KDE 4012XF motors with 16 in props

Chase Riley

@Alex-Kushleyev I was able to install the new firmware to the ESC, however when I am trying to upload the new params file ../voxl-esc-params/low_kv/mn4006_m0134_6_low_kv.xml I receive the following error.

[GCC 8.4.0]
Found voxl-esc tools bin version: 1.2

INFO: Params file name : /usr/share/modalai/voxl-esc-params/low_kv/mn4006_m0134_6_low_kv.xml 
INFO: Params file size : 8365 bytes


VOXL Platform: M0054
Detected VOXL2 M0054 or M0104!
Found previous connection information in .voxl_esc_cache ..
Prioritizing /dev/slpi-uart-2 @ 250000
INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 250000
Sending library name request: libslpi_uart_bridge_slpi.so
Received standard error event 2
Sending initialization request
INFO: ESC(s) detected on port: /dev/slpi-uart-2, baud rate: 250000
INFO: ESCs detected:
INFO: ---------------------
ID: 0, SW: 39, HW: 41: Unknown Board
ID: 1, SW: 39, HW: 41: Unknown Board
ID: 2, SW: 39, HW: 41: Unknown Board
ID: 3, SW: 39, HW: 41: Unknown Board
---------------------
ERROR: ESC firmware version 39 is incompatible with params supported by this utility
       Acceptable ESC firmware versions are:  [38]```

Alex Kushleyev

@Chase-Riley please use the latest voxl-esc tools from dev branch:

git clone https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc.git -b dev

you can clone that directly to voxl2 and just use the python scripts directly (instead of voxl-esc wrapper), since you working on a custom esc tuning.

Some helpful tips here too : https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/blob/dev/voxl-esc-tools/recovery.md

Chase Riley

@Alex-Kushleyev I made sure to have the latest version and know I can not detect the esc. See below.

Detected Python version : 3.6.9 (default, Mar 10 2023, 16:46:00) 
[GCC 8.4.0]
Found voxl-esc tools bin version: 1.5
VOXL Platform: M0054
Detected RB5 Flight, VOXL2 M0054 or M0104!
INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 2000000
/usr/lib/libvoxl_io.so: undefined symbol: voxl_uart_init_legacy_slpi
INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 230400
/usr/lib/libvoxl_io.so: undefined symbol: voxl_uart_init_legacy_slpi
WARNING: No ESC(s) detected
VOXL Platform: M0054
Detected RB5 Flight, VOXL2 M0054 or M0104!
INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 250000
/usr/lib/libvoxl_io.so: undefined symbol: voxl_uart_init_legacy_slpi
INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 230400
/usr/lib/libvoxl_io.so: undefined symbol: voxl_uart_init_legacy_slpi
WARNING: No ESC(s) detected
VOXL Platform: M0054
Detected RB5 Flight, VOXL2 M0054 or M0104!
INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 921600
/usr/lib/libvoxl_io.so: undefined symbol: voxl_uart_init_legacy_slpi
INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 230400
/usr/lib/libvoxl_io.so: undefined symbol: voxl_uart_init_legacy_slpi
WARNING: No ESC(s) detected
VOXL Platform: M0054
Detected RB5 Flight, VOXL2 M0054 or M0104!
INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 230400
/usr/lib/libvoxl_io.so: undefined symbol: voxl_uart_init_legacy_slpi
INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 230400
/usr/lib/libvoxl_io.so: undefined symbol: voxl_uart_init_legacy_slpi
WARNING: No ESC(s) detected
VOXL Platform: M0054
Detected RB5 Flight, VOXL2 M0054 or M0104!
INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 57600
/usr/lib/libvoxl_io.so: undefined symbol: voxl_uart_init_legacy_slpi
INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 230400
/usr/lib/libvoxl_io.so: undefined symbol: voxl_uart_init_legacy_slpi
WARNING: No ESC(s) detected
VOXL Platform: M0054
Detected RB5 Flight, VOXL2 M0054 or M0104!
INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 115200
/usr/lib/libvoxl_io.so: undefined symbol: voxl_uart_init_legacy_slpi
INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 230400
/usr/lib/libvoxl_io.so: undefined symbol: voxl_uart_init_legacy_slpi
WARNING: No ESC(s) detected

ERROR: not all ESCs found

Alex Kushleyev

@Chase-Riley said in KDE 4012XF motors with 16 in props:

/usr/lib/libvoxl_io.so: undefined symbol: voxl_uart_init_legacy_slpi

this error means that you are using relatively old VOXL2 SDK -- the interface for the UART bridge (which connects the DSP uart to CPU) has changed.

Are you able to updated the VOXL2 SDK to 1.1.2? and then repeat the procedure using dev branch of voxl-esc ?

Chase Riley

@Alex-Kushleyev Would rather not update if possible. I have spent months getting everything to work in 1.0. What would be affected if I did make the upgrade? Would I lose any config or param files?

Alex Kushleyev

@Chase-Riley OK

In this case, please try voxl-esc from this commit : https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/tree/066b6308611ac162342a716689d1b4ebe82b1a63

This is right before the DSP bridge interface changed and it should support firmware 39 in param update:
https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/blob/066b6308611ac162342a716689d1b4ebe82b1a63/voxl-esc-tools/voxl-esc-upload-params.py#L58

However, still use the firmware and params that i originally posted for the low kv motor tuning

Alex Kushleyev

also tag 1.3.2 should work https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/tags/v1.3.2

Chase Riley

@Alex-Kushleyev 1.3.2 seemed to have got the job done. I will let you know if I run in to anymore issues while tuning the esc.

Alex Kushleyev

@Chase-Riley , great!

Now, the tools in latest dev branch have some improvements including plotting. Can you please try one more thing:

use voxl-esc dev branch
replace the following file from v1.3.2, which will allow you to use the old uart bridge interface : https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/blob/master/voxl-esc-tools/voxl_serial.py replace with https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/blob/v1.3.2/voxl-esc-tools/voxl_serial.py

this will be easier to support

Alex Kushleyev

@Matthew-Wellner FYI