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    Can you power VOXL2 from the ModalAI 6s ESC?

    Ask your questions right here!
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    • Alex KushleyevA
      Alex Kushleyev ModalAI Team @Alex Kushleyev
      last edited by Alex Kushleyev

      Just FYI, if you are running the esc calibration on VOXL2, which does not have a display attached, you cannot view the calibration plot right away. If you run the calibration procedure on a linux pc (while attached to ESC using serial to usb adapter), the plot will show up in browser. However, I recently added automatic saving of the figure to disk, it is done here : https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/blob/dev/voxl-esc-tools/voxl-esc-calibrate.py?ref_type=heads#L275 , so after the calibration procedure is finished, you should be able to see calibration_results.html which you can pull from voxl2 and view in any browser (internet connection is needed because it will download the javascript library for plotting).

      Also, don't forget if you are using M0134-6 with 6S battery, install the additional capacitor that was provided with the ESC, without it 6S voltage may cause excessive noise in the ESC and poor performance.

      For example, I recently calibrated a motor and here is what the results should look like. I am writing up some better instructions for calibration (with examples, so here is a quick preview).

      • first plot (top left) is the commaded voltage vs RPM, that is the average voltage supplied to the motor in order to achieve each RPM. You can see that curve has a nice smooth shape with slight quadratic (non-linear) upward trend
      • plot on top right shows current draw vs time, it should be roughly quadratic because as the average voltage applied to the (loaded) motor increases, the current will increase quadratically.
      • Bottom right plot shows the rpm response vs time. The green samples are the samples that were used for calibration (as opposed to red samples showing all the data). This is showing that the samples were used were taken after the RPM has settled after a transition.
      • you can also use the plot of current and rpm vs time to check if the ESC is behaving normally (plots look similar to the examples) or there are some sudden jumps up or down

      esc_calibration_mn4006_15in_6s.png

      zoomed in:
      esc_calibration_mn4006_15in_6s_zoom.png

      1 Reply Last reply Reply Quote 0
      • Matthew WellnerM
        Matthew Wellner @Alex Kushleyev
        last edited by

        @Alex-Kushleyev

        Sorry for the delay - I am using SunnySky / TMotor 4004 @400kv with TMotor MS1101 props (11").

        Alex KushleyevA 1 Reply Last reply Reply Quote 0
        • Matthew WellnerM
          Matthew Wellner @Vin
          last edited by

          @Vin

          Thanks, but voxl-px4 is running. I am getting GPS, battery voltage and the rest of the telemetry in QGC as expected. I'm just not getting anything for the receiver even though I can read it from the command line.

          Matt

          Alex KushleyevA 1 Reply Last reply Reply Quote 0
          • Alex KushleyevA
            Alex Kushleyev ModalAI Team @Matthew Wellner
            last edited by Alex Kushleyev

            @Matthew-Wellner , you probably want to take a look at this post. I recently posted new firmware, params example and instructions how to make sure your low kv motor operates properly:

            https://forum.modalai.com/topic/2902/kde-4012xf-motors-with-16-in-props/10#

            I will tag you there

            I did an example tuning / testing of Tmotor MN4006 380kV with 15in prop which could be similar to your application, so it should definitely be relevant and going through the testing you will ensure that there will be no de-syncs

            1 Reply Last reply Reply Quote 0
            • Alex KushleyevA
              Alex Kushleyev ModalAI Team @Matthew Wellner
              last edited by

              @Matthew-Wellner, if you still cannot figure out the RC receiver you should make another post in the forum regarding the receiver, so that this thread does not get too confusing 🙂

              I can't help you there, but other devs should be able to

              Matthew WellnerM 1 Reply Last reply Reply Quote 0
              • Matthew WellnerM
                Matthew Wellner @Alex Kushleyev
                last edited by

                @Alex-Kushleyev Will do. Thanks!

                Matthew WellnerM 1 Reply Last reply Reply Quote 0
                • Matthew WellnerM
                  Matthew Wellner @Matthew Wellner
                  last edited by

                  @Alex-Kushleyev

                  Hi Alex - I performed some testing with the ESC with the low kv esc params file referenced in the thread you pointed me to and when I go from 30% power to 40% and greater, my motor / prop reverses directions. Am I desyncing at that point?

                  voxl2:/usr/share/modalai/voxl-esc-tools$ ./voxl-esc-spin.py --id 1 --power 40 --timeout 3.5 --enable-plot 1
                  Detected Python version : 3.6.9 (default, Mar 10 2023, 16:46:00)
                  [GCC 8.4.0]
                  Found voxl-esc tools bin version: 1.4
                  VOXL Platform: M0054
                  Detected RB5 Flight, VOXL2 M0054 or M0104!
                  INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 2000000
                  Sending library name request: libslpi_qrb5165_io.so
                  Received standard error event 2
                  Sending initialization request
                  INFO: ESC(s) detected on port: /dev/slpi-uart-2, baud rate: 2000000
                  ID : 0
                  Board : version 41: ModalAi 4-in-1 ESC (M0134-6)
                  UID : 0x203330385246571900480020
                  Firmware : version 39, hash d4fe8e3d
                  Bootloader : version 184, hash 10b1286a

                  ID         : 1
Board      : version 41: ModalAi 4-in-1 ESC (M0134-6)
UID        : 0x2033303852465717003C002A
Firmware   : version   39, hash d4fe8e3d
Bootloader : version  184, hash 10b1286a

ID         : 2
Board      : version 41: ModalAi 4-in-1 ESC (M0134-6)
UID        : 0x203330385246571500420047
Firmware   : version   39, hash d4fe8e3d
Bootloader : version  184, hash 10b1286a

ID         : 3
Board      : version 41: ModalAi 4-in-1 ESC (M0134-6)
UID        : 0x20333038524657190034001D
Firmware   : version   39, hash d4fe8e3d
Bootloader : version  184, hash 10b1286a

                  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] (1) RPM: 0, PWR: 0, VOLTAGE: 0.000V, TEMPERATURE: 0.00C, CURRENT: 0.000A
                  [0.013] (1) RPM: 0, PWR: 0, VOLTAGE: 24.946V, TEMPERATURE: 46.80C, CURRENT: 0.000A
                  [0.022] (1) RPM: 7, PWR: 0, VOLTAGE: 24.941V, TEMPERATURE: 46.79C, CURRENT: 0.000A
                  [0.032] (1) RPM: 15, PWR: 0, VOLTAGE: 24.941V, TEMPERATURE: 46.80C, CURRENT: 0.056A
                  [0.042] (1) RPM: 23, PWR: 0, VOLTAGE: 24.950V, TEMPERATURE: 46.79C, CURRENT: 0.128A
                  [0.052] (1) RPM: 31, PWR: 0, VOLTAGE: 24.937V, TEMPERATURE: 46.82C, CURRENT: 0.264A
                  [0.062] (1) RPM: 39, PWR: 0, VOLTAGE: 24.932V, TEMPERATURE: 46.85C, CURRENT: 0.440A
                  [0.072] (1) RPM: 47, PWR: 0, VOLTAGE: 24.930V, TEMPERATURE: 46.83C, CURRENT: 0.520A
                  [0.082] (1) RPM: 55, PWR: 0, VOLTAGE: 24.930V, TEMPERATURE: 46.78C, CURRENT: 0.680A
                  [0.092] (1) RPM: 63, PWR: 0, VOLTAGE: 24.929V, TEMPERATURE: 46.79C, CURRENT: 0.648A
                  [0.103] (1) RPM: 63, PWR: 0, VOLTAGE: 24.929V, TEMPERATURE: 46.79C, CURRENT: 0.648A
                  [0.112] (1) RPM: 79, PWR: 0, VOLTAGE: 24.927V, TEMPERATURE: 46.79C, CURRENT: 0.632A
                  [0.122] (1) RPM: 87, PWR: 0, VOLTAGE: 24.937V, TEMPERATURE: 46.79C, CURRENT: 0.680A
                  [0.132] (1) RPM: 95, PWR: 0, VOLTAGE: 24.946V, TEMPERATURE: 46.79C, CURRENT: 0.664A
                  [0.142] (1) RPM: 103, PWR: 0, VOLTAGE: 24.939V, TEMPERATURE: 46.79C, CURRENT: 0.608A
                  [0.152] (1) RPM: 111, PWR: 0, VOLTAGE: 24.928V, TEMPERATURE: 46.80C, CURRENT: 0.776A
                  [0.162] (1) RPM: 119, PWR: 0, VOLTAGE: 24.934V, TEMPERATURE: 46.80C, CURRENT: 0.528A
                  [0.172] (1) RPM: 127, PWR: 0, VOLTAGE: 24.929V, TEMPERATURE: 46.81C, CURRENT: 0.464A
                  [0.182] (1) RPM: 135, PWR: 0, VOLTAGE: 24.931V, TEMPERATURE: 46.85C, CURRENT: 0.688A
                  [0.193] (1) RPM: 144, PWR: 0, VOLTAGE: 24.928V, TEMPERATURE: 46.82C, CURRENT: 0.648A
                  [0.203] (1) RPM: 144, PWR: 0, VOLTAGE: 24.928V, TEMPERATURE: 46.82C, CURRENT: 0.648A
                  [0.212] (1) RPM: 159, PWR: 0, VOLTAGE: 24.932V, TEMPERATURE: 46.86C, CURRENT: 0.688A
                  [0.222] (1) RPM: 167, PWR: 0, VOLTAGE: 24.928V, TEMPERATURE: 46.89C, CURRENT: 0.696A
                  [0.232] (1) RPM: 175, PWR: 0, VOLTAGE: 24.921V, TEMPERATURE: 46.85C, CURRENT: 0.688A
                  [0.242] (1) RPM: 183, PWR: 0, VOLTAGE: 24.922V, TEMPERATURE: 46.87C, CURRENT: 0.736A
                  [0.252] (1) RPM: 191, PWR: 0, VOLTAGE: 24.941V, TEMPERATURE: 46.81C, CURRENT: 0.856A
                  [0.262] (1) RPM: 199, PWR: 0, VOLTAGE: 24.929V, TEMPERATURE: 46.78C, CURRENT: 0.672A
                  [0.272] (1) RPM: 207, PWR: 0, VOLTAGE: 24.931V, TEMPERATURE: 46.76C, CURRENT: 0.696A
                  [0.282] (1) RPM: 215, PWR: 0, VOLTAGE: 24.921V, TEMPERATURE: 46.83C, CURRENT: 0.736A
                  [0.293] (1) RPM: 224, PWR: 0, VOLTAGE: 24.932V, TEMPERATURE: 46.81C, CURRENT: 0.736A
                  [0.302] (1) RPM: 224, PWR: 0, VOLTAGE: 24.932V, TEMPERATURE: 46.81C, CURRENT: 0.736A
                  [0.312] (1) RPM: 231, PWR: 0, VOLTAGE: 24.930V, TEMPERATURE: 46.83C, CURRENT: 0.640A
                  [0.322] (1) RPM: 247, PWR: 0, VOLTAGE: 24.925V, TEMPERATURE: 46.77C, CURRENT: 0.720A
                  [0.332] (1) RPM: 255, PWR: 0, VOLTAGE: 24.930V, TEMPERATURE: 46.78C, CURRENT: 0.656A
                  [0.342] (1) RPM: 263, PWR: 0, VOLTAGE: 24.924V, TEMPERATURE: 46.83C, CURRENT: 0.784A
                  [0.352] (1) RPM: 271, PWR: 0, VOLTAGE: 24.921V, TEMPERATURE: 46.83C, CURRENT: 0.696A
                  [0.362] (1) RPM: 279, PWR: 0, VOLTAGE: 24.930V, TEMPERATURE: 46.85C, CURRENT: 0.784A
                  [0.372] (1) RPM: 287, PWR: 0, VOLTAGE: 24.923V, TEMPERATURE: 46.84C, CURRENT: 0.992A
                  [0.382] (1) RPM: 295, PWR: 0, VOLTAGE: 24.923V, TEMPERATURE: 46.89C, CURRENT: 0.920A
                  [0.392] (1) RPM: 303, PWR: 0, VOLTAGE: 24.940V, TEMPERATURE: 46.83C, CURRENT: 0.808A
                  [0.402] (1) RPM: 303, PWR: 0, VOLTAGE: 24.940V, TEMPERATURE: 46.83C, CURRENT: 0.808A
                  [0.412] (1) RPM: 311, PWR: 0, VOLTAGE: 24.926V, TEMPERATURE: 46.79C, CURRENT: 0.832A
                  [0.422] (1) RPM: 327, PWR: 0, VOLTAGE: 24.932V, TEMPERATURE: 46.81C, CURRENT: 0.752A
                  [0.432] (1) RPM: 335, PWR: 0, VOLTAGE: 24.922V, TEMPERATURE: 46.84C, CURRENT: 0.816A
                  [0.442] (1) RPM: 343, PWR: 0, VOLTAGE: 24.914V, TEMPERATURE: 46.84C, CURRENT: 0.896A
                  [0.452] (1) RPM: 351, PWR: 0, VOLTAGE: 24.934V, TEMPERATURE: 46.77C, CURRENT: 0.808A
                  [0.462] (1) RPM: 359, PWR: 0, VOLTAGE: 24.940V, TEMPERATURE: 46.79C, CURRENT: 0.744A
                  [0.472] (1) RPM: 367, PWR: 0, VOLTAGE: 24.932V, TEMPERATURE: 46.84C, CURRENT: 0.920A
                  [0.482] (1) RPM: 375, PWR: 0, VOLTAGE: 24.927V, TEMPERATURE: 46.82C, CURRENT: 0.904A
                  [0.493] (1) RPM: 384, PWR: 0, VOLTAGE: 24.921V, TEMPERATURE: 46.85C, CURRENT: 0.768A
                  [0.503] (1) RPM: 384, PWR: 0, VOLTAGE: 24.921V, TEMPERATURE: 46.85C, CURRENT: 0.768A
                  [0.512] (1) RPM: 399, PWR: 0, VOLTAGE: 24.934V, TEMPERATURE: 46.82C, CURRENT: 0.536A
                  [0.522] (1) RPM: 407, PWR: 0, VOLTAGE: 24.939V, TEMPERATURE: 46.82C, CURRENT: 0.808A
                  [0.533] (1) RPM: 416, PWR: 0, VOLTAGE: 24.931V, TEMPERATURE: 46.84C, CURRENT: 0.896A
                  [0.542] (1) RPM: 423, PWR: 0, VOLTAGE: 24.940V, TEMPERATURE: 46.81C, CURRENT: 0.928A
                  [0.552] (1) RPM: 431, PWR: 0, VOLTAGE: 24.918V, TEMPERATURE: 46.83C, CURRENT: 0.760A
                  [0.562] (1) RPM: 439, PWR: 0, VOLTAGE: 24.922V, TEMPERATURE: 46.82C, CURRENT: 0.832A
                  [0.572] (1) RPM: 447, PWR: 0, VOLTAGE: 24.925V, TEMPERATURE: 46.83C, CURRENT: 0.832A
                  [0.582] (1) RPM: 455, PWR: 0, VOLTAGE: 24.924V, TEMPERATURE: 46.84C, CURRENT: 0.792A
                  [0.592] (1) RPM: 463, PWR: 0, VOLTAGE: 24.922V, TEMPERATURE: 46.87C, CURRENT: 0.888A
                  [0.602] (1) RPM: 463, PWR: 0, VOLTAGE: 24.922V, TEMPERATURE: 46.87C, CURRENT: 0.888A
                  [0.612] (1) RPM: 471, PWR: 0, VOLTAGE: 24.915V, TEMPERATURE: 46.88C, CURRENT: 0.952A
                  [0.622] (1) RPM: 487, PWR: 0, VOLTAGE: 24.919V, TEMPERATURE: 46.88C, CURRENT: 0.872A
                  [0.632] (1) RPM: 495, PWR: 0, VOLTAGE: 24.930V, TEMPERATURE: 46.86C, CURRENT: 0.856A
                  [0.642] (1) RPM: 503, PWR: 0, VOLTAGE: 24.921V, TEMPERATURE: 46.87C, CURRENT: 0.840A
                  [0.652] (1) RPM: 512, PWR: 0, VOLTAGE: 24.918V, TEMPERATURE: 46.89C, CURRENT: 0.936A
                  [0.662] (1) RPM: 519, PWR: 0, VOLTAGE: 24.927V, TEMPERATURE: 46.86C, CURRENT: 0.920A
                  [0.672] (1) RPM: 527, PWR: 0, VOLTAGE: 24.929V, TEMPERATURE: 46.86C, CURRENT: 0.920A
                  [0.682] (1) RPM: 535, PWR: 0, VOLTAGE: 24.940V, TEMPERATURE: 46.89C, CURRENT: 0.952A
                  [0.692] (1) RPM: 543, PWR: 0, VOLTAGE: 24.931V, TEMPERATURE: 46.96C, CURRENT: 0.856A
                  [0.703] (1) RPM: 543, PWR: 0, VOLTAGE: 24.931V, TEMPERATURE: 46.96C, CURRENT: 0.856A
                  [0.712] (1) RPM: 559, PWR: 0, VOLTAGE: 24.923V, TEMPERATURE: 46.93C, CURRENT: 0.944A
                  [0.722] (1) RPM: 567, PWR: 0, VOLTAGE: 24.925V, TEMPERATURE: 46.94C, CURRENT: 0.824A
                  [0.732] (1) RPM: 575, PWR: 0, VOLTAGE: 24.928V, TEMPERATURE: 46.89C, CURRENT: 0.928A
                  [0.742] (1) RPM: 583, PWR: 0, VOLTAGE: 24.926V, TEMPERATURE: 46.90C, CURRENT: 0.888A
                  [0.752] (1) RPM: 591, PWR: 0, VOLTAGE: 24.923V, TEMPERATURE: 46.92C, CURRENT: 0.848A
                  [0.762] (1) RPM: 599, PWR: 0, VOLTAGE: 24.921V, TEMPERATURE: 46.89C, CURRENT: 0.880A
                  [0.772] (1) RPM: 607, PWR: 0, VOLTAGE: 24.924V, TEMPERATURE: 46.87C, CURRENT: 0.840A
                  [0.782] (1) RPM: 615, PWR: 0, VOLTAGE: 24.920V, TEMPERATURE: 46.91C, CURRENT: 0.880A
                  [0.792] (1) RPM: 624, PWR: 0, VOLTAGE: 24.922V, TEMPERATURE: 46.91C, CURRENT: 1.056A
                  [0.802] (1) RPM: 624, PWR: 0, VOLTAGE: 24.922V, TEMPERATURE: 46.91C, CURRENT: 1.056A
                  [0.812] (1) RPM: 639, PWR: 0, VOLTAGE: 24.915V, TEMPERATURE: 46.92C, CURRENT: 0.968A
                  [0.822] (1) RPM: 647, PWR: 0, VOLTAGE: 24.916V, TEMPERATURE: 46.95C, CURRENT: 0.896A
                  [0.832] (1) RPM: 655, PWR: 0, VOLTAGE: 24.931V, TEMPERATURE: 46.95C, CURRENT: 0.912A
                  [0.842] (1) RPM: 663, PWR: 0, VOLTAGE: 24.925V, TEMPERATURE: 46.97C, CURRENT: 0.864A
                  [0.852] (1) RPM: 671, PWR: 0, VOLTAGE: 24.928V, TEMPERATURE: 46.93C, CURRENT: 0.984A
                  [0.862] (1) RPM: 679, PWR: 0, VOLTAGE: 24.936V, TEMPERATURE: 46.86C, CURRENT: 0.936A
                  [0.872] (1) RPM: 687, PWR: 0, VOLTAGE: 24.931V, TEMPERATURE: 46.86C, CURRENT: 0.856A
                  [0.882] (1) RPM: 695, PWR: 0, VOLTAGE: 24.922V, TEMPERATURE: 46.92C, CURRENT: 1.040A
                  [0.892] (1) RPM: 703, PWR: 0, VOLTAGE: 24.913V, TEMPERATURE: 46.97C, CURRENT: 0.872A
                  [0.903] (1) RPM: 703, PWR: 0, VOLTAGE: 24.913V, TEMPERATURE: 46.97C, CURRENT: 0.872A
                  [0.912] (1) RPM: 719, PWR: 0, VOLTAGE: 24.924V, TEMPERATURE: 46.98C, CURRENT: 0.952A
                  [0.922] (1) RPM: 727, PWR: 0, VOLTAGE: 24.926V, TEMPERATURE: 46.98C, CURRENT: 0.864A
                  [0.932] (1) RPM: 735, PWR: 0, VOLTAGE: 24.921V, TEMPERATURE: 46.94C, CURRENT: 1.096A
                  [0.942] (1) RPM: 743, PWR: 0, VOLTAGE: 24.929V, TEMPERATURE: 46.94C, CURRENT: 1.016A
                  [0.952] (1) RPM: 751, PWR: 0, VOLTAGE: 24.925V, TEMPERATURE: 46.94C, CURRENT: 0.936A
                  [0.962] (1) RPM: 759, PWR: 0, VOLTAGE: 24.929V, TEMPERATURE: 46.95C, CURRENT: 0.864A
                  [0.972] (1) RPM: 767, PWR: 0, VOLTAGE: 24.925V, TEMPERATURE: 46.93C, CURRENT: 0.864A
                  [0.982] (1) RPM: 775, PWR: 0, VOLTAGE: 24.917V, TEMPERATURE: 46.96C, CURRENT: 0.936A
                  [0.992] (1) RPM: 784, PWR: 0, VOLTAGE: 24.926V, TEMPERATURE: 46.97C, CURRENT: 0.888A
                  [1.003] (1) RPM: 784, PWR: 0, VOLTAGE: 24.926V, TEMPERATURE: 46.97C, CURRENT: 0.888A
                  [1.012] (1) RPM: 799, PWR: 0, VOLTAGE: 24.931V, TEMPERATURE: 46.96C, CURRENT: 1.128A
                  [1.022] (1) RPM: 799, PWR: 0, VOLTAGE: 24.932V, TEMPERATURE: 46.94C, CURRENT: 0.064A
                  [1.032] (1) RPM: 993, PWR: 10, VOLTAGE: 24.939V, TEMPERATURE: 46.92C, CURRENT: 0.112A
                  [1.042] (1) RPM: 848, PWR: 10, VOLTAGE: 24.939V, TEMPERATURE: 46.92C, CURRENT: 0.088A
                  [1.052] (1) RPM: 933, PWR: 10, VOLTAGE: 24.941V, TEMPERATURE: 46.93C, CURRENT: 0.096A
                  [1.062] (1) RPM: 949, PWR: 10, VOLTAGE: 24.935V, TEMPERATURE: 46.96C, CURRENT: 0.032A
                  [1.072] (1) RPM: 980, PWR: 10, VOLTAGE: 24.932V, TEMPERATURE: 46.96C, CURRENT: 0.032A
                  [1.082] (1) RPM: 1144, PWR: 40, VOLTAGE: 24.881V, TEMPERATURE: 47.00C, CURRENT: 6.288A
                  [1.092] (1) RPM: 1016, PWR: 40, VOLTAGE: 24.846V, TEMPERATURE: 46.97C, CURRENT: 7.072A
                  [1.102] (1) RPM: 1016, PWR: 40, VOLTAGE: 24.846V, TEMPERATURE: 46.97C, CURRENT: 7.072A
                  [1.112] (1) RPM: 946, PWR: 40, VOLTAGE: 24.824V, TEMPERATURE: 47.01C, CURRENT: 7.552A
                  [1.122] (1) RPM: 911, PWR: 40, VOLTAGE: 24.844V, TEMPERATURE: 47.09C, CURRENT: 7.384A
                  [1.132] (1) RPM: 863, PWR: 40, VOLTAGE: 24.823V, TEMPERATURE: 47.10C, CURRENT: 7.032A
                  [1.142] (1) RPM: 808, PWR: 40, VOLTAGE: 24.825V, TEMPERATURE: 47.05C, CURRENT: 6.848A
                  [1.152] (1) RPM: 741, PWR: 40, VOLTAGE: 24.799V, TEMPERATURE: 47.08C, CURRENT: 6.824A
                  [1.162] (1) RPM: 655, PWR: 40, VOLTAGE: 24.811V, TEMPERATURE: 47.21C, CURRENT: 7.344A
                  [1.172] (1) RPM: 563, PWR: 40, VOLTAGE: 24.812V, TEMPERATURE: 47.24C, CURRENT: 7.704A
                  [1.182] (1) RPM: 449, PWR: 40, VOLTAGE: 24.795V, TEMPERATURE: 47.17C, CURRENT: 7.696A
                  [1.192] (1) RPM: 382, PWR: 40, VOLTAGE: 24.774V, TEMPERATURE: 47.13C, CURRENT: 8.416A
                  [1.202] (1) RPM: 382, PWR: 40, VOLTAGE: 24.774V, TEMPERATURE: 47.13C, CURRENT: 8.416A
                  [1.212] (1) RPM: 398, PWR: 40, VOLTAGE: 24.779V, TEMPERATURE: 47.29C, CURRENT: 8.528A
                  [1.222] (1) RPM: 439, PWR: 40, VOLTAGE: 24.768V, TEMPERATURE: 47.29C, CURRENT: 8.480A
                  [1.232] (1) RPM: 467, PWR: 40, VOLTAGE: 24.776V, TEMPERATURE: 47.29C, CURRENT: 8.304A
                  [1.242] (1) RPM: 484, PWR: 40, VOLTAGE: 24.800V, TEMPERATURE: 47.34C, CURRENT: 9.032A
                  [1.252] (1) RPM: 504, PWR: 40, VOLTAGE: 24.793V, TEMPERATURE: 47.36C, CURRENT: 8.576A
                  [1.262] (1) RPM: 519, PWR: 40, VOLTAGE: 24.805V, TEMPERATURE: 47.36C, CURRENT: 9.160A
                  [1.272] (1) RPM: 548, PWR: 40, VOLTAGE: 24.788V, TEMPERATURE: 47.24C, CURRENT: 8.640A
                  [1.282] (1) RPM: 589, PWR: 40, VOLTAGE: 24.804V, TEMPERATURE: 47.28C, CURRENT: 6.840A
                  [1.293] (1) RPM: 628, PWR: 40, VOLTAGE: 24.811V, TEMPERATURE: 47.33C, CURRENT: 6.976A
                  [1.303] (1) RPM: 628, PWR: 40, VOLTAGE: 24.811V, TEMPERATURE: 47.33C, CURRENT: 6.976A
                  [1.312] (1) RPM: 674, PWR: 40, VOLTAGE: 24.788V, TEMPERATURE: 47.24C, CURRENT: 7.192A
                  [1.322] (1) RPM: 708, PWR: 40, VOLTAGE: 24.823V, TEMPERATURE: 47.30C, CURRENT: 7.360A
                  [1.332] (1) RPM: 742, PWR: 40, VOLTAGE: 24.818V, TEMPERATURE: 47.38C, CURRENT: 6.752A
                  [1.342] (1) RPM: 742, PWR: 40, VOLTAGE: 24.797V, TEMPERATURE: 47.45C, CURRENT: 7.304A
                  [1.352] (1) RPM: 785, PWR: 40, VOLTAGE: 24.792V, TEMPERATURE: 47.36C, CURRENT: 6.816A
                  [1.362] (1) RPM: 802, PWR: 40, VOLTAGE: 24.806V, TEMPERATURE: 47.35C, CURRENT: 6.280A
                  [1.372] (1) RPM: 810, PWR: 40, VOLTAGE: 24.823V, TEMPERATURE: 47.32C, CURRENT: 6.424A
                  [1.382] (1) RPM: 1110, PWR: 40, VOLTAGE: 24.805V, TEMPERATURE: 47.33C, CURRENT: 5.832A
                  [1.393] (1) RPM: 858, PWR: 40, VOLTAGE: 24.823V, TEMPERATURE: 47.33C, CURRENT: 6.808A
                  [1.403] (1) RPM: 858, PWR: 40, VOLTAGE: 24.823V, TEMPERATURE: 47.33C, CURRENT: 6.808A
                  [1.412] (1) RPM: 899, PWR: 40, VOLTAGE: 24.830V, TEMPERATURE: 47.40C, CURRENT: 6.456A
                  [1.422] (1) RPM: 926, PWR: 40, VOLTAGE: 24.813V, TEMPERATURE: 47.39C, CURRENT: 6.008A
                  [1.432] (1) RPM: 925, PWR: 40, VOLTAGE: 24.795V, TEMPERATURE: 47.32C, CURRENT: 6.232A
                  [1.442] (1) RPM: 969, PWR: 40, VOLTAGE: 24.841V, TEMPERATURE: 47.31C, CURRENT: 6.120A
                  [1.452] (1) RPM: 970, PWR: 40, VOLTAGE: 24.812V, TEMPERATURE: 47.37C, CURRENT: 5.704A
                  [1.462] (1) RPM: 980, PWR: 40, VOLTAGE: 24.823V, TEMPERATURE: 47.43C, CURRENT: 6.352A
                  [1.472] (1) RPM: 1004, PWR: 40, VOLTAGE: 24.830V, TEMPERATURE: 47.36C, CURRENT: 6.392A
                  [1.482] (1) RPM: 1003, PWR: 40, VOLTAGE: 24.814V, TEMPERATURE: 47.36C, CURRENT: 6.384A
                  [1.493] (1) RPM: 1030, PWR: 40, VOLTAGE: 24.826V, TEMPERATURE: 47.28C, CURRENT: 6.376A
                  [1.503] (1) RPM: 1030, PWR: 40, VOLTAGE: 24.826V, TEMPERATURE: 47.28C, CURRENT: 6.376A
                  [1.512] (1) RPM: 10024, PWR: 40, VOLTAGE: 24.878V, TEMPERATURE: 47.28C, CURRENT: 1.096A
                  [1.522] (1) RPM: 9988, PWR: 40, VOLTAGE: 24.904V, TEMPERATURE: 47.30C, CURRENT: 1.480A
                  [1.532] (1) RPM: 9480, PWR: 40, VOLTAGE: 24.909V, TEMPERATURE: 47.32C, CURRENT: 1.824A
                  [1.542] (1) RPM: 9350, PWR: 40, VOLTAGE: 24.868V, TEMPERATURE: 47.37C, CURRENT: 1.496A
                  [1.552] (1) RPM: 8336, PWR: 40, VOLTAGE: 24.886V, TEMPERATURE: 47.32C, CURRENT: 2.832A
                  [1.562] (1) RPM: 3674, PWR: 40, VOLTAGE: 24.857V, TEMPERATURE: 47.40C, CURRENT: 4.008A
                  [1.572] (1) RPM: 2932, PWR: 40, VOLTAGE: 24.848V, TEMPERATURE: 47.38C, CURRENT: 4.096A
                  [1.582] (1) RPM: 2825, PWR: 40, VOLTAGE: 24.842V, TEMPERATURE: 47.52C, CURRENT: 4.416A
                  [1.592] (1) RPM: 2825, PWR: 40, VOLTAGE: 24.842V, TEMPERATURE: 47.52C, CURRENT: 4.416A
                  [1.602] (1) RPM: 2734, PWR: 40, VOLTAGE: 24.865V, TEMPERATURE: 47.52C, CURRENT: 5.152A
                  [1.612] (1) RPM: 2627, PWR: 40, VOLTAGE: 24.865V, TEMPERATURE: 47.59C, CURRENT: 5.080A
                  [1.622] (1) RPM: 2619, PWR: 40, VOLTAGE: 24.853V, TEMPERATURE: 47.52C, CURRENT: 4.560A
                  [1.632] (1) RPM: 2586, PWR: 40, VOLTAGE: 24.849V, TEMPERATURE: 47.52C, CURRENT: 4.048A
                  [1.642] (1) RPM: 2532, PWR: 40, VOLTAGE: 24.845V, TEMPERATURE: 47.57C, CURRENT: 4.008A
                  [1.652] (1) RPM: 2431, PWR: 40, VOLTAGE: 24.812V, TEMPERATURE: 47.55C, CURRENT: 5.528A
                  [1.663] (1) RPM: 2411, PWR: 40, VOLTAGE: 24.830V, TEMPERATURE: 47.63C, CURRENT: 4.760A
                  [1.672] (1) RPM: 2505, PWR: 40, VOLTAGE: 24.843V, TEMPERATURE: 47.47C, CURRENT: 5.264A
                  [1.683] (1) RPM: 2485, PWR: 40, VOLTAGE: 24.827V, TEMPERATURE: 47.53C, CURRENT: 4.856A
                  [1.693] (1) RPM: 2485, PWR: 40, VOLTAGE: 24.827V, TEMPERATURE: 47.53C, CURRENT: 4.856A
                  [1.702] (1) RPM: 1949, PWR: 40, VOLTAGE: 24.843V, TEMPERATURE: 47.51C, CURRENT: 4.344A
                  [1.712] (1) RPM: 2392, PWR: 40, VOLTAGE: 24.828V, TEMPERATURE: 47.63C, CURRENT: 4.640A
                  [1.722] (1) RPM: 2457, PWR: 40, VOLTAGE: 24.850V, TEMPERATURE: 47.60C, CURRENT: 5.160A
                  [1.732] (1) RPM: 2359, PWR: 40, VOLTAGE: 24.839V, TEMPERATURE: 47.56C, CURRENT: 6.328A
                  [1.742] (1) RPM: 1800, PWR: 40, VOLTAGE: 24.821V, TEMPERATURE: 47.55C, CURRENT: 5.336A
                  [1.752] (1) RPM: 2452, PWR: 40, VOLTAGE: 24.846V, TEMPERATURE: 47.54C, CURRENT: 4.216A
                  [1.762] (1) RPM: 2370, PWR: 40, VOLTAGE: 24.840V, TEMPERATURE: 47.58C, CURRENT: 5.360A
                  [1.772] (1) RPM: 2420, PWR: 40, VOLTAGE: 24.861V, TEMPERATURE: 47.59C, CURRENT: 4.320A
                  [1.783] (1) RPM: 2365, PWR: 40, VOLTAGE: 24.846V, TEMPERATURE: 47.61C, CURRENT: 4.824A
                  [1.793] (1) RPM: 2365, PWR: 40, VOLTAGE: 24.846V, TEMPERATURE: 47.61C, CURRENT: 4.824A
                  [1.802] (1) RPM: 2361, PWR: 40, VOLTAGE: 24.837V, TEMPERATURE: 47.63C, CURRENT: 4.472A
                  [1.812] (1) RPM: 2338, PWR: 40, VOLTAGE: 24.853V, TEMPERATURE: 47.65C, CURRENT: 4.920A
                  [1.822] (1) RPM: 2360, PWR: 40, VOLTAGE: 24.852V, TEMPERATURE: 47.68C, CURRENT: 4.824A
                  [1.832] (1) RPM: 2326, PWR: 40, VOLTAGE: 24.829V, TEMPERATURE: 47.73C, CURRENT: 4.696A
                  [1.842] (1) RPM: 2276, PWR: 40, VOLTAGE: 24.818V, TEMPERATURE: 47.78C, CURRENT: 4.968A
                  [1.852] (1) RPM: 2367, PWR: 40, VOLTAGE: 24.829V, TEMPERATURE: 47.75C, CURRENT: 4.016A
                  [1.862] (1) RPM: 2333, PWR: 40, VOLTAGE: 24.864V, TEMPERATURE: 47.74C, CURRENT: 5.440A
                  [1.872] (1) RPM: 2284, PWR: 40, VOLTAGE: 24.842V, TEMPERATURE: 47.77C, CURRENT: 5.088A
                  [1.882] (1) RPM: 2373, PWR: 40, VOLTAGE: 24.850V, TEMPERATURE: 47.81C, CURRENT: 5.640A
                  [1.892] (1) RPM: 2373, PWR: 40, VOLTAGE: 24.850V, TEMPERATURE: 47.81C, CURRENT: 5.640A
                  [1.902] (1) RPM: 2299, PWR: 40, VOLTAGE: 24.839V, TEMPERATURE: 47.77C, CURRENT: 5.344A
                  [1.912] (1) RPM: 2316, PWR: 40, VOLTAGE: 24.847V, TEMPERATURE: 47.75C, CURRENT: 4.304A
                  [1.922] (1) RPM: 2352, PWR: 40, VOLTAGE: 24.847V, TEMPERATURE: 47.79C, CURRENT: 5.160A
                  [1.932] (1) RPM: 2271, PWR: 40, VOLTAGE: 24.832V, TEMPERATURE: 47.83C, CURRENT: 4.984A
                  [1.942] (1) RPM: 2346, PWR: 40, VOLTAGE: 24.856V, TEMPERATURE: 47.92C, CURRENT: 4.248A
                  [1.952] (1) RPM: 2354, PWR: 40, VOLTAGE: 24.833V, TEMPERATURE: 47.94C, CURRENT: 4.904A
                  [1.962] (1) RPM: 2262, PWR: 40, VOLTAGE: 24.843V, TEMPERATURE: 47.88C, CURRENT: 5.928A
                  [1.972] (1) RPM: 2355, PWR: 40, VOLTAGE: 24.844V, TEMPERATURE: 47.94C, CURRENT: 4.584A
                  [1.983] (1) RPM: 2241, PWR: 40, VOLTAGE: 24.820V, TEMPERATURE: 47.89C, CURRENT: 4.936A
                  [1.992] (1) RPM: 2241, PWR: 40, VOLTAGE: 24.820V, TEMPERATURE: 47.89C, CURRENT: 4.936A
                  [2.002] (1) RPM: 2316, PWR: 40, VOLTAGE: 24.834V, TEMPERATURE: 47.85C, CURRENT: 4.360A
                  [2.012] (1) RPM: 2369, PWR: 40, VOLTAGE: 24.878V, TEMPERATURE: 47.86C, CURRENT: 5.240A
                  [2.022] (1) RPM: 2254, PWR: 40, VOLTAGE: 24.840V, TEMPERATURE: 47.93C, CURRENT: 5.232A
                  [2.032] (1) RPM: 2327, PWR: 40, VOLTAGE: 24.844V, TEMPERATURE: 47.97C, CURRENT: 4.176A
                  [2.042] (1) RPM: 2331, PWR: 40, VOLTAGE: 24.835V, TEMPERATURE: 47.97C, CURRENT: 4.464A
                  [2.052] (1) RPM: 2270, PWR: 40, VOLTAGE: 24.855V, TEMPERATURE: 47.97C, CURRENT: 4.712A
                  [2.062] (1) RPM: 2360, PWR: 40, VOLTAGE: 24.853V, TEMPERATURE: 48.00C, CURRENT: 5.256A
                  [2.072] (1) RPM: 2375, PWR: 40, VOLTAGE: 24.839V, TEMPERATURE: 47.98C, CURRENT: 4.512A
                  [2.082] (1) RPM: 2274, PWR: 40, VOLTAGE: 24.833V, TEMPERATURE: 47.92C, CURRENT: 5.352A
                  [2.093] (1) RPM: 2274, PWR: 40, VOLTAGE: 24.833V, TEMPERATURE: 47.92C, CURRENT: 5.352A
                  [2.102] (1) RPM: 2320, PWR: 40, VOLTAGE: 24.816V, TEMPERATURE: 47.98C, CURRENT: 5.000A
                  [2.112] (1) RPM: 2318, PWR: 40, VOLTAGE: 24.823V, TEMPERATURE: 48.03C, CURRENT: 4.096A
                  [2.122] (1) RPM: 2385, PWR: 40, VOLTAGE: 24.832V, TEMPERATURE: 48.09C, CURRENT: 4.136A
                  [2.132] (1) RPM: 2279, PWR: 40, VOLTAGE: 24.852V, TEMPERATURE: 48.11C, CURRENT: 5.520A
                  [2.142] (1) RPM: 2315, PWR: 40, VOLTAGE: 24.830V, TEMPERATURE: 48.18C, CURRENT: 4.816A
                  [2.152] (1) RPM: 2398, PWR: 40, VOLTAGE: 24.852V, TEMPERATURE: 48.13C, CURRENT: 4.944A
                  [2.162] (1) RPM: 2284, PWR: 40, VOLTAGE: 24.823V, TEMPERATURE: 48.11C, CURRENT: 5.312A
                  [2.172] (1) RPM: 2302, PWR: 40, VOLTAGE: 24.839V, TEMPERATURE: 48.16C, CURRENT: 5.216A
                  [2.183] (1) RPM: 2276, PWR: 40, VOLTAGE: 24.839V, TEMPERATURE: 48.13C, CURRENT: 5.200A
                  [2.192] (1) RPM: 2276, PWR: 40, VOLTAGE: 24.839V, TEMPERATURE: 48.13C, CURRENT: 5.200A
                  [2.202] (1) RPM: 2328, PWR: 40, VOLTAGE: 24.842V, TEMPERATURE: 48.19C, CURRENT: 4.208A
                  [2.212] (1) RPM: 2388, PWR: 40, VOLTAGE: 24.863V, TEMPERATURE: 48.15C, CURRENT: 5.048A
                  [2.222] (1) RPM: 2259, PWR: 40, VOLTAGE: 24.806V, TEMPERATURE: 48.16C, CURRENT: 5.048A
                  [2.232] (1) RPM: 2328, PWR: 40, VOLTAGE: 24.833V, TEMPERATURE: 48.19C, CURRENT: 4.544A
                  [2.242] (1) RPM: 2348, PWR: 40, VOLTAGE: 24.834V, TEMPERATURE: 48.23C, CURRENT: 4.984A
                  [2.252] (1) RPM: 2277, PWR: 40, VOLTAGE: 24.830V, TEMPERATURE: 48.21C, CURRENT: 4.984A
                  [2.262] (1) RPM: 2332, PWR: 40, VOLTAGE: 24.831V, TEMPERATURE: 48.18C, CURRENT: 5.144A
                  [2.272] (1) RPM: 2315, PWR: 40, VOLTAGE: 24.833V, TEMPERATURE: 48.20C, CURRENT: 5.000A
                  [2.283] (1) RPM: 2354, PWR: 40, VOLTAGE: 24.838V, TEMPERATURE: 48.23C, CURRENT: 5.448A
                  [2.292] (1) RPM: 2354, PWR: 40, VOLTAGE: 24.838V, TEMPERATURE: 48.23C, CURRENT: 5.448A
                  [2.302] (1) RPM: 2279, PWR: 40, VOLTAGE: 24.832V, TEMPERATURE: 48.25C, CURRENT: 5.000A
                  [2.312] (1) RPM: 2307, PWR: 40, VOLTAGE: 24.831V, TEMPERATURE: 48.33C, CURRENT: 5.096A
                  [2.322] (1) RPM: 5555, PWR: 40, VOLTAGE: 24.847V, TEMPERATURE: 48.38C, CURRENT: 3.064A
                  [2.332] (1) RPM: 5683, PWR: 40, VOLTAGE: 24.848V, TEMPERATURE: 48.40C, CURRENT: 3.456A
                  [2.342] (1) RPM: 2258, PWR: 40, VOLTAGE: 24.841V, TEMPERATURE: 48.44C, CURRENT: 5.168A
                  [2.352] (1) RPM: 2254, PWR: 40, VOLTAGE: 24.820V, TEMPERATURE: 48.43C, CURRENT: 4.016A
                  [2.362] (1) RPM: 2282, PWR: 40, VOLTAGE: 24.847V, TEMPERATURE: 48.47C, CURRENT: 5.288A
                  [2.372] (1) RPM: 2286, PWR: 40, VOLTAGE: 24.826V, TEMPERATURE: 48.44C, CURRENT: 5.368A
                  [2.382] (1) RPM: 2203, PWR: 40, VOLTAGE: 24.871V, TEMPERATURE: 48.48C, CURRENT: 4.912A
                  [2.392] (1) RPM: 2203, PWR: 40, VOLTAGE: 24.871V, TEMPERATURE: 48.48C, CURRENT: 4.912A
                  [2.402] (1) RPM: 2179, PWR: 40, VOLTAGE: 24.835V, TEMPERATURE: 48.53C, CURRENT: 5.352A
                  [2.412] (1) RPM: 2267, PWR: 40, VOLTAGE: 24.834V, TEMPERATURE: 48.54C, CURRENT: 4.256A
                  [2.422] (1) RPM: 2353, PWR: 40, VOLTAGE: 24.833V, TEMPERATURE: 48.51C, CURRENT: 4.728A
                  [2.432] (1) RPM: 2308, PWR: 40, VOLTAGE: 24.834V, TEMPERATURE: 48.53C, CURRENT: 4.592A
                  [2.443] (1) RPM: 2206, PWR: 40, VOLTAGE: 24.829V, TEMPERATURE: 48.54C, CURRENT: 4.744A
                  [2.452] (1) RPM: 2302, PWR: 40, VOLTAGE: 24.823V, TEMPERATURE: 48.57C, CURRENT: 4.256A
                  [2.462] (1) RPM: 2349, PWR: 40, VOLTAGE: 24.831V, TEMPERATURE: 48.62C, CURRENT: 5.248A
                  [2.472] (1) RPM: 2297, PWR: 40, VOLTAGE: 24.843V, TEMPERATURE: 48.60C, CURRENT: 5.008A
                  [2.482] (1) RPM: 2368, PWR: 40, VOLTAGE: 24.827V, TEMPERATURE: 48.58C, CURRENT: 4.328A
                  [2.493] (1) RPM: 2368, PWR: 40, VOLTAGE: 24.827V, TEMPERATURE: 48.58C, CURRENT: 4.328A
                  [2.502] (1) RPM: 2734, PWR: 40, VOLTAGE: 24.846V, TEMPERATURE: 48.63C, CURRENT: 5.496A
                  [2.512] (1) RPM: 2251, PWR: 40, VOLTAGE: 24.813V, TEMPERATURE: 48.62C, CURRENT: 4.440A
                  [2.522] (1) RPM: 2268, PWR: 40, VOLTAGE: 24.813V, TEMPERATURE: 48.59C, CURRENT: 4.640A
                  [2.532] (1) RPM: 2235, PWR: 40, VOLTAGE: 24.845V, TEMPERATURE: 48.56C, CURRENT: 4.376A
                  [2.542] (1) RPM: 2224, PWR: 40, VOLTAGE: 24.839V, TEMPERATURE: 48.56C, CURRENT: 4.960A
                  [2.552] (1) RPM: 2187, PWR: 40, VOLTAGE: 24.796V, TEMPERATURE: 48.65C, CURRENT: 6.192A
                  [2.562] (1) RPM: 2275, PWR: 40, VOLTAGE: 24.828V, TEMPERATURE: 48.75C, CURRENT: 4.008A
                  [2.572] (1) RPM: 2318, PWR: 40, VOLTAGE: 24.820V, TEMPERATURE: 48.76C, CURRENT: 4.240A
                  [2.583] (1) RPM: 2323, PWR: 40, VOLTAGE: 24.836V, TEMPERATURE: 48.75C, CURRENT: 4.600A
                  [2.593] (1) RPM: 2323, PWR: 40, VOLTAGE: 24.836V, TEMPERATURE: 48.75C, CURRENT: 4.600A
                  [2.602] (1) RPM: 2375, PWR: 40, VOLTAGE: 24.834V, TEMPERATURE: 48.82C, CURRENT: 5.176A
                  [2.612] (1) RPM: 2367, PWR: 40, VOLTAGE: 24.866V, TEMPERATURE: 48.79C, CURRENT: 4.864A
                  [2.622] (1) RPM: 2278, PWR: 40, VOLTAGE: 24.834V, TEMPERATURE: 48.83C, CURRENT: 4.376A
                  [2.632] (1) RPM: 2369, PWR: 40, VOLTAGE: 24.837V, TEMPERATURE: 48.80C, CURRENT: 4.312A
                  [2.642] (1) RPM: 2292, PWR: 40, VOLTAGE: 24.835V, TEMPERATURE: 48.94C, CURRENT: 5.296A
                  [2.652] (1) RPM: 2318, PWR: 40, VOLTAGE: 24.815V, TEMPERATURE: 48.92C, CURRENT: 4.992A
                  [2.662] (1) RPM: 2388, PWR: 40, VOLTAGE: 24.844V, TEMPERATURE: 48.96C, CURRENT: 4.488A
                  [2.672] (1) RPM: 2276, PWR: 40, VOLTAGE: 24.834V, TEMPERATURE: 48.92C, CURRENT: 4.672A
                  [2.682] (1) RPM: 2399, PWR: 40, VOLTAGE: 24.824V, TEMPERATURE: 48.91C, CURRENT: 3.904A
                  [2.693] (1) RPM: 2341, PWR: 40, VOLTAGE: 24.831V, TEMPERATURE: 48.89C, CURRENT: 3.880A
                  [2.703] (1) RPM: 2341, PWR: 40, VOLTAGE: 24.831V, TEMPERATURE: 48.89C, CURRENT: 3.880A
                  [2.712] (1) RPM: 2322, PWR: 40, VOLTAGE: 24.829V, TEMPERATURE: 49.01C, CURRENT: 4.560A
                  [2.722] (1) RPM: 2255, PWR: 40, VOLTAGE: 24.810V, TEMPERATURE: 49.03C, CURRENT: 5.424A
                  [2.732] (1) RPM: 2299, PWR: 40, VOLTAGE: 24.828V, TEMPERATURE: 49.07C, CURRENT: 5.160A
                  [2.742] (1) RPM: 2401, PWR: 40, VOLTAGE: 24.827V, TEMPERATURE: 49.02C, CURRENT: 5.952A
                  [2.752] (1) RPM: 2311, PWR: 40, VOLTAGE: 24.832V, TEMPERATURE: 49.00C, CURRENT: 5.176A
                  [2.762] (1) RPM: 2343, PWR: 40, VOLTAGE: 24.859V, TEMPERATURE: 49.06C, CURRENT: 4.632A
                  [2.772] (1) RPM: 2409, PWR: 40, VOLTAGE: 24.841V, TEMPERATURE: 49.07C, CURRENT: 5.408A
                  [2.782] (1) RPM: 2265, PWR: 40, VOLTAGE: 24.819V, TEMPERATURE: 48.99C, CURRENT: 4.896A
                  [2.792] (1) RPM: 2265, PWR: 40, VOLTAGE: 24.819V, TEMPERATURE: 48.99C, CURRENT: 4.896A
                  [2.804] (1) RPM: 2296, PWR: 40, VOLTAGE: 24.830V, TEMPERATURE: 49.09C, CURRENT: 4.616A
                  [2.812] (1) RPM: 2274, PWR: 40, VOLTAGE: 24.806V, TEMPERATURE: 49.21C, CURRENT: 4.464A
                  [2.822] (1) RPM: 2376, PWR: 40, VOLTAGE: 24.819V, TEMPERATURE: 49.24C, CURRENT: 3.952A
                  [2.832] (1) RPM: 2269, PWR: 40, VOLTAGE: 24.824V, TEMPERATURE: 49.24C, CURRENT: 4.376A
                  [2.842] (1) RPM: 2337, PWR: 40, VOLTAGE: 24.827V, TEMPERATURE: 49.23C, CURRENT: 3.944A
                  [2.852] (1) RPM: 2392, PWR: 40, VOLTAGE: 24.846V, TEMPERATURE: 49.16C, CURRENT: 4.016A
                  [2.862] (1) RPM: 2253, PWR: 40, VOLTAGE: 24.832V, TEMPERATURE: 49.12C, CURRENT: 4.880A
                  [2.872] (1) RPM: 2383, PWR: 40, VOLTAGE: 24.844V, TEMPERATURE: 49.17C, CURRENT: 4.488A
                  [2.882] (1) RPM: 2265, PWR: 40, VOLTAGE: 24.826V, TEMPERATURE: 49.20C, CURRENT: 4.824A
                  [2.893] (1) RPM: 2265, PWR: 40, VOLTAGE: 24.826V, TEMPERATURE: 49.20C, CURRENT: 4.824A
                  [2.902] (1) RPM: 2400, PWR: 40, VOLTAGE: 24.841V, TEMPERATURE: 49.27C, CURRENT: 4.264A
                  [2.912] (1) RPM: 2325, PWR: 40, VOLTAGE: 24.836V, TEMPERATURE: 49.28C, CURRENT: 5.072A
                  [2.922] (1) RPM: 2352, PWR: 40, VOLTAGE: 24.810V, TEMPERATURE: 49.31C, CURRENT: 3.928A
                  [2.932] (1) RPM: 2393, PWR: 40, VOLTAGE: 24.838V, TEMPERATURE: 49.35C, CURRENT: 4.328A
                  [2.942] (1) RPM: 2289, PWR: 40, VOLTAGE: 24.822V, TEMPERATURE: 49.40C, CURRENT: 4.432A
                  [2.952] (1) RPM: 2345, PWR: 40, VOLTAGE: 24.832V, TEMPERATURE: 49.43C, CURRENT: 3.824A
                  [2.962] (1) RPM: 2346, PWR: 40, VOLTAGE: 24.858V, TEMPERATURE: 49.43C, CURRENT: 3.944A
                  [2.972] (1) RPM: 2259, PWR: 40, VOLTAGE: 24.833V, TEMPERATURE: 49.39C, CURRENT: 4.800A
                  [2.983] (1) RPM: 2262, PWR: 40, VOLTAGE: 24.828V, TEMPERATURE: 49.49C, CURRENT: 4.328A
                  [2.993] (1) RPM: 2262, PWR: 40, VOLTAGE: 24.828V, TEMPERATURE: 49.49C, CURRENT: 4.328A
                  [3.002] (1) RPM: 2314, PWR: 40, VOLTAGE: 24.805V, TEMPERATURE: 49.49C, CURRENT: 4.456A
                  [3.013] (1) RPM: 2325, PWR: 40, VOLTAGE: 24.822V, TEMPERATURE: 49.51C, CURRENT: 4.176A
                  [3.022] (1) RPM: 2295, PWR: 40, VOLTAGE: 24.828V, TEMPERATURE: 49.52C, CURRENT: 5.632A
                  [3.032] (1) RPM: 2343, PWR: 40, VOLTAGE: 24.829V, TEMPERATURE: 49.49C, CURRENT: 4.016A
                  [3.042] (1) RPM: 2303, PWR: 40, VOLTAGE: 24.830V, TEMPERATURE: 49.49C, CURRENT: 5.184A
                  [3.052] (1) RPM: 2287, PWR: 40, VOLTAGE: 24.826V, TEMPERATURE: 49.48C, CURRENT: 4.776A
                  [3.062] (1) RPM: 5707, PWR: 40, VOLTAGE: 24.841V, TEMPERATURE: 49.49C, CURRENT: 3.056A
                  [3.072] (1) RPM: 5671, PWR: 40, VOLTAGE: 24.847V, TEMPERATURE: 49.54C, CURRENT: 2.984A
                  [3.082] (1) RPM: 2334, PWR: 40, VOLTAGE: 24.829V, TEMPERATURE: 49.49C, CURRENT: 4.792A
                  [3.092] (1) RPM: 2334, PWR: 40, VOLTAGE: 24.829V, TEMPERATURE: 49.49C, CURRENT: 4.792A
                  [3.102] (1) RPM: 2230, PWR: 40, VOLTAGE: 24.821V, TEMPERATURE: 49.55C, CURRENT: 4.880A
                  [3.112] (1) RPM: 2282, PWR: 40, VOLTAGE: 24.823V, TEMPERATURE: 49.62C, CURRENT: 4.608A
                  [3.122] (1) RPM: 2297, PWR: 40, VOLTAGE: 24.837V, TEMPERATURE: 49.58C, CURRENT: 5.192A
                  [3.132] (1) RPM: 2213, PWR: 40, VOLTAGE: 24.814V, TEMPERATURE: 49.64C, CURRENT: 5.616A
                  [3.142] (1) RPM: 2203, PWR: 40, VOLTAGE: 24.830V, TEMPERATURE: 49.56C, CURRENT: 5.056A
                  [3.152] (1) RPM: 2228, PWR: 40, VOLTAGE: 24.815V, TEMPERATURE: 49.63C, CURRENT: 3.672A
                  [3.162] (1) RPM: 2338, PWR: 40, VOLTAGE: 24.815V, TEMPERATURE: 49.58C, CURRENT: 4.312A
                  [3.172] (1) RPM: 2361, PWR: 40, VOLTAGE: 24.843V, TEMPERATURE: 49.61C, CURRENT: 5.288A
                  [3.182] (1) RPM: 2294, PWR: 40, VOLTAGE: 24.829V, TEMPERATURE: 49.68C, CURRENT: 5.320A
                  [3.192] (1) RPM: 2294, PWR: 40, VOLTAGE: 24.829V, TEMPERATURE: 49.68C, CURRENT: 5.320A
                  [3.202] (1) RPM: 2310, PWR: 40, VOLTAGE: 24.821V, TEMPERATURE: 49.73C, CURRENT: 4.792A
                  [3.212] (1) RPM: 2279, PWR: 40, VOLTAGE: 24.823V, TEMPERATURE: 49.74C, CURRENT: 4.432A
                  [3.222] (1) RPM: 2418, PWR: 40, VOLTAGE: 24.830V, TEMPERATURE: 49.74C, CURRENT: 4.600A
                  [3.232] (1) RPM: 2275, PWR: 40, VOLTAGE: 24.815V, TEMPERATURE: 49.86C, CURRENT: 4.640A
                  [3.242] (1) RPM: 2356, PWR: 40, VOLTAGE: 24.830V, TEMPERATURE: 49.83C, CURRENT: 4.224A
                  [3.252] (1) RPM: 2325, PWR: 40, VOLTAGE: 24.831V, TEMPERATURE: 49.82C, CURRENT: 4.280A
                  [3.262] (1) RPM: 2300, PWR: 40, VOLTAGE: 24.823V, TEMPERATURE: 49.78C, CURRENT: 4.496A
                  [3.272] (1) RPM: 2418, PWR: 40, VOLTAGE: 24.817V, TEMPERATURE: 49.80C, CURRENT: 5.352A
                  [3.282] (1) RPM: 2370, PWR: 40, VOLTAGE: 24.828V, TEMPERATURE: 49.94C, CURRENT: 4.088A
                  [3.293] (1) RPM: 2370, PWR: 40, VOLTAGE: 24.828V, TEMPERATURE: 49.94C, CURRENT: 4.088A
                  [3.302] (1) RPM: 2316, PWR: 40, VOLTAGE: 24.828V, TEMPERATURE: 49.87C, CURRENT: 4.072A
                  [3.312] (1) RPM: 2344, PWR: 40, VOLTAGE: 24.839V, TEMPERATURE: 49.86C, CURRENT: 4.424A
                  [3.322] (1) RPM: 2428, PWR: 40, VOLTAGE: 24.824V, TEMPERATURE: 49.89C, CURRENT: 4.872A
                  [3.332] (1) RPM: 2271, PWR: 40, VOLTAGE: 24.847V, TEMPERATURE: 49.91C, CURRENT: 4.408A
                  [3.342] (1) RPM: 2391, PWR: 40, VOLTAGE: 24.828V, TEMPERATURE: 50.00C, CURRENT: 4.392A
                  [3.352] (1) RPM: 2283, PWR: 40, VOLTAGE: 24.829V, TEMPERATURE: 49.93C, CURRENT: 5.312A
                  [3.362] (1) RPM: 2343, PWR: 40, VOLTAGE: 24.833V, TEMPERATURE: 50.05C, CURRENT: 4.128A
                  [3.372] (1) RPM: 2295, PWR: 40, VOLTAGE: 24.820V, TEMPERATURE: 50.06C, CURRENT: 4.304A
                  [3.383] (1) RPM: 2382, PWR: 40, VOLTAGE: 24.828V, TEMPERATURE: 50.03C, CURRENT: 4.128A
                  [3.392] (1) RPM: 2382, PWR: 40, VOLTAGE: 24.828V, TEMPERATURE: 50.03C, CURRENT: 4.128A
                  [3.402] (1) RPM: 2280, PWR: 40, VOLTAGE: 24.834V, TEMPERATURE: 49.98C, CURRENT: 4.080A
                  [3.412] (1) RPM: 2393, PWR: 40, VOLTAGE: 24.822V, TEMPERATURE: 49.97C, CURRENT: 4.432A
                  [3.422] (1) RPM: 2318, PWR: 40, VOLTAGE: 24.831V, TEMPERATURE: 50.00C, CURRENT: 5.880A
                  [3.432] (1) RPM: 2337, PWR: 40, VOLTAGE: 24.839V, TEMPERATURE: 50.04C, CURRENT: 4.000A
                  [3.442] (1) RPM: 2371, PWR: 40, VOLTAGE: 24.816V, TEMPERATURE: 50.11C, CURRENT: 4.560A
                  [3.452] (1) RPM: 2323, PWR: 40, VOLTAGE: 24.835V, TEMPERATURE: 50.15C, CURRENT: 4.992A
                  [3.462] (1) RPM: 2356, PWR: 40, VOLTAGE: 24.846V, TEMPERATURE: 50.05C, CURRENT: 4.456A
                  [3.472] (1) RPM: 2286, PWR: 40, VOLTAGE: 24.837V, TEMPERATURE: 50.06C, CURRENT: 5.256A
                  [3.482] (1) RPM: 2420, PWR: 40, VOLTAGE: 24.856V, TEMPERATURE: 50.08C, CURRENT: 5.208A
                  [3.492] (1) RPM: 2420, PWR: 40, VOLTAGE: 24.856V, TEMPERATURE: 50.08C, CURRENT: 5.208A
                  Finished!
                  [1705518380.137016] TX=358, RX=356 packets, RX CRC ERRORS=0
                  Average RPMs: 0.00 2378.00 0.00 0.00
                  Average RPM deviation between ESCs : 2378.00
                  False
                  WARNING: In order to plot the results, install the Python "plotly" module: pip3 install plotly --upgrade

                  1 Reply Last reply Reply Quote 0
                  • Alex KushleyevA
                    Alex Kushleyev ModalAI Team
                    last edited by

                    Yes, potentially. You should follow the steps to update your firmware and params specifically for low kv motors as I suggested and documented

                    Matthew WellnerM 1 Reply Last reply Reply Quote 0
                    • Matthew WellnerM
                      Matthew Wellner @Alex Kushleyev
                      last edited by

                      @Alex-Kushleyev

                      Just to confirm - I updated the params file (mn4006 low kv) according to the instructions and I am on this ESC firmware: version 39, hash d4fe8e3d. The firmware you list is 39 RC11, is the firmware I'm running good, or do I need to use the RC11 version? Everything else is the same as in your instructions.

                      Thanks!

                      Matthew WellnerM Alex KushleyevA 2 Replies Last reply Reply Quote 0
                      • Matthew WellnerM
                        Matthew Wellner @Matthew Wellner
                        last edited by

                        @Alex-Kushleyev - Nevermind. I see you checked it in 2 days ago. I am updating the firmware now. Sorry!!

                        1 Reply Last reply Reply Quote 0
                        • Alex KushleyevA
                          Alex Kushleyev ModalAI Team @Matthew Wellner
                          last edited by

                          @Matthew-Wellner you need the firmware modalai_esc_firmware_m0134_6_v0_39_RC11_17d64675.bin - there is an update specifically to address the de-sync issue. as well as the params i mentioned, most importantly timing_advance, sense_advance and demag_timing

                          Alex KushleyevA 1 Reply Last reply Reply Quote 0
                          • Alex KushleyevA
                            Alex Kushleyev ModalAI Team @Alex Kushleyev
                            last edited by

                            also please review params that i used for a similar motor : https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/blob/dev/voxl-esc-params/low_kv/mn4006_m0134_6_low_kv.xml

                            Matthew WellnerM 1 Reply Last reply Reply Quote 0
                            • Matthew WellnerM
                              Matthew Wellner @Alex Kushleyev
                              last edited by

                              @Alex-Kushleyev

                              The firmware update worked! Sorry again for not paying better attention 🤦

                              Matthew WellnerM Alex KushleyevA 2 Replies Last reply Reply Quote 0
                              • Matthew WellnerM
                                Matthew Wellner @Matthew Wellner
                                last edited by

                                @Matthew-Wellner said in Can you power VOXL2 from the ModalAI 6s ESC?:

                                @Alex-Kushleyev

                                The firmware update worked! Sorry again for not paying better attention 🤦

                                Ugh - I spoke too soon... 50%+ is still having issues, but I am going to re-run through everything again to make sure I didn't miss anything else.

                                Thanks again!

                                1 Reply Last reply Reply Quote 0
                                • Alex KushleyevA
                                  Alex Kushleyev ModalAI Team @Matthew Wellner
                                  last edited by

                                  @Matthew-Wellner - good! not de-syncing now? Are you looking at the plots that are being saved after the test? visual inspection of the data is always good, once you look at a few plots and become familiar with what to expect you can easily spot if there are any issues.

                                  By the way, the test you are doing by commanding --power 40 etc, will essentially step from initial power of around 10 to 40. This is fine. I have been doing my step testing starting at 20%, which is a more realistic condition (stop from 20 to 50, 20 to 70, 20 to 90, 20 to 100 -- gradually increasing to build confidence). Stepping from 10 should be ok, but will experience even more aggressive transition.. let me know if you run into any issues with that.

                                  If you did not actually want an instant step when you are using voxl-esc-spin.py command, you can provide --ramp-time 2.0 argument (which will gradually ramp up)

                                  Alex KushleyevA 1 Reply Last reply Reply Quote 0
                                  • Alex KushleyevA
                                    Alex Kushleyev ModalAI Team @Alex Kushleyev
                                    last edited by

                                    can you try the ramp test

                                    https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/blob/dev/voxl-esc-tools/doc/low_kv_motor_tuning.md?ref_type=heads#power-ramp-test

                                    and the step tests

                                    https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/blob/dev/voxl-esc-tools/doc/low_kv_motor_tuning.md?ref_type=heads#power-step-tests
                                    Alex KushleyevA Matthew WellnerM 3 Replies Last reply Reply Quote 0
                                    • Alex KushleyevA
                                      Alex Kushleyev ModalAI Team @Alex Kushleyev
                                      last edited by

                                      i think the issue may be happening because you are punching a lot of power right after spin-up.

                                      You can try increasing the following parameter to make sure the motor is fully spun up :

                                      https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/blob/dev/voxl-esc-params/low_kv/mn4006_m0134_6_low_kv.xml?ref_type=heads#L77 increase to 500

                                      I may need to add some protection against applying high power from very low rpm, as it is a really tough case

                                      1 Reply Last reply Reply Quote 0
                                      • Matthew WellnerM
                                        Matthew Wellner @Alex Kushleyev
                                        last edited by

                                        @Alex-Kushleyev

                                        I was trying to avoid those tests before I had a proper setup to clamp the drone down, but I'll work on getting that together now and I'll give the ramp test a try.

                                        Thanks!

                                        Alex KushleyevA 1 Reply Last reply Reply Quote 0
                                        • Alex KushleyevA
                                          Alex Kushleyev ModalAI Team @Matthew Wellner
                                          last edited by

                                          @Matthew-Wellner , yes.. safety first!

                                          Alex KushleyevA 1 Reply Last reply Reply Quote 0
                                          • Alex KushleyevA
                                            Alex Kushleyev ModalAI Team @Alex Kushleyev
                                            last edited by Alex Kushleyev

                                            I tried your test on my set up (mn4006 380kv, 15" prop), i cannot reproduce the issue. Please make sure that the following params are set correctly:

                                            <param name="timing_advance"        value="60"/>   
<param name="sense_advance"         value="20"/>          
<param name="demag_timing"          value="1"/>

                                            If i set timing advance to something much lower, i can reproduce an issue, the motor makes a high pitch sound.

                                            Also please check the spin-up params. you could increase the spin-up rpm target to make sure the motor spins a bit faster after spin-up.

                                            Here is a plot of the following test (don't run at such high power until you make sure the lower power works fine 🙂 :

                                            ./voxl-esc-spin.py --id 3 --power 100 --timeout 1.5 --enable-plot 1

                                            cbe7ba38-c623-490d-b1b7-23452f959324-image.png

                                            You can see three phases of the motor spin-up

                                            • smooth sinusoidal spinup (t=0..1s)
                                            • short transition to 6-step commutation control (t=1.0..1.05s)
                                            • apply desired power with a slight slew rate limit (rate limit happens internally to firmware). Motor accelerates to maximum RPM. t=1.05.. 1.5s
                                            Matthew WellnerM 1 Reply Last reply Reply Quote 0
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