected:
INFO: ---------------------
ID: 0, SW: 39, HW: 34: ModalAi 4-in-1 ESC (M0117-1)
ID: 1, SW: 39, HW: 34: ModalAi 4-in-1 ESC (M0117-1)
ID: 2, SW: 39, HW: 34: ModalAi 4-in-1 ESC (M0117-1)
ID: 3, SW: 39, HW: 34: ModalAi 4-in-1 ESC (M0117-1)

INFO: Loading XML config file...
INFO: Uploading params...
-- board config
-- id config
-- uart config
-- tune config
DONE
INFO: Resetting ESCs...
DONE

(base) will@will:~/projects/voxl-esc/voxl-esc-tools$ python voxl-esc-board-detect.py
Detected Python version : 3.10.9 (main, Mar 1 2023, 18:23:06) [GCC 11.2.0]
Found voxl-esc tools bin version: 1.4
INFO: All COM ports:
/dev/ttyUSB0 : CP2102 USB to UART Bridge Controller - CP2102 USB to UART Bridge Controller
INFO: UART Port Candidates:
/dev/ttyUSB0
INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 2000000
INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 250000
INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 921600
INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 230400
INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 57600
INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 115200
INFO: Scanning for ESC bootloader: /dev/ttyUSB0, baud: 230400
ERROR: No ESC(s) detected, exiting.

BR,
Will

[Will]

This post is deleted!

[Will]

Hi Team,

I'd like to provide additional details regarding the problem. Unfortunately, I'm still unable to get the ESC function to work. Your assistance is greatly appreciated.

• ESC Board :
  I've examined the ESC board we're utilizing, which is identified as M0117. The firmware has been updated to this version by Ubuntu using the Python script named 'voxl-esc-upload-firmware-all.sh.'"

• ESC Firmware :
  The firmware, modalai_esc_firmware_m0117_1_v0_39_RC6_3d7ee4eb.bin, was downloaded from GitLab. (https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/tree/master/voxl-esc-tools/firmware?ref_type=heads)

• ESC Parameters :
  The parameter file referred to as Sentinel_V1.xml was obtained from GitLab and subsequently renamed to Sentinel_V1_x2212.xml. The only modification made was updating the motor_kv value from 880 to 980. (https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/blob/master/voxl-esc-params/Sentinel_V1/Sentinel_V1.xml?ref_type=heads)

The original settings are as follows:
<param name="motor_kv" value="880"/>

After the update, the settings are now:
<param name="motor_kv" value="980"/>

• ESC baud rate for UART communication :
  I included additional baud-rate settings for detection, but even with a baud rate of 56700 in ESC fallback mode, there is still no feedback.

(base) will@will:~/projects/voxl-esc/voxl-esc-tools$ ./voxl-esc-board-detect.py
Detected Python version : 3.10.12 (main, Jun 11 2023, 05:26:28) [GCC 11.4.0]
Found voxl-esc tools bin version: 1.4
INFO: All COM ports:
/dev/ttyUSB0 : CP2102 USB to UART Bridge Controller - CP2102 USB to UART Bridge Controller
INFO: UART Port Candidates:
/dev/ttyUSB0
INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 1000000
INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 1152000
INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 1500000
INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 2500000
INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 3000000
INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 3500000
INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 4000000
INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 2000000
INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 250000
INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 921600
INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 230400
INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 56000
INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 57600
INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 115200
INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 6000000
INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 110
INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 300
INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 600
INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 1200
INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 2400
INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 4800
INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 9600
INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 14400
INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 19200
INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 38400
INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 460800
INFO: Scanning for ESC bootloader: /dev/ttyUSB0, baud: 1000000
INFO: Scanning for ESC bootloader: /dev/ttyUSB0, baud: 1152000
INFO: Scanning for ESC bootloader: /dev/ttyUSB0, baud: 1500000
INFO: Scanning for ESC bootloader: /dev/ttyUSB0, baud: 2500000
INFO: Scanning for ESC bootloader: /dev/ttyUSB0, baud: 3000000
INFO: Scanning for ESC bootloader: /dev/ttyUSB0, baud: 3500000
INFO: Scanning for ESC bootloader: /dev/ttyUSB0, baud: 4000000
INFO: Scanning for ESC bootloader: /dev/ttyUSB0, baud: 2000000
INFO: Scanning for ESC bootloader: /dev/ttyUSB0, baud: 250000
INFO: Scanning for ESC bootloader: /dev/ttyUSB0, baud: 921600
INFO: Scanning for ESC bootloader: /dev/ttyUSB0, baud: 230400
INFO: Scanning for ESC bootloader: /dev/ttyUSB0, baud: 56000
INFO: Scanning for ESC bootloader: /dev/ttyUSB0, baud: 57600
INFO: Scanning for ESC bootloader: /dev/ttyUSB0, baud: 115200
INFO: Scanning for ESC bootloader: /dev/ttyUSB0, baud: 6000000
INFO: Scanning for ESC bootloader: /dev/ttyUSB0, baud: 110
INFO: Scanning for ESC bootloader: /dev/ttyUSB0, baud: 300
INFO: Scanning for ESC bootloader: /dev/ttyUSB0, baud: 600
INFO: Scanning for ESC bootloader: /dev/ttyUSB0, baud: 1200
INFO: Scanning for ESC bootloader: /dev/ttyUSB0, baud: 2400
INFO: Scanning for ESC bootloader: /dev/ttyUSB0, baud: 4800
INFO: Scanning for ESC bootloader: /dev/ttyUSB0, baud: 9600
INFO: Scanning for ESC bootloader: /dev/ttyUSB0, baud: 14400
INFO: Scanning for ESC bootloader: /dev/ttyUSB0, baud: 19200
INFO: Scanning for ESC bootloader: /dev/ttyUSB0, baud: 38400
INFO: Scanning for ESC bootloader: /dev/ttyUSB0, baud: 460800
ERROR: No ESC(s) detected, exiting.

BR,
Will

[Alex Kushleyev]

@Will , you are using usb to serial adapter CP2102 USB to UART Bridge Controller, which supports up to 1Mbit communication rate (https://www.silabs.com/documents/public/data-sheets/CP2102-9.pdf), but the params that you installed (Sentinel_v1.xml) are using 2mbit. https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/blob/master/voxl-esc-params/Sentinel_V1/Sentinel_V1.xml?ref_type=heads#L47

In order to successfully connect to the ESC, please choose another USB adapter (which supports 2Mbit, such as standard FTDI adapter) and you can then change the baud rate to 1mbit or less in your ESC params, but then make sure to update ESC baud rate params in PX4 as well.

Alex

[Will]

@Alex-Kushleyev, thanks for your help; I'll work on obtaining a standard FTDI adapter.

[Will]

@Alex-Kushleyev,
After employing a standard FTDI adapter, I execute the subsequent command to scan and update parameters to the ESC board. However, the drone experiences a crash within 10 minutes of flight. I've observed that one of the motors (not a specific one; it could be any) tends to overheat, leading to non-spinning issues. The propeller from Sentinel is 1045, which doesn't align with the x2212 motor's requirement of 9450 (https://sunnyskyusa.com/products/sunnysky-x2212-brushless-motors-new). Could this be the root cause of the problem? Is there a method to adjust the ESC parameters for stability? Additionally, I've noticed that both pwm_vs_rpm_curve_a0 and pwm_vs_rpm_curve_a2 are negative after calibration. Is this behavior normal?

• scan
  Detected Python version : 3.10.12 (main, Jun 11 2023, 05:26:28) [GCC 11.4.0]
  Found voxl-esc tools bin version: 1.4
  INFO: All COM ports:
  /dev/ttyUSB0 : FT232R USB UART - FT232R USB UART
  INFO: UART Port Candidates:
  /dev/ttyUSB0
  INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 2000000
  INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 250000
  INFO: ESC(s) detected on port: /dev/ttyUSB0, baud rate: 250000
  INFO: Detected protocol: firmware
  INFO: Additional Information:
  INFO: ---------------------
  ID : 0
  Board : version 34: ModalAi 4-in-1 ESC (M0117-1)
  UID : 0x203034305743570C001A0038
  Firmware : version 39, hash 3d7ee4eb
  Bootloader : version 183, hash 25317f42

  ID : 1
  Board : version 34: ModalAi 4-in-1 ESC (M0117-1)
  UID : 0x203034305743570C003D0050
  Firmware : version 39, hash 3d7ee4eb
  Bootloader : version 183, hash 25317f42

  ID : 2
  Board : version 34: ModalAi 4-in-1 ESC (M0117-1)
  UID : 0x203034305743570C003D0054
  Firmware : version 39, hash 3d7ee4eb
  Bootloader : version 183, hash 25317f42

  ID : 3
  Board : version 34: ModalAi 4-in-1 ESC (M0117-1)
  UID : 0x203034305743570C003D0056
  Firmware : version 39, hash 3d7ee4eb
  Bootloader : version 183, hash 25317f42

---

• voxl-esc-calibrate.py
  ./voxl-esc-calibrate.py --id 0 --pwm-min 10 --pwm-max 95 --pwm-step 3 --pwm-step-duration 0.7
  Detected Python version : 3.10.12 (main, Jun 11 2023, 05:26:28) [GCC 11.4.0]
  Found voxl-esc tools bin version: 1.4
  INFO: All COM ports:
  /dev/ttyUSB0 : FT232R USB UART - FT232R USB UART
  INFO: UART Port Candidates:
  /dev/ttyUSB0
  INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 2000000
  INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 250000
  INFO: ESC(s) detected on port: /dev/ttyUSB0, baud rate: 250000
  WARNING:
  This test requires motors to spin at high speeds with
  propellers attached. Please ensure that appropriate
  protective equipment is being worn at all times and
  that the motor and propeller are adequately isolated
  from all persons.

For best results, please perform this test at the
nominal voltage for the battery used.

Type "Yes" to continue: Yes

POW: 0, RPM: 1343.00, Voltage: 12.36V, Current: 0.38A
POW: 0, RPM: 1343.00, Voltage: 12.36V, Current: 0.38A
...
POW: 19, RPM: 2120.00, Voltage: 12.43V, Current: 0.07A
POW: 19, RPM: 2129.00, Voltage: 12.43V, Current: 0.06A
POW: 19, RPM: 2129.00, Voltage: 12.43V, Current: 0.06A
POW: 19, RPM: 2125.00, Voltage: 12.43V, Current: 0.07A
...
POW: 43, RPM: 4841.00, Voltage: 12.40V, Current: 0.17A
POW: 43, RPM: 4834.00, Voltage: 12.40V, Current: 0.14A
POW: 43, RPM: 4834.00, Voltage: 12.40V, Current: 0.14A
POW: 43, RPM: 4824.00, Voltage: 12.40V, Current: 0.11A
POW: 43, RPM: 4828.00, Voltage: 12.40V, Current: 0.14A
...
POW: 76, RPM: 8555.00, Voltage: 12.36V, Current: 0.26A
POW: 76, RPM: 8555.00, Voltage: 12.36V, Current: 0.26A
POW: 76, RPM: 8548.00, Voltage: 12.36V, Current: 0.27A
...
POW: 91, RPM: 10224.00, Voltage: 12.37V, Current: 0.39A
POW: 91, RPM: 10243.00, Voltage: 12.36V, Current: 0.38A
POW: 91, RPM: 10243.00, Voltage: 12.36V, Current: 0.38A
...
POW: 94, RPM: 10542.00, Voltage: 12.36V, Current: 0.39A
POW: 94, RPM: 10546.00, Voltage: 12.36V, Current: 0.39A
POW: 94, RPM: 10544.00, Voltage: 12.36V, Current: 0.40A
INFO: Test took 20.42 seconds
Quadratic fit: motor_voltage = a2rpm_desired^2 + a1rpm_desired + a0
a0 = -326.7077336998805
a1 = 1.201279837701711
a2 = -7.208755808051708e-06
ESC Params (after scaling):
pwm_vs_rpm_curve_a0 = -326.7077336998805
pwm_vs_rpm_curve_a1 = 1.201279837701711
pwm_vs_rpm_curve_a2 = -7.208755808051708e-06

• Update Sentinel_V1.xml
  <param name="min_rpm" value="1200"/> <!-- minimum RPM that will be attempted, otherwise capped -->
  <param name="max_rpm" value="8000"/> <!-- maximum RPM that will be attempted, otherwise capped -->
  <param name="pwm_vs_rpm_curve_a0" value="-326.7077336998805"/> <!-- this is actually motor_voltage vs rpm curve.. using legacy naming -->
  <param name="pwm_vs_rpm_curve_a1" value="1.201279837701711
  "/>
  <param name="pwm_vs_rpm_curve_a2" value="-7.208755808051708e-06"/>
  <param name="motor_kv" value="980"/>

[Alex Kushleyev]

@Will , it looks like you performed esc / motor calibration without a propeller. Current draw is very low at full power. Please perform the calibration with propeller attached. If you are using a standard motor / propeller, you can just use our provided esc parameter file for Sentinel (in voxl-esc-params folder)

Alex

[Will]

@Alex-Kushleyev , after completing the ESC/standard X2212 motor calibration using a standard 9045 propeller and uploading the parameters, I continue to experience the following symptoms during the spinning test of the four motors: one motor will suddenly stop spinning, and at times, two motors may stop simultaneously. Moreover, there is a possibility of this issue occurring when the --id is assigned to a specific motor (0~3).

I have attempted to address the problem by applying the default parameters (https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/blob/master/voxl-esc-params/Sentinel_V1/Sentinel_V1.xml?ref_type=heads) for Sentinel, but unfortunately, the issue persists. Your assistance and advice on this matter would be greatly appreciated. Thank you in advance.

• Case-1 ./voxl-esc-spin.py --id 255 --rpm 8000 --timeout 180
  [44.181] (0) RPM: 7380, PWR: 95, VOLTAGE: 10.792V, TEMPERATURE: 44.69C, CURRENT: 7.920A
  [44.181] (1) RPM: 7401, PWR: 96, VOLTAGE: 10.794V, TEMPERATURE: 43.98C, CURRENT: 8.952A
  [44.181] (2) RPM: 7400, PWR: 94, VOLTAGE: 10.794V, TEMPERATURE: 44.67C, CURRENT: 7.656A
  [44.181] (3) RPM: 7398, PWR: 96, VOLTAGE: 10.783V, TEMPERATURE: 42.78C, CURRENT: 8.704A
  [44.191] (0) RPM: 7380, PWR: 95, VOLTAGE: 10.792V, TEMPERATURE: 44.69C, CURRENT: 7.920A
  [44.191] (1) RPM: 7401, PWR: 96, VOLTAGE: 10.794V, TEMPERATURE: 43.98C, CURRENT: 8.952A
  [44.191] (2) RPM: 7400, PWR: 94, VOLTAGE: 10.794V, TEMPERATURE: 44.67C, CURRENT: 7.656A
  [44.191] (3) RPM: 7506, PWR: 93, VOLTAGE: 10.798V, TEMPERATURE: 42.70C, CURRENT: 8.584A
  [44.202] (0) RPM: 7380, PWR: 95, VOLTAGE: 10.792V, TEMPERATURE: 44.69C, CURRENT: 7.920A
  [44.202] (1) RPM: 7401, PWR: 96, VOLTAGE: 10.794V, TEMPERATURE: 43.98C, CURRENT: 8.952A
  [44.202] (2) RPM: 7400, PWR: 94, VOLTAGE: 10.794V, TEMPERATURE: 44.67C, CURRENT: 7.656A
  [44.202] (3) RPM: 7506, PWR: 93, VOLTAGE: 10.798V, TEMPERATURE: 42.70C, CURRENT: 8.584A
  [44.212] (0) RPM: 7380, PWR: 95, VOLTAGE: 10.792V, TEMPERATURE: 44.69C, CURRENT: 7.920A
  [44.212] (1) RPM: 7401, PWR: 96, VOLTAGE: 10.794V, TEMPERATURE: 43.98C, CURRENT: 8.952A
  [44.212] (2) RPM: 7400, PWR: 94, VOLTAGE: 10.794V, TEMPERATURE: 44.67C, CURRENT: 7.656A
  [44.212] (3) RPM: 7506, PWR: 93, VOLTAGE: 10.798V, TEMPERATURE: 42.70C, CURRENT: 8.584A
  [44.222] (0) RPM: 7386, PWR: 94, VOLTAGE: 10.797V, TEMPERATURE: 44.61C, CURRENT: 7.976A
  [44.222] (1) RPM: 7387, PWR: 97, VOLTAGE: 10.754V, TEMPERATURE: 43.79C, CURRENT: 8.272A
  [44.222] (2) RPM: 7400, PWR: 94, VOLTAGE: 10.794V, TEMPERATURE: 44.67C, CURRENT: 7.656A
  [44.222] (3) RPM: 7506, PWR: 93, VOLTAGE: 10.798V, TEMPERATURE: 42.70C, CURRENT: 8.584A
  [44.231] (0) RPM: 7386, PWR: 94, VOLTAGE: 10.797V, TEMPERATURE: 44.61C, CURRENT: 7.976A
  [44.231] (1) RPM: 7387, PWR: 97, VOLTAGE: 10.754V, TEMPERATURE: 43.79C, CURRENT: 8.272A
  [44.231] (2) RPM: 1726, PWR: 48, VOLTAGE: 10.572V, TEMPERATURE: 44.64C, CURRENT: 19.544A
  [44.231] (3) RPM: 7386, PWR: 97, VOLTAGE: 10.668V, TEMPERATURE: 42.72C, CURRENT: 8.896A
  [44.241] (0) RPM: 7386, PWR: 94, VOLTAGE: 10.797V, TEMPERATURE: 44.61C, CURRENT: 7.976A
  [44.241] (1) RPM: 7387, PWR: 97, VOLTAGE: 10.754V, TEMPERATURE: 43.79C, CURRENT: 8.272A
  [44.241] (2) RPM: 1726, PWR: 48, VOLTAGE: 10.572V, TEMPERATURE: 44.64C, CURRENT: 19.544A
  [44.241] (3) RPM: 7386, PWR: 97, VOLTAGE: 10.668V, TEMPERATURE: 42.72C, CURRENT: 8.896A
  [44.252] (0) RPM: 7376, PWR: 95, VOLTAGE: 10.713V, TEMPERATURE: 44.82C, CURRENT: 8.216A
  [44.252] (1) RPM: 7387, PWR: 97, VOLTAGE: 10.754V, TEMPERATURE: 43.79C, CURRENT: 8.272A
  [44.252] (2) RPM: 1726, PWR: 48, VOLTAGE: 10.572V, TEMPERATURE: 44.64C, CURRENT: 19.544A
  [44.252] (3) RPM: 7386, PWR: 97, VOLTAGE: 10.668V, TEMPERATURE: 42.72C, CURRENT: 8.896A
  [44.261] (0) RPM: 7376, PWR: 95, VOLTAGE: 10.713V, TEMPERATURE: 44.82C, CURRENT: 8.216A
  [44.261] (1) RPM: 7391, PWR: 97, VOLTAGE: 10.741V, TEMPERATURE: 43.79C, CURRENT: 9.104A
  [44.261] (2) RPM: 1113, PWR: 41, VOLTAGE: 10.741V, TEMPERATURE: 44.78C, CURRENT: 9.416A
  [44.261] (3) RPM: 7386, PWR: 97, VOLTAGE: 10.668V, TEMPERATURE: 42.72C, CURRENT: 8.896A
  [44.271] (0) RPM: 7376, PWR: 95, VOLTAGE: 10.713V, TEMPERATURE: 44.82C, CURRENT: 8.216A
  [44.271] (1) RPM: 7391, PWR: 97, VOLTAGE: 10.741V, TEMPERATURE: 43.79C, CURRENT: 9.104A
  [44.271] (2) RPM: 1113, PWR: 41, VOLTAGE: 10.741V, TEMPERATURE: 44.78C, CURRENT: 9.416A
  [44.271] (3) RPM: 7386, PWR: 97, VOLTAGE: 10.668V, TEMPERATURE: 42.72C, CURRENT: 8.896A
  [44.282] (0) RPM: 7376, PWR: 95, VOLTAGE: 10.713V, TEMPERATURE: 44.82C, CURRENT: 8.216A
  [44.282] (1) RPM: 7391, PWR: 97, VOLTAGE: 10.741V, TEMPERATURE: 43.79C, CURRENT: 9.104A
  [44.282] (2) RPM: 1113, PWR: 41, VOLTAGE: 10.741V, TEMPERATURE: 44.78C, CURRENT: 9.416A
  [44.282] (3) RPM: 7411, PWR: 96, VOLTAGE: 10.753V, TEMPERATURE: 42.88C, CURRENT: 8.504A
  [44.291] (0) RPM: 7369, PWR: 95, VOLTAGE: 10.750V, TEMPERATURE: 44.70C, CURRENT: 8.088A
  [44.291] (1) RPM: 7396, PWR: 96, VOLTAGE: 10.782V, TEMPERATURE: 43.82C, CURRENT: 9.008A
  [44.291] (2) RPM: 1113, PWR: 41, VOLTAGE: 10.741V, TEMPERATURE: 44.78C, CURRENT: 9.416A
  [44.291] (3) RPM: 7411, PWR: 96, VOLTAGE: 10.753V, TEMPERATURE: 42.88C, CURRENT: 8.504A
  [44.301] (0) RPM: 7369, PWR: 95, VOLTAGE: 10.750V, TEMPERATURE: 44.70C, CURRENT: 8.088A
  [44.301] (1) RPM: 7396, PWR: 96, VOLTAGE: 10.782V, TEMPERATURE: 43.82C, CURRENT: 9.008A
  [44.301] (2) RPM: 1113, PWR: 41, VOLTAGE: 10.741V, TEMPERATURE: 44.78C, CURRENT: 9.416A
  [44.301] (3) RPM: 7411, PWR: 96, VOLTAGE: 10.753V, TEMPERATURE: 42.88C, CURRENT: 8.504A
  [44.312] (0) RPM: 7369, PWR: 95, VOLTAGE: 10.750V, TEMPERATURE: 44.70C, CURRENT: 8.088A
  [44.312] (1) RPM: 7396, PWR: 96, VOLTAGE: 10.782V, TEMPERATURE: 43.82C, CURRENT: 9.008A
  [44.312] (2) RPM: 709, PWR: 37, VOLTAGE: 10.764V, TEMPERATURE: 44.83C, CURRENT: 9.600A
  [44.312] (3) RPM: 7411, PWR: 96, VOLTAGE: 10.753V, TEMPERATURE: 42.88C, CURRENT: 8.504A
  [44.321] (0) RPM: 7383, PWR: 95, VOLTAGE: 10.790V, TEMPERATURE: 44.59C, CURRENT: 7.984A
  [44.321] (1) RPM: 7396, PWR: 96, VOLTAGE: 10.782V, TEMPERATURE: 43.82C, CURRENT: 9.008A
  [44.321] (2) RPM: 709, PWR: 37, VOLTAGE: 10.764V, TEMPERATURE: 44.83C, CURRENT: 9.600A
  [44.321] (3) RPM: 7417, PWR: 96, VOLTAGE: 10.774V, TEMPERATURE: 42.82C, CURRENT: 8.512A
  [44.331] (0) RPM: 7383, PWR: 95, VOLTAGE: 10.790V, TEMPERATURE: 44.59C, CURRENT: 7.984A
  [44.331] (1) RPM: 7396, PWR: 96, VOLTAGE: 10.782V, TEMPERATURE: 43.82C, CURRENT: 9.008A
  [44.331] (2) RPM: 709, PWR: 37, VOLTAGE: 10.764V, TEMPERATURE: 44.83C, CURRENT: 9.600A
  [44.331] (3) RPM: 7417, PWR: 96, VOLTAGE: 10.774V, TEMPERATURE: 42.82C, CURRENT: 8.512A
  [44.341] (0) RPM: 7383, PWR: 95, VOLTAGE: 10.790V, TEMPERATURE: 44.59C, CURRENT: 7.984A
  [44.341] (1) RPM: 7396, PWR: 96, VOLTAGE: 10.782V, TEMPERATURE: 43.82C, CURRENT: 9.008A
  [44.341] (2) RPM: 709, PWR: 37, VOLTAGE: 10.764V, TEMPERATURE: 44.83C, CURRENT: 9.600A
  [44.341] (3) RPM: 7417, PWR: 96, VOLTAGE: 10.774V, TEMPERATURE: 42.82C, CURRENT: 8.512A
  [44.351] (0) RPM: 7383, PWR: 95, VOLTAGE: 10.790V, TEMPERATURE: 44.59C, CURRENT: 7.984A
  [44.351] (1) RPM: 7406, PWR: 96, VOLTAGE: 10.780V, TEMPERATURE: 43.85C, CURRENT: 8.952A
  [44.351] (2) RPM: 519, PWR: 36, VOLTAGE: 10.786V, TEMPERATURE: 44.66C, CURRENT: 7.424A
  [44.351] (3) RPM: 7417, PWR: 96, VOLTAGE: 10.774V, TEMPERATURE: 42.82C, CURRENT: 8.512A
  [44.360] (0) RPM: 7383, PWR: 95, VOLTAGE: 10.790V, TEMPERATURE: 44.59C, CURRENT: 7.984A
  [44.360] (1) RPM: 7406, PWR: 96, VOLTAGE: 10.780V, TEMPERATURE: 43.85C, CURRENT: 8.952A
  [44.360] (2) RPM: 519, PWR: 36, VOLTAGE: 10.786V, TEMPERATURE: 44.66C, CURRENT: 7.424A
  [44.360] (3) RPM: 7436, PWR: 95, VOLTAGE: 10.838V, TEMPERATURE: 42.90C, CURRENT: 8.752A
  [44.371] (0) RPM: 7383, PWR: 95, VOLTAGE: 10.790V, TEMPERATURE: 44.59C, CURRENT: 7.984A
  [44.371] (1) RPM: 7406, PWR: 96, VOLTAGE: 10.780V, TEMPERATURE: 43.85C, CURRENT: 8.952A
  [44.371] (2) RPM: 519, PWR: 36, VOLTAGE: 10.786V, TEMPERATURE: 44.66C, CURRENT: 7.424A
  [44.371] (3) RPM: 7436, PWR: 95, VOLTAGE: 10.838V, TEMPERATURE: 42.90C, CURRENT: 8.752A
  [44.381] (0) RPM: 7401, PWR: 93, VOLTAGE: 10.901V, TEMPERATURE: 44.73C, CURRENT: 8.016A
  [44.381] (1) RPM: 7407, PWR: 95, VOLTAGE: 10.924V, TEMPERATURE: 43.94C, CURRENT: 8.776A
  [44.381] (2) RPM: 519, PWR: 36, VOLTAGE: 10.786V, TEMPERATURE: 44.66C, CURRENT: 7.424A
  [44.381] (3) RPM: 7436, PWR: 95, VOLTAGE: 10.838V, TEMPERATURE: 42.90C, CURRENT: 8.752A
  [44.392] (0) RPM: 7401, PWR: 93, VOLTAGE: 10.901V, TEMPERATURE: 44.73C, CURRENT: 8.016A
  [44.392] (1) RPM: 7407, PWR: 95, VOLTAGE: 10.924V, TEMPERATURE: 43.94C, CURRENT: 8.776A
  [44.392] (2) RPM: 19, PWR: 0, VOLTAGE: 10.921V, TEMPERATURE: 44.48C, CURRENT: -0.464A
  [44.392] (3) RPM: 7436, PWR: 95, VOLTAGE: 10.838V, TEMPERATURE: 42.90C, CURRENT: 8.752A
  [44.402] (0) RPM: 7401, PWR: 93, VOLTAGE: 10.901V, TEMPERATURE: 44.73C, CURRENT: 8.016A
  [44.402] (1) RPM: 7407, PWR: 95, VOLTAGE: 10.924V, TEMPERATURE: 43.94C, CURRENT: 8.776A
  [44.402] (2) RPM: 19, PWR: 0, VOLTAGE: 10.921V, TEMPERATURE: 44.48C, CURRENT: -0.464A
  [44.402] (3) RPM: 7436, PWR: 95, VOLTAGE: 10.838V, TEMPERATURE: 42.90C, CURRENT: 8.752A
  [44.412] (0) RPM: 7387, PWR: 93, VOLTAGE: 10.935V, TEMPERATURE: 44.68C, CURRENT: 7.888A
  [44.412] (1) RPM: 7407, PWR: 95, VOLTAGE: 10.924V, TEMPERATURE: 43.94C, CURRENT: 8.776A
  [44.412] (2) RPM: 19, PWR: 0, VOLTAGE: 10.921V, TEMPERATURE: 44.48C, CURRENT: -0.464A
  [44.412] (3) RPM: 7410, PWR: 94, VOLTAGE: 10.931V, TEMPERATURE: 42.84C, CURRENT: 8.512A
  [44.422] (0) RPM: 7387, PWR: 93, VOLTAGE: 10.935V, TEMPERATURE: 44.68C, CURRENT: 7.888A
  [44.422] (1) RPM: 7404, PWR: 95, VOLTAGE: 10.928V, TEMPERATURE: 43.93C, CURRENT: 8.824A
  [44.422] (2) RPM: 60, PWR: 0, VOLTAGE: 10.928V, TEMPERATURE: 44.43C, CURRENT: -0.256A
  [44.422] (3) RPM: 7410, PWR: 94, VOLTAGE: 10.931V, TEMPERATURE: 42.84C, CURRENT: 8.512A
  [44.431] (0) RPM: 7387, PWR: 93, VOLTAGE: 10.935V, TEMPERATURE: 44.68C, CURRENT: 7.888A
  [44.431] (1) RPM: 7404, PWR: 95, VOLTAGE: 10.928V, TEMPERATURE: 43.93C, CURRENT: 8.824A
  [44.431] (2) RPM: 60, PWR: 0, VOLTAGE: 10.928V, TEMPERATURE: 44.43C, CURRENT: -0.256A
  [44.431] (3) RPM: 7410, PWR: 94, VOLTAGE: 10.931V, TEMPERATURE: 42.84C, CURRENT: 8.512A
  [44.441] (0) RPM: 7387, PWR: 93, VOLTAGE: 10.935V, TEMPERATURE: 44.68C, CURRENT: 7.888A
  [44.441] (1) RPM: 7404, PWR: 95, VOLTAGE: 10.928V, TEMPERATURE: 43.93C, CURRENT: 8.824A
  [44.441] (2) RPM: 60, PWR: 0, VOLTAGE: 10.928V, TEMPERATURE: 44.43C, CURRENT: -0.256A
  [44.441] (3) RPM: 7404, PWR: 95, VOLTAGE: 10.923V, TEMPERATURE: 42.82C, CURRENT: 8.560A
  [44.451] (0) RPM: 7403, PWR: 93, VOLTAGE: 10.921V, TEMPERATURE: 44.72C, CURRENT: 7.936A
  [44.451] (1) RPM: 7405, PWR: 95, VOLTAGE: 10.929V, TEMPERATURE: 43.93C, CURRENT: 8.760A
  [44.451] (2) RPM: 60, PWR: 0, VOLTAGE: 10.928V, TEMPERATURE: 44.43C, CURRENT: -0.256A
  [44.451] (3) RPM: 7404, PWR: 95, VOLTAGE: 10.923V, TEMPERATURE: 42.82C, CURRENT: 8.560A
  [44.461] (0) RPM: 7403, PWR: 93, VOLTAGE: 10.921V, TEMPERATURE: 44.72C, CURRENT: 7.936A
  [44.461] (1) RPM: 7405, PWR: 95, VOLTAGE: 10.929V, TEMPERATURE: 43.93C, CURRENT: 8.760A
  [44.461] (2) RPM: 60, PWR: 0, VOLTAGE: 10.928V, TEMPERATURE: 44.43C, CURRENT: -0.256A
  [44.461] (3) RPM: 7404, PWR: 95, VOLTAGE: 10.923V, TEMPERATURE: 42.82C, CURRENT: 8.560A
  [44.471] (0) RPM: 7403, PWR: 93, VOLTAGE: 10.921V, TEMPERATURE: 44.72C, CURRENT: 7.936A
  [44.471] (1) RPM: 7405, PWR: 95, VOLTAGE: 10.929V, TEMPERATURE: 43.93C, CURRENT: 8.760A
  [44.471] (2) RPM: 99, PWR: 0, VOLTAGE: 10.917V, TEMPERATURE: 44.45C, CURRENT: -0.208A
  [44.471] (3) RPM: 7404, PWR: 95, VOLTAGE: 10.923V, TEMPERATURE: 42.82C, CURRENT: 8.560A
  [44.481] (0) RPM: 7404, PWR: 93, VOLTAGE: 10.927V, TEMPERATURE: 44.67C, CURRENT: 7.928A
  [44.481] (1) RPM: 7405, PWR: 95, VOLTAGE: 10.929V, TEMPERATURE: 43.93C, CURRENT: 8.760A
  [44.481] (2) RPM: 99, PWR: 0, VOLTAGE: 10.917V, TEMPERATURE: 44.45C, CURRENT: -0.208A
  [44.481] (3) RPM: 7390, PWR: 95, VOLTAGE: 10.928V, TEMPERATURE: 42.72C, CURRENT: 8.632A
  [44.491] (0) RPM: 7404, PWR: 93, VOLTAGE: 10.927V, TEMPERATURE: 44.67C, CURRENT: 7.928A
  [44.491] (1) RPM: 7405, PWR: 95, VOLTAGE: 10.929V, TEMPERATURE: 43.93C, CURRENT: 8.760A
  [44.491] (2) RPM: 99, PWR: 0, VOLTAGE: 10.917V, TEMPERATURE: 44.45C, CURRENT: -0.208A
  [44.491] (3) RPM: 7390, PWR: 95, VOLTAGE: 10.928V, TEMPERATURE: 42.72C, CURRENT: 8.632A
  [44.501] (0) RPM: 7404, PWR: 93, VOLTAGE: 10.927V, TEMPERATURE: 44.67C, CURRENT: 7.928A
  [44.501] (1) RPM: 7412, PWR: 95, VOLTAGE: 10.926V, TEMPERATURE: 43.97C, CURRENT: 8.808A
  [44.501] (2) RPM: 139, PWR: 0, VOLTAGE: 10.924V, TEMPERATURE: 44.46C, CURRENT: -0.232A
  [44.501] (3) RPM: 7390, PWR: 95, VOLTAGE: 10.928V, TEMPERATURE: 42.72C, CURRENT: 8.632A
  [44.514] (0) RPM: 7404, PWR: 93, VOLTAGE: 10.927V, TEMPERATURE: 44.67C, CURRENT: 7.928A
  [44.514] (1) RPM: 7412, PWR: 95, VOLTAGE: 10.926V, TEMPERATURE: 43.97C, CURRENT: 8.808A
  [44.514] (2) RPM: 139, PWR: 0, VOLTAGE: 10.924V, TEMPERATURE: 44.46C, CURRENT: -0.232A
  [44.514] (3) RPM: 7390, PWR: 95, VOLTAGE: 10.928V, TEMPERATURE: 42.72C, CURRENT: 8.632A
  [44.522] (0) RPM: 7404, PWR: 93, VOLTAGE: 10.927V, TEMPERATURE: 44.67C, CURRENT: 7.928A
  [44.522] (1) RPM: 7412, PWR: 95, VOLTAGE: 10.926V, TEMPERATURE: 43.97C, CURRENT: 8.808A
  [44.522] (2) RPM: 139, PWR: 0, VOLTAGE: 10.924V, TEMPERATURE: 44.46C, CURRENT: -0.232A
  [44.522] (3) RPM: 7392, PWR: 95, VOLTAGE: 10.914V, TEMPERATURE: 42.74C, CURRENT: 8.856A
  [44.531] (0) RPM: 7404, PWR: 93, VOLTAGE: 10.927V, TEMPERATURE: 44.67C, CURRENT: 7.928A
  [44.531] (1) RPM: 7412, PWR: 95, VOLTAGE: 10.926V, TEMPERATURE: 43.97C, CURRENT: 8.808A
  [44.531] (2) RPM: 139, PWR: 0, VOLTAGE: 10.924V, TEMPERATURE: 44.46C, CURRENT: -0.232A
  [44.531] (3) RPM: 7392, PWR: 95, VOLTAGE: 10.914V, TEMPERATURE: 42.74C, CURRENT: 8.856A
  [44.541] (0) RPM: 7398, PWR: 93, VOLTAGE: 10.918V, TEMPERATURE: 44.64C, CURRENT: 7.952A
  [44.541] (1) RPM: 7410, PWR: 95, VOLTAGE: 10.917V, TEMPERATURE: 44.06C, CURRENT: 8.800A
  [44.541] (2) RPM: 139, PWR: 0, VOLTAGE: 10.924V, TEMPERATURE: 44.46C, CURRENT: -0.232A
  [44.541] (3) RPM: 7392, PWR: 95, VOLTAGE: 10.914V, TEMPERATURE: 42.74C, CURRENT: 8.856A
  [44.551] (0) RPM: 7398, PWR: 93, VOLTAGE: 10.918V, TEMPERATURE: 44.64C, CURRENT: 7.952A
  [44.551] (1) RPM: 7410, PWR: 95, VOLTAGE: 10.917V, TEMPERATURE: 44.06C, CURRENT: 8.800A
  [44.551] (2) RPM: 178, PWR: 0, VOLTAGE: 10.920V, TEMPERATURE: 44.49C, CURRENT: -0.208A
  [44.551] (3) RPM: 7392, PWR: 95, VOLTAGE: 10.914V, TEMPERATURE: 42.74C, CURRENT: 8.856A
  [44.561] (0) RPM: 7398, PWR: 93, VOLTAGE: 10.918V, TEMPERATURE: 44.64C, CURRENT: 7.952A
  [44.561] (1) RPM: 7410, PWR: 95, VOLTAGE: 10.917V, TEMPERATURE: 44.06C, CURRENT: 8.800A
  [44.561] (2) RPM: 178, PWR: 0, VOLTAGE: 10.920V, TEMPERATURE: 44.49C, CURRENT: -0.208A
  [44.561] (3) RPM: 7392, PWR: 95, VOLTAGE: 10.914V, TEMPERATURE: 42.74C, CURRENT: 8.856A
  [44.572] (0) RPM: 7399, PWR: 93, VOLTAGE: 10.920V, TEMPERATURE: 44.71C, CURRENT: 7.904A
  [44.572] (1) RPM: 7410, PWR: 95, VOLTAGE: 10.917V, TEMPERATURE: 44.06C, CURRENT: 8.800A
  [44.572] (2) RPM: 178, PWR: 0, VOLTAGE: 10.920V, TEMPERATURE: 44.49C, CURRENT: -0.208A
  [44.572] (3) RPM: 7385, PWR: 95, VOLTAGE: 10.910V, TEMPERATURE: 42.74C, CURRENT: 8.784A
  [44.581] (0) RPM: 7399, PWR: 93, VOLTAGE: 10.920V, TEMPERATURE: 44.71C, CURRENT: 7.904A
  [44.581] (1) RPM: 7413, PWR: 95, VOLTAGE: 10.931V, TEMPERATURE: 43.93C, CURRENT: 8.760A
  [44.581] (2) RPM: 218, PWR: 0, VOLTAGE: 10.923V, TEMPERATURE: 44.46C, CURRENT: -0.152A
  [44.581] (3) RPM: 7385, PWR: 95, VOLTAGE: 10.910V, TEMPERATURE: 42.74C, CURRENT: 8.784A
  [44.591] (0) RPM: 7399, PWR: 93, VOLTAGE: 10.920V, TEMPERATURE: 44.71C, CURRENT: 7.904A
  [44.591] (1) RPM: 7413, PWR: 95, VOLTAGE: 10.931V, TEMPERATURE: 43.93C, CURRENT: 8.760A
  [44.591] (2) RPM: 218, PWR: 0, VOLTAGE: 10.923V, TEMPERATURE: 44.46C, CURRENT: -0.152A
  [44.591] (3) RPM: 7385, PWR: 95, VOLTAGE: 10.910V, TEMPERATURE: 42.74C, CURRENT: 8.784A
  [44.601] (0) RPM: 7399, PWR: 93, VOLTAGE: 10.920V, TEMPERATURE: 44.71C, CURRENT: 7.904A
  [44.601] (1) RPM: 7413, PWR: 95, VOLTAGE: 10.931V, TEMPERATURE: 43.93C, CURRENT: 8.760A
  [44.601] (2) RPM: 218, PWR: 0, VOLTAGE: 10.923V, TEMPERATURE: 44.46C, CURRENT: -0.152A
  [44.601] (3) RPM: 7380, PWR: 95, VOLTAGE: 10.913V, TEMPERATURE: 42.77C, CURRENT: 8.696A
  [44.611] (0) RPM: 7403, PWR: 93, VOLTAGE: 10.924V, TEMPERATURE: 44.74C, CURRENT: 7.936A
  [44.611] (1) RPM: 7411, PWR: 95, VOLTAGE: 10.937V, TEMPERATURE: 43.87C, CURRENT: 8.744A
  [44.611] (2) RPM: 218, PWR: 0, VOLTAGE: 10.923V, TEMPERATURE: 44.46C, CURRENT: -0.152A
  [44.611] (3) RPM: 7380, PWR: 95, VOLTAGE: 10.913V, TEMPERATURE: 42.77C, CURRENT: 8.696A
  [44.621] (0) RPM: 7403, PWR: 93, VOLTAGE: 10.924V, TEMPERATURE: 44.74C, CURRENT: 7.936A
  [44.621] (1) RPM: 7411, PWR: 95, VOLTAGE: 10.937V, TEMPERATURE: 43.87C, CURRENT: 8.744A
  [44.621] (2) RPM: 218, PWR: 0, VOLTAGE: 10.923V, TEMPERATURE: 44.46C, CURRENT: -0.152A
  [44.621] (3) RPM: 7380, PWR: 95, VOLTAGE: 10.913V, TEMPERATURE: 42.77C, CURRENT: 8.696A
  [44.631] (0) RPM: 7403, PWR: 93, VOLTAGE: 10.924V, TEMPERATURE: 44.74C, CURRENT: 7.936A
  [44.631] (1) RPM: 7411, PWR: 95, VOLTAGE: 10.937V, TEMPERATURE: 43.87C, CURRENT: 8.744A
  [44.631] (2) RPM: 258, PWR: 0, VOLTAGE: 10.920V, TEMPERATURE: 44.53C, CURRENT: -0.144A
  [44.631] (3) RPM: 7380, PWR: 95, VOLTAGE: 10.913V, TEMPERATURE: 42.77C, CURRENT: 8.696A
  [44.641] (0) RPM: 7402, PWR: 93, VOLTAGE: 10.919V, TEMPERATURE: 44.81C, CURRENT: 7.888A
  [44.641] (1) RPM: 7411, PWR: 95, VOLTAGE: 10.937V, TEMPERATURE: 43.87C, CURRENT: 8.744A
  [44.641] (2) RPM: 258, PWR: 0, VOLTAGE: 10.920V, TEMPERATURE: 44.53C, CURRENT: -0.144A
  [44.641] (3) RPM: 7390, PWR: 95, VOLTAGE: 10.914V, TEMPERATURE: 42.82C, CURRENT: 8.680A
  [44.651] (0) RPM: 7402, PWR: 93, VOLTAGE: 10.919V, TEMPERATURE: 44.81C, CURRENT: 7.888A
  [44.651] (1) RPM: 7411, PWR: 95, VOLTAGE: 10.937V, TEMPERATURE: 43.87C, CURRENT: 8.744A
  [44.651] (2) RPM: 258, PWR: 0, VOLTAGE: 10.920V, TEMPERATURE: 44.53C, CURRENT: -0.144A
  [44.651] (3) RPM: 7390, PWR: 95, VOLTAGE: 10.914V, TEMPERATURE: 42.82C, CURRENT: 8.680A
  [44.661] (0) RPM: 7402, PWR: 93, VOLTAGE: 10.919V, TEMPERATURE: 44.81C, CURRENT: 7.888A
  [44.661] (1) RPM: 7411, PWR: 95, VOLTAGE: 10.937V, TEMPERATURE: 43.87C, CURRENT: 8.744A
  [44.661] (2) RPM: 258, PWR: 0, VOLTAGE: 10.920V, TEMPERATURE: 44.53C, CURRENT: -0.144A
  [44.661] (3) RPM: 7390, PWR: 95, VOLTAGE: 10.914V, TEMPERATURE: 42.82C, CURRENT: 8.680A
  [44.671] (0) RPM: 7402, PWR: 93, VOLTAGE: 10.919V, TEMPERATURE: 44.81C, CURRENT: 7.888A
  [44.671] (1) RPM: 7406, PWR: 95, VOLTAGE: 10.926V, TEMPERATURE: 43.96C, CURRENT: 8.688A
  [44.671] (2) RPM: 298, PWR: 0, VOLTAGE: 10.921V, TEMPERATURE: 44.51C, CURRENT: -0.152A
  [44.671] (3) RPM: 7390, PWR: 95, VOLTAGE: 10.914V, TEMPERATURE: 42.82C, CURRENT: 8.680A
  [44.680] (0) RPM: 7402, PWR: 93, VOLTAGE: 10.919V, TEMPERATURE: 44.81C, CURRENT: 7.888A
  [44.680] (1) RPM: 7406, PWR: 95, VOLTAGE: 10.926V, TEMPERATURE: 43.96C, CURRENT: 8.688A
  [44.680] (2) RPM: 298, PWR: 0, VOLTAGE: 10.921V, TEMPERATURE: 44.51C, CURRENT: -0.152A

• Case-2 ./voxl-esc-spin.py --id 255 --rpm 6000 --timeout 180
  [53.921] (3) RPM: 5986, PWR: 81, VOLTAGE: 10.599V, TEMPERATURE: 41.14C, CURRENT: 7.016A
  [53.930] (0) RPM: 5983, PWR: 85, VOLTAGE: 10.588V, TEMPERATURE: 46.06C, CURRENT: 8.576A
  [53.930] (1) RPM: 5987, PWR: 82, VOLTAGE: 10.590V, TEMPERATURE: 47.33C, CURRENT: 7.384A
  [53.930] (2) RPM: 6000, PWR: 80, VOLTAGE: 10.583V, TEMPERATURE: 46.07C, CURRENT: 6.608A
  [53.930] (3) RPM: 5986, PWR: 81, VOLTAGE: 10.599V, TEMPERATURE: 41.14C, CURRENT: 7.016A
  [53.941] (0) RPM: 5983, PWR: 85, VOLTAGE: 10.588V, TEMPERATURE: 46.06C, CURRENT: 8.576A
  [53.941] (1) RPM: 5987, PWR: 82, VOLTAGE: 10.590V, TEMPERATURE: 47.33C, CURRENT: 7.384A
  [53.941] (2) RPM: 6000, PWR: 80, VOLTAGE: 10.583V, TEMPERATURE: 46.07C, CURRENT: 6.608A
  [53.941] (3) RPM: 5986, PWR: 81, VOLTAGE: 10.599V, TEMPERATURE: 41.14C, CURRENT: 7.016A
  [53.951] (0) RPM: 5983, PWR: 85, VOLTAGE: 10.588V, TEMPERATURE: 46.06C, CURRENT: 8.576A
  [53.951] (1) RPM: 5987, PWR: 82, VOLTAGE: 10.590V, TEMPERATURE: 47.33C, CURRENT: 7.384A
  [53.951] (2) RPM: 6022, PWR: 80, VOLTAGE: 10.586V, TEMPERATURE: 46.10C, CURRENT: 6.736A
  [53.951] (3) RPM: 5986, PWR: 81, VOLTAGE: 10.599V, TEMPERATURE: 41.14C, CURRENT: 7.016A
  [53.960] (0) RPM: 5987, PWR: 85, VOLTAGE: 10.590V, TEMPERATURE: 45.99C, CURRENT: 8.600A
  [53.960] (1) RPM: 5987, PWR: 82, VOLTAGE: 10.590V, TEMPERATURE: 47.33C, CURRENT: 7.384A
  [53.960] (2) RPM: 6022, PWR: 80, VOLTAGE: 10.586V, TEMPERATURE: 46.10C, CURRENT: 6.736A
  [53.960] (3) RPM: 5980, PWR: 81, VOLTAGE: 10.580V, TEMPERATURE: 41.28C, CURRENT: 7.096A
  [53.971] (0) RPM: 5987, PWR: 85, VOLTAGE: 10.590V, TEMPERATURE: 45.99C, CURRENT: 8.600A
  [53.971] (1) RPM: 5987, PWR: 82, VOLTAGE: 10.590V, TEMPERATURE: 47.33C, CURRENT: 7.384A
  [53.971] (2) RPM: 6022, PWR: 80, VOLTAGE: 10.586V, TEMPERATURE: 46.10C, CURRENT: 6.736A
  [53.971] (3) RPM: 5980, PWR: 81, VOLTAGE: 10.580V, TEMPERATURE: 41.28C, CURRENT: 7.096A
  [53.981] (0) RPM: 5987, PWR: 85, VOLTAGE: 10.590V, TEMPERATURE: 45.99C, CURRENT: 8.600A
  [53.981] (1) RPM: 5980, PWR: 82, VOLTAGE: 10.594V, TEMPERATURE: 47.33C, CURRENT: 7.464A
  [53.981] (2) RPM: 5981, PWR: 81, VOLTAGE: 10.589V, TEMPERATURE: 46.02C, CURRENT: 6.768A
  [53.981] (3) RPM: 5980, PWR: 81, VOLTAGE: 10.580V, TEMPERATURE: 41.28C, CURRENT: 7.096A
  [53.991] (0) RPM: 5987, PWR: 85, VOLTAGE: 10.590V, TEMPERATURE: 45.99C, CURRENT: 8.600A
  [53.991] (1) RPM: 5980, PWR: 82, VOLTAGE: 10.594V, TEMPERATURE: 47.33C, CURRENT: 7.464A
  [53.991] (2) RPM: 5981, PWR: 81, VOLTAGE: 10.589V, TEMPERATURE: 46.02C, CURRENT: 6.768A
  [53.991] (3) RPM: 5980, PWR: 81, VOLTAGE: 10.580V, TEMPERATURE: 41.28C, CURRENT: 7.096A
  [54.000] (0) RPM: 5987, PWR: 85, VOLTAGE: 10.590V, TEMPERATURE: 45.99C, CURRENT: 8.600A
  [54.000] (1) RPM: 5980, PWR: 82, VOLTAGE: 10.594V, TEMPERATURE: 47.33C, CURRENT: 7.464A
  [54.000] (2) RPM: 5981, PWR: 81, VOLTAGE: 10.589V, TEMPERATURE: 46.02C, CURRENT: 6.768A
  [54.000] (3) RPM: 5989, PWR: 81, VOLTAGE: 10.586V, TEMPERATURE: 41.17C, CURRENT: 6.968A
  [54.011] (0) RPM: 4353, PWR: 89, VOLTAGE: 10.466V, TEMPERATURE: 46.01C, CURRENT: 7.488A
  [54.011] (1) RPM: 827, PWR: 46, VOLTAGE: 10.301V, TEMPERATURE: 47.05C, CURRENT: 15.744A
  [54.011] (2) RPM: 5981, PWR: 81, VOLTAGE: 10.589V, TEMPERATURE: 46.02C, CURRENT: 6.768A
  [54.011] (3) RPM: 5989, PWR: 81, VOLTAGE: 10.586V, TEMPERATURE: 41.17C, CURRENT: 6.968A
  [54.021] (0) RPM: 4353, PWR: 89, VOLTAGE: 10.466V, TEMPERATURE: 46.01C, CURRENT: 7.488A
  [54.021] (1) RPM: 827, PWR: 46, VOLTAGE: 10.301V, TEMPERATURE: 47.05C, CURRENT: 15.744A
  [54.021] (2) RPM: 5981, PWR: 81, VOLTAGE: 10.589V, TEMPERATURE: 46.02C, CURRENT: 6.768A
  [54.021] (3) RPM: 5989, PWR: 81, VOLTAGE: 10.586V, TEMPERATURE: 41.17C, CURRENT: 6.968A
  [54.031] (0) RPM: 4353, PWR: 89, VOLTAGE: 10.466V, TEMPERATURE: 46.01C, CURRENT: 7.488A
  [54.031] (1) RPM: 827, PWR: 46, VOLTAGE: 10.301V, TEMPERATURE: 47.05C, CURRENT: 15.744A
  [54.031] (2) RPM: 5985, PWR: 82, VOLTAGE: 10.376V, TEMPERATURE: 46.08C, CURRENT: 6.968A
  [54.031] (3) RPM: 5989, PWR: 81, VOLTAGE: 10.586V, TEMPERATURE: 41.17C, CURRENT: 6.968A
  [54.041] (0) RPM: 4353, PWR: 89, VOLTAGE: 10.466V, TEMPERATURE: 46.01C, CURRENT: 7.488A
  [54.041] (1) RPM: 827, PWR: 46, VOLTAGE: 10.301V, TEMPERATURE: 47.05C, CURRENT: 15.744A
  [54.041] (2) RPM: 5985, PWR: 82, VOLTAGE: 10.376V, TEMPERATURE: 46.08C, CURRENT: 6.968A
  [54.041] (3) RPM: 5983, PWR: 82, VOLTAGE: 10.414V, TEMPERATURE: 41.18C, CURRENT: 7.376A
  [54.051] (0) RPM: 660, PWR: 48, VOLTAGE: 10.444V, TEMPERATURE: 45.95C, CURRENT: 13.728A
  [54.051] (1) RPM: 827, PWR: 46, VOLTAGE: 10.301V, TEMPERATURE: 47.05C, CURRENT: 15.744A
  [54.051] (2) RPM: 5985, PWR: 82, VOLTAGE: 10.376V, TEMPERATURE: 46.08C, CURRENT: 6.968A
  [54.051] (3) RPM: 5983, PWR: 82, VOLTAGE: 10.414V, TEMPERATURE: 41.18C, CURRENT: 7.376A
  [54.060] (0) RPM: 660, PWR: 48, VOLTAGE: 10.444V, TEMPERATURE: 45.95C, CURRENT: 13.728A
  [54.060] (1) RPM: 827, PWR: 46, VOLTAGE: 10.301V, TEMPERATURE: 47.05C, CURRENT: 15.744A
  [54.060] (2) RPM: 5985, PWR: 82, VOLTAGE: 10.376V, TEMPERATURE: 46.08C, CURRENT: 6.968A
  [54.060] (3) RPM: 5983, PWR: 82, VOLTAGE: 10.414V, TEMPERATURE: 41.18C, CURRENT: 7.376A
  [54.070] (0) RPM: 660, PWR: 48, VOLTAGE: 10.444V, TEMPERATURE: 45.95C, CURRENT: 13.728A
  [54.070] (1) RPM: 628, PWR: 44, VOLTAGE: 10.452V, TEMPERATURE: 47.25C, CURRENT: 12.168A
  [54.070] (2) RPM: 5990, PWR: 82, VOLTAGE: 10.445V, TEMPERATURE: 45.99C, CURRENT: 6.776A
  [54.070] (3) RPM: 5983, PWR: 82, VOLTAGE: 10.414V, TEMPERATURE: 41.18C, CURRENT: 7.376A
  [54.081] (0) RPM: 660, PWR: 48, VOLTAGE: 10.444V, TEMPERATURE: 45.95C, CURRENT: 13.728A
  [54.081] (1) RPM: 628, PWR: 44, VOLTAGE: 10.452V, TEMPERATURE: 47.25C, CURRENT: 12.168A
  [54.081] (2) RPM: 5990, PWR: 82, VOLTAGE: 10.445V, TEMPERATURE: 45.99C, CURRENT: 6.776A
  [54.081] (3) RPM: 5986, PWR: 82, VOLTAGE: 10.442V, TEMPERATURE: 41.23C, CURRENT: 7.176A
  [54.091] (0) RPM: 660, PWR: 48, VOLTAGE: 10.444V, TEMPERATURE: 45.95C, CURRENT: 13.728A
  [54.091] (1) RPM: 628, PWR: 44, VOLTAGE: 10.452V, TEMPERATURE: 47.25C, CURRENT: 12.168A
  [54.091] (2) RPM: 5990, PWR: 82, VOLTAGE: 10.445V, TEMPERATURE: 45.99C, CURRENT: 6.776A
  [54.091] (3) RPM: 5986, PWR: 82, VOLTAGE: 10.442V, TEMPERATURE: 41.23C, CURRENT: 7.176A
  [54.100] (0) RPM: 0, PWR: 0, VOLTAGE: 10.542V, TEMPERATURE: 46.08C, CURRENT: 2.504A
  [54.100] (1) RPM: 0, PWR: 0, VOLTAGE: 10.619V, TEMPERATURE: 47.60C, CURRENT: 12.488A
  [54.100] (2) RPM: 5990, PWR: 82, VOLTAGE: 10.445V, TEMPERATURE: 45.99C, CURRENT: 6.776A
  [54.100] (3) RPM: 5986, PWR: 82, VOLTAGE: 10.442V, TEMPERATURE: 41.23C, CURRENT: 7.176A
  [54.111] (0) RPM: 0, PWR: 0, VOLTAGE: 10.542V, TEMPERATURE: 46.08C, CURRENT: 2.504A
  [54.111] (1) RPM: 0, PWR: 0, VOLTAGE: 10.619V, TEMPERATURE: 47.60C, CURRENT: 12.488A
  [54.111] (2) RPM: 5982, PWR: 80, VOLTAGE: 10.755V, TEMPERATURE: 46.11C, CURRENT: 7.160A
  [54.111] (3) RPM: 5986, PWR: 82, VOLTAGE: 10.442V, TEMPERATURE: 41.23C, CURRENT: 7.176A

[Alex Kushleyev]

@Will ,

I can help you diagnose this further. Your results are a bit strange - the current that different motors draw is different at the same desired rpm, the difference can be 1-2A, which is not typical. This may mean that one or more motors have overheated and are no longer functioning properly.

First, lets run some basic tests:

1. Run a ramp test without propellers to double check that all 4 motors are spinning about the same with the same provided control input:

./voxl-esc-spin.py --power 100 --ramp-time 5.0 --timeout 5.5 --cmd-rate 1000 --enable-plot 1 --id 255

This should ramp the motors from 10% to 100% power in 5 seconds and terminate the test after 5.5 seconds total. If you you see any motors having trouble during this test, to avoid burning out the motor, you can stop the test (control-c). After that, you can reduce the --power parameter to a lower value to see at which point a motor starts to have a failure. A plot would be useful.

After the test finishes, a plot should open up in your browser.

For example, here is a result of the test i just ran, although it is using different motors:

You can see that all 4 motors are performing very very close (resulting RPM is right on top of each other).

After you do such test without propellers, you can put the propellers back on and repeat the test. Please post the results and we will go from there!

Also, please note, when you are running a test where you desired to execute really high RPMs or power, it is often desirable to add the --ramp-time parameter to avoid a sudden jerk at the very beginning. If you want to test a step response of the ESC, it is better to use voxl-esc-spin-step.py test script, which is similar to voxl-esc-spin.py

Thank you

Alex

[Will]

@Alex-Kushleyev , I've acquired four additional motors for testing with the commands below. Despite this, I continue to encounter a scenario where one of the motors abruptly stops, leading to the drone falling from the sky. Conversely, I've assessed the thermal conditions of the motors and found that they aren't excessively hot to the touch. The temperature increases when using a 1045 propeller, while with the current 9450 propeller, there is minimal heat.

• ./voxl-esc-spin.py --power 100 --ramp-time 5.0 --timeout 5.5 --cmd-rate 1000 --enable-plot 1 --id 255 # without propeller
  

• ./voxl-esc-spin.py --power 90 --ramp-time 5.0 --timeout 5.5 --cmd-rate 1000 --enable-plot 1 --id 255 # without propeller
  

• ./voxl-esc-spin.py --power 60 --ramp-time 5.0 --timeout 5.5 --cmd-rate 1000 --enable-plot 1 --id 255 # with propeller
  

• ./voxl-esc-spin.py --power 90 --ramp-time 5.0 --timeout 5.5 --cmd-rate 1000 --enable-plot 1 --id 255 # with propeller
  

I encountered another issue with these commands where, at times, the plot isn't generated, and the RPM value appears incorrect. To resolve this, I have to use ctrl-c to stop and rerun it. I attempted lowering the power value to address this issue, but it seems to occur randomly.

python voxl-esc-spin.py --power 10 --ramp-time 5.0 --timeout 5.5 --cmd-rate 1000 --enable-plot 1 --id 255
Detected Python version : 3.10.9 (main, Mar 1 2023, 18:23:06) [GCC 11.2.0]
Found voxl-esc tools bin version: 1.4
INFO: All COM ports:
/dev/ttyUSB0 : FT232R USB UART - FT232R USB UART
INFO: UART Port Candidates:
/dev/ttyUSB0
INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 2000000
INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 250000
INFO: ESC(s) detected on port: /dev/ttyUSB0, baud rate: 250000
ID : 0
Board : version 34: ModalAi 4-in-1 ESC (M0117-1)
UID : 0x203034305743570C001A0038
Firmware : version 39, hash 3d7ee4eb
Bootloader : version 183, hash 25317f42

ID         : 1
Board      : version 34: ModalAi 4-in-1 ESC (M0117-1)
UID        : 0x203034305743570C003D0050
Firmware   : version   39, hash 3d7ee4eb
Bootloader : version  183, hash 25317f42

ID         : 2
Board      : version 34: ModalAi 4-in-1 ESC (M0117-1)
UID        : 0x203034305743570C003D0054
Firmware   : version   39, hash 3d7ee4eb
Bootloader : version  183, hash 25317f42

ID         : 3
Board      : version 34: ModalAi 4-in-1 ESC (M0117-1)
UID        : 0x203034305743570C003D0056
Firmware   : version   39, hash 3d7ee4eb
Bootloader : version  183, hash 25317f42

---

WARNING:
This test requires motors to spin at high speeds with
propellers attached. Please ensure that appropriate
protective equipment is being worn at all times and
that the motor and propeller are adequately isolated
from all persons.

For best results, please perform this test at the
nominal voltage for the battery used.

Type "Yes" to continue: Yes
[0.009] (0) RPM: 0, PWR: 0, VOLTAGE: 0.000V, TEMPERATURE: 0.00C, CURRENT: 0.000A
[0.009] (1) RPM: 0, PWR: 0, VOLTAGE: 0.000V, TEMPERATURE: 0.00C, CURRENT: 0.000A
[0.009] (2) RPM: 0, PWR: 0, VOLTAGE: 0.000V, TEMPERATURE: 0.00C, CURRENT: 0.000A
[0.009] (3) RPM: 0, PWR: 0, VOLTAGE: 0.000V, TEMPERATURE: 0.00C, CURRENT: 0.000A
[0.019] (0) RPM: 6, PWR: 0, VOLTAGE: 12.380V, TEMPERATURE: 37.20C, CURRENT: 0.000A
[0.019] (1) RPM: 11, PWR: 0, VOLTAGE: 12.384V, TEMPERATURE: 36.43C, CURRENT: 0.000A
[0.019] (2) RPM: 8, PWR: 0, VOLTAGE: 12.377V, TEMPERATURE: 36.43C, CURRENT: -0.032A
[0.019] (3) RPM: 5, PWR: 0, VOLTAGE: 12.372V, TEMPERATURE: 37.04C, CURRENT: 0.024A
[0.030] (0) RPM: 6, PWR: 0, VOLTAGE: 12.380V, TEMPERATURE: 37.20C, CURRENT: 0.000A
[0.030] (1) RPM: 11, PWR: 0, VOLTAGE: 12.384V, TEMPERATURE: 36.43C, CURRENT: 0.000A
[0.030] (2) RPM: 8, PWR: 0, VOLTAGE: 12.377V, TEMPERATURE: 36.43C, CURRENT: -0.032A
[0.030] (3) RPM: 5, PWR: 0, VOLTAGE: 12.372V, TEMPERATURE: 37.04C, CURRENT: 0.024A
[0.039] (0) RPM: 6, PWR: 0, VOLTAGE: 12.380V, TEMPERATURE: 37.20C, CURRENT: 0.000A
[0.039] (1) RPM: 11, PWR: 0, VOLTAGE: 12.384V, TEMPERATURE: 36.43C, CURRENT: 0.000A
[0.039] (2) RPM: 8, PWR: 0, VOLTAGE: 12.377V, TEMPERATURE: 36.43C, CURRENT: -0.032A
[0.039] (3) RPM: 5, PWR: 0, VOLTAGE: 12.372V, TEMPERATURE: 37.04C, CURRENT: 0.024A
[0.050] (0) RPM: 6, PWR: 0, VOLTAGE: 12.380V, TEMPERATURE: 37.20C, CURRENT: 0.000A
[0.050] (1) RPM: 11, PWR: 0, VOLTAGE: 12.384V, TEMPERATURE: 36.43C, CURRENT: 0.000A
[0.050] (2) RPM: 44, PWR: 0, VOLTAGE: 12.364V, TEMPERATURE: 36.43C, CURRENT: 0.176A
[0.050] (3) RPM: 45, PWR: 0, VOLTAGE: 12.358V, TEMPERATURE: 37.02C, CURRENT: 0.200A
[0.065] (0) RPM: 46, PWR: 0, VOLTAGE: 12.359V, TEMPERATURE: 37.22C, CURRENT: 0.328A
[0.065] (1) RPM: 47, PWR: 0, VOLTAGE: 12.373V, TEMPERATURE: 36.38C, CURRENT: 0.216A
[0.065] (2) RPM: 48, PWR: 0, VOLTAGE: 12.356V, TEMPERATURE: 36.46C, CURRENT: 0.224A
[0.065] (3) RPM: 55, PWR: 0, VOLTAGE: 12.355V, TEMPERATURE: 36.93C, CURRENT: 0.360A
[0.070] (0) RPM: 46, PWR: 0, VOLTAGE: 12.359V, TEMPERATURE: 37.22C, CURRENT: 0.328A
[0.070] (1) RPM: 60, PWR: 0, VOLTAGE: 12.363V, TEMPERATURE: 36.29C, CURRENT: 0.440A
[0.070] (2) RPM: 61, PWR: 0, VOLTAGE: 12.342V, TEMPERATURE: 36.48C, CURRENT: 0.328A
[0.070] (3) RPM: 55, PWR: 0, VOLTAGE: 12.355V, TEMPERATURE: 36.93C, CURRENT: 0.360A
[0.080] (0) RPM: 46, PWR: 0, VOLTAGE: 12.359V, TEMPERATURE: 37.22C, CURRENT: 0.328A
[0.080] (1) RPM: 60, PWR: 0, VOLTAGE: 12.363V, TEMPERATURE: 36.29C, CURRENT: 0.440A
[0.080] (2) RPM: 61, PWR: 0, VOLTAGE: 12.342V, TEMPERATURE: 36.48C, CURRENT: 0.328A
[0.080] (3) RPM: 55, PWR: 0, VOLTAGE: 12.355V, TEMPERATURE: 36.93C, CURRENT: 0.360A
[0.089] (0) RPM: 46, PWR: 0, VOLTAGE: 12.359V, TEMPERATURE: 37.22C, CURRENT: 0.328A
[0.089] (1) RPM: 60, PWR: 0, VOLTAGE: 12.363V, TEMPERATURE: 36.29C, CURRENT: 0.440A
[0.089] (2) RPM: 61, PWR: 0, VOLTAGE: 12.342V, TEMPERATURE: 36.48C, CURRENT: 0.328A
[0.089] (3) RPM: 55, PWR: 0, VOLTAGE: 12.355V, TEMPERATURE: 36.93C, CURRENT: 0.360A
[0.099] (0) RPM: 46, PWR: 0, VOLTAGE: 12.359V, TEMPERATURE: 37.22C, CURRENT: 0.328A
[0.099] (1) RPM: 60, PWR: 0, VOLTAGE: 12.363V, TEMPERATURE: 36.29C, CURRENT: 0.440A
[0.099] (2) RPM: 61, PWR: 0, VOLTAGE: 12.342V, TEMPERATURE: 36.48C, CURRENT: 0.328A
[0.099] (3) RPM: 55, PWR: 0, VOLTAGE: 12.355V, TEMPERATURE: 36.93C, CURRENT: 0.360A
[0.111] (0) RPM: 94, PWR: 0, VOLTAGE: 12.346V, TEMPERATURE: 37.25C, CURRENT: 0.288A
[0.111] (1) RPM: 99, PWR: 0, VOLTAGE: 12.356V, TEMPERATURE: 36.35C, CURRENT: 0.360A
[0.111] (2) RPM: 105, PWR: 0, VOLTAGE: 12.346V, TEMPERATURE: 36.45C, CURRENT: 0.360A
[0.111] (3) RPM: 97, PWR: 0, VOLTAGE: 12.350V, TEMPERATURE: 36.99C, CURRENT: 0.424A
..
[5.476] (1) RPM: 643, PWR: 0, VOLTAGE: 12.328V, TEMPERATURE: 36.42C, CURRENT: 0.616A
[5.476] (2) RPM: 641, PWR: 0, VOLTAGE: 12.317V, TEMPERATURE: 36.55C, CURRENT: 0.568A
[5.476] (3) RPM: 642, PWR: 0, VOLTAGE: 12.322V, TEMPERATURE: 37.07C, CURRENT: 0.640A
Finished!
[1701745969.875759] TX=1271, RX=435 packets, RX CRC ERRORS=50
Average RPMs: 643.00 643.00 641.00 642.00
Average RPM deviation between ESCs : 2.00
False
^CTraceback (most recent call last):
File "/home/will/projects/voxl-esc/voxl-esc-tools/voxl-esc-spin.py", line 370, in <module>
fig = make_subplots(rows=5, cols=1, start_cell="top-left")
File "/home/will/anaconda3/lib/python3.10/site-packages/plotly/subplots.py", line 304, in make_subplots
return _sub.make_subplots(
File "/home/will/anaconda3/lib/python3.10/site-packages/plotly/_subplots.py", line 879, in make_subplots
figure = go.Figure()
File "/home/will/anaconda3/lib/python3.10/site-packages/plotly/graph_objs/_figure.py", line 629, in init
super(Figure, self).init(data, layout, frames, skip_invalid, **kwargs)
File "/home/will/anaconda3/lib/python3.10/site-packages/plotly/basedatatypes.py", line 577, in init
from plotly.offline.offline import _get_jconfig
File "/home/will/anaconda3/lib/python3.10/site-packages/plotly/offline/init.py", line 6, in <module>
from .offline import (
File "/home/will/anaconda3/lib/python3.10/site-packages/plotly/offline/offline.py", line 11, in <module>
from plotly import tools
File "<frozen importlib._bootstrap>", line 1075, in _handle_fromlist
File "/home/will/anaconda3/lib/python3.10/site-packages/_plotly_utils/importers.py", line 29, in getattr
return importlib.import_module(rel_import, parent_name)
File "/home/will/anaconda3/lib/python3.10/importlib/init.py", line 126, in import_module
return _bootstrap._gcd_import(name[level:], package, level)
File "/home/will/anaconda3/lib/python3.10/site-packages/plotly/tools.py", line 64, in <module>
ipython_core_display = optional_imports.get_module("IPython.core.display")
File "/home/will/anaconda3/lib/python3.10/site-packages/_plotly_utils/optional_imports.py", line 28, in get_module
return import_module(name)
File "/home/will/anaconda3/lib/python3.10/importlib/init.py", line 126, in import_module
return _bootstrap._gcd_import(name[level:], package, level)
File "/home/will/anaconda3/lib/python3.10/site-packages/IPython/init.py", line 52, in <module>
from .core.application import Application
File "/home/will/anaconda3/lib/python3.10/site-packages/IPython/core/application.py", line 26, in <module>
from IPython.core import release, crashhandler
File "<frozen importlib._bootstrap>", line 1027, in _find_and_load
^C

Thanks you.

[Alex Kushleyev]

@Will ,

I believe the plots look good, all the motors are behaving very similarly. One thing to note in the last test, even though you requested cmd-rate 1000 (per second) and the test lasted 5.5 seconds, there seems to be some issue with sending out packets at that rate (you would expect about 5500 packet transmitted).

[1701745969.875759] TX=1271, RX=435 packets, RX CRC ERRORS=50

I am curious if you increase the baud rate in your ESC params to 921600, whether this issue goes away. Also, it is ok to lower cmd-rate to 100 or 200.. It seems maybe your computer is not keeping up with the test script.

Now, regarding actual failure on motor in flight..

• does the same motor stop spinning ever time, or does the motor ID which fails changes from time to time?
• since you were able to reproduce this failure using the following command (5 days ago) : ./voxl-esc-spin.py --id 255 --rpm 8000 --timeout 180, the issue is probably not related to the flight controller (PX4).
• can you please inspect the motor cables (3 per motor) and make sure they are not damaged or cut, especially around / under zip ties that hold the cables to the arms (please check all the way from motors to the ESC). Also, if there are bullet connectors, make sure they are fully isolated and there is no exposed metal connector that could make contact with anything
• make sure that no camera flex cables are touching the ESC (sometimes camera flex cables can have exposed edge, so if it makes contact with ESC components, it can affect the performance or cause motor stall.

Regarding the plot issue, i am not sure why it happens.. it seems the plot application is waiting for something, but it is not clear what.. i don't think reducing the commanded RPM would help with that..

[Alex Kushleyev]

@Will , also can you please see if you can reproduce the issue without propellers using the following command:

./voxl-esc-spin.py --id 255 --power 30 --timeout 180

(or try longer durations)

If this does not reproduce the issue, --power 50 with propellers.. I am just trying to see if this is related to rpm control or power usage or something else..

By the way, I noticed in your picture at the very top of this post that you have two wires soldered to the UART connector. Are you using those wires to connect to USB adapter (and also flight controller?). Please note that you should also connect GND between the ESC and the other device (USB adapter), otherwise the signal may not be grounded properly and can result in communication errors.

Additionally.. are you able to share the exact motor and propeller part number? Maybe i can test it. Thanks!

[Will]

@Alex-Kushleyev , here are some updates :

I am curious if you increase the baud rate in your ESC params to 921600, whether this issue goes away.

Yes, after increasing baud rate to 921600 or more, the plot issue goes away.

does the same motor stop spinning ever time, or does the motor ID which fails changes from time to time?

No, it's not the same motor that consistently stops spinning; rather, it's each motor ID that experiences a failure

can you please inspect the motor cables (3 per motor) and make sure they are not damaged or cut, especially around / under zip ties that hold the cables to the arms (please check all the way from motors to the ESC). Also, if there are bullet connectors, make sure they are fully isolated and there is no exposed metal connector that could make contact with anything

Upon visual inspection, no damage or cuts are apparent. However, I will have our hardware guy to conduct a more in-depth diagnosis.

make sure that no camera flex cables are touching the ESC (sometimes camera flex cables can have exposed edge, so if it makes contact with ESC components, it can affect the performance or cause motor stall.

Yes, we have applied tape on camera flex to prevent electronic shorts.

By the way, I noticed in your picture at the very top of this post that you have two wires soldered to the UART connector. Are you using those wires to connect to USB adapter (and also flight controller?).

No, I had previously removed those two soldered wires when I obtained a compatible connector for connecting to the USB adapter.

are you able to share the exact motor and propeller part number?

I've conducted tests with two types of motors. The first is the Sunnysky x2212 (KV980), which you can find more information about here: https://sunnyskyusa.com/products/sunnysky-x2212-brushless-motors.

The second motor is the Dongxingwei D2216 (810KV), and additional details can be found at http://www.dongxingwei.com/detail_d2216.html.

Here is an image showing the propellers used, which are 9450 and 1045:

also can you please see if you can reproduce the issue without propellers using the following command:

No, I can't reproduce it without propellers. The following is where I use D2216 motor with 1045 propeller to reproduce the issue, thanks.

python voxl-esc-spin.py --id 255 --power 100 --timeout 180 --enable-plot 1
Detected Python version : 3.10.9 (main, Mar 1 2023, 18:23:06) [GCC 11.2.0]
Found voxl-esc tools bin version: 1.4
INFO: All COM ports:
/dev/ttyUSB0 : FT232R USB UART - FT232R USB UART
INFO: UART Port Candidates:
/dev/ttyUSB0
INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 2000000
INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 250000
INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 921600
INFO: ESC(s) detected on port: /dev/ttyUSB0, baud rate: 921600
ID : 0
Board : version 34: ModalAi 4-in-1 ESC (M0117-1)
UID : 0x203034305743570C001A0038
Firmware : version 39, hash 3d7ee4eb
Bootloader : version 183, hash 25317f42

ID         : 1
Board      : version 34: ModalAi 4-in-1 ESC (M0117-1)
UID        : 0x203034305743570C003D0050
Firmware   : version   39, hash 3d7ee4eb
Bootloader : version  183, hash 25317f42

ID         : 2
Board      : version 34: ModalAi 4-in-1 ESC (M0117-1)
UID        : 0x203034305743570C003D0054
Firmware   : version   39, hash 3d7ee4eb
Bootloader : version  183, hash 25317f42

ID         : 3
Board      : version 34: ModalAi 4-in-1 ESC (M0117-1)
UID        : 0x203034305743570C003D0056
Firmware   : version   39, hash 3d7ee4eb
Bootloader : version  183, hash 25317f42

---

WARNING:
This test requires motors to spin at high speeds with
propellers attached. Please ensure that appropriate
protective equipment is being worn at all times and
that the motor and propeller are adequately isolated
from all persons.

For best results, please perform this test at the
nominal voltage for the battery used.

Type "Yes" to continue: Yes
[0.000] (0) RPM: 0, PWR: 0, VOLTAGE: 0.000V, TEMPERATURE: 0.00C, CURRENT: 0.000A
[0.000] (1) RPM: 0, PWR: 0, VOLTAGE: 0.000V, TEMPERATURE: 0.00C, CURRENT: 0.000A
[0.000] (2) RPM: 0, PWR: 0, VOLTAGE: 0.000V, TEMPERATURE: 0.00C, CURRENT: 0.000A
[0.000] (3) RPM: 0, PWR: 0, VOLTAGE: 0.000V, TEMPERATURE: 0.00C, CURRENT: 0.000A
[0.011] (0) RPM: 0, PWR: 0, VOLTAGE: 0.000V, TEMPERATURE: 0.00C, CURRENT: 0.000A
[0.011] (1) RPM: 0, PWR: 0, VOLTAGE: 0.000V, TEMPERATURE: 0.00C, CURRENT: 0.000A
[0.011] (2) RPM: 0, PWR: 0, VOLTAGE: 0.000V, TEMPERATURE: 0.00C, CURRENT: 0.000A
[0.011] (3) RPM: 0, PWR: 0, VOLTAGE: 0.000V, TEMPERATURE: 0.00C, CURRENT: 0.000A
[0.021] (0) RPM: 0, PWR: 0, VOLTAGE: 0.000V, TEMPERATURE: 0.00C, CURRENT: 0.000A
[0.021] (1) RPM: 0, PWR: 0, VOLTAGE: 12.681V, TEMPERATURE: 34.95C, CURRENT: -0.008A
[0.021] (2) RPM: 0, PWR: 0, VOLTAGE: 0.000V, TEMPERATURE: 0.00C, CURRENT: 0.000A
[0.021] (3) RPM: 0, PWR: 0, VOLTAGE: 0.000V, TEMPERATURE: 0.00C, CURRENT: 0.000A
[0.031] (0) RPM: 0, PWR: 0, VOLTAGE: 0.000V, TEMPERATURE: 0.00C, CURRENT: 0.000A
[0.031] (1) RPM: 0, PWR: 0, VOLTAGE: 12.681V, TEMPERATURE: 34.95C, CURRENT: -0.008A
[0.031] (2) RPM: 9, PWR: 0, VOLTAGE: 12.672V, TEMPERATURE: 34.39C, CURRENT: -0.056A
[0.031] (3) RPM: 0, PWR: 0, VOLTAGE: 0.000V, TEMPERATURE: 0.00C, CURRENT: 0.000A
...
[179.990] (0) RPM: 865, PWR: 0, VOLTAGE: 11.095V, TEMPERATURE: 46.73C, CURRENT: 0.520A
[179.990] (1) RPM: 875, PWR: 0, VOLTAGE: 11.096V, TEMPERATURE: 45.66C, CURRENT: 0.456A
[179.990] (2) RPM: 6658, PWR: 100, VOLTAGE: 11.094V, TEMPERATURE: 46.91C, CURRENT: 8.672A
[179.990] (3) RPM: 6686, PWR: 100, VOLTAGE: 11.091V, TEMPERATURE: 44.31C, CURRENT: 9.088A
Finished!
[1701932726.226422] TX=18008, RX=18005 packets, RX CRC ERRORS=0
Average RPMs: 733.55 721.26 6645.88 6680.47
Average RPM deviation between ESCs : 5959.22
False

[Alex Kushleyev]

@Will thank you for providing valuable information.

Can you please confirm (again) that after changing baud rate to higher (form 250k to 921600 or higher, you were not able to reproduce the issue even a single time? **correction, I see now that only the plot issue is solved by increasing the baud rate, but the motor issue remains, correct?

Also, i have noticed that in your last plot, it happened twice, with offset of about 90 seconds - have you noticed this before?

I am performing tests to try to reproduce the issue..

Alex

[Alex Kushleyev]

@Will , i still have not been able to reproduce the issue but I may have found a very rare condition that may be happening in your case. I am going to share a firmware update soon and ask you to test it if possible. thank you

Alex

[Will]

@Alex-Kushleyev , Sure, I'll conduct testing once the updated firmware is available. By the way, where I can download the source code to build the ESC firmware?

Here's a test plot without the propeller for your reference, no issues were identified. Thank you.

[Alex Kushleyev]

@Will , the source code for the ESC firmware is not available, it is a closed-source project.

I have made a small change that will hopefully fix your issue. The reason why I say "hopefully" is because i am not able to reproduce your exact issue, but i was able to reproduce a small glitch, which is now fixed in the test firmware. In my case the motor did not stop during the glitch, but it had a jerk. Perhaps with different test conditions, the result could be different, like in your case, when the motor would stop completely.

The test firmware is located here : https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/tree/desync-bug-fix/voxl-esc-tools/firmware/test ( you can find the correct one for your M0117-1 board). The firmware is based off V39_RC6, which is what you have been using before.

Please try it using the same tests that you have been running and if you are not able to reproduce the issue on the bench, you should test in flight as well.

In ether case (whether the issue is fixed or not), please let me know, as I am actively working on trying to resolve it.

Thank you!!

Alex

[Will]

@Alex-Kushleyev , I've conducted tests on firmware version modalai_esc_firmware_m0117_1_v0_39_bugfix1_14e444b3.bin, and I didn't observe any issues with the stop spinning function. However, there seems to be an unusual burst of current at the beginning. Could you please assist in investigating this matter? Thank you :

• Test round 1 :
  python voxl-esc-spin.py --id 255 --power 100 --timeout 180 --enable-plot 1

Zoom in the current plot:

• Test round 2 :
  python voxl-esc-spin.py --id 255 --power 100 --ramp-time 2 --timeout 180 --enable-plot 1

Zoom in the current plot:

[Alex Kushleyev]

@Will , Thank you for testing the firmware update. The current spike at the beginning looks normal - this is due to motor quickly accelerating after the initial spin-up stage. The ramp time of your test is 2 seconds, but the initial spin-up time is about 1.5 seconds (it is in ESC params). The test script does not account for the spin-up time.. So, after 1.5 seconds of spin-up, the commanded power will jump to like 75% and then will have about 0.5 seconds to go to 100%, which will draw a lot of current until the final (steady-state) speed is reached. If you would like, you can set the ramp time to 5 seconds and it will be much smoother if you prefer. Does that make sense to you?

I am curious, how many successful 180 second tests have you done with the bugfix firmware? Also, before the firmware update, did every test result in a failure, or was it rare?

By the way, a small tip - if you use latest voxl-esc tools from dev branch, the plots now have the x-axis synchronized, so if you zoom in on one plot, the other plots also zoom to the same x range, so it is easier to look at the plots.

Alex

[Will]

@Alex-Kushleyev , Using 180-second tests, the x2212 motor consistently failed under full power. In contrast, the d2216 motor passed once with a 9450 propeller, but no attempt was made with a 1045 propeller. Today, I conducted a test pairing the x2212 motor with a 1045 propeller, which I consider the most challenging condition. Surprisingly, it passed twice consecutively, instilling confidence in me. I plan to proceed with the field test using this fw version, thanks for your help.