Bad Tunning

Alex Kushleyev

@Stefan-Amundarain , it is difficult to say anything from the print out. Can you please do the following:

perform power ramp test, as shown here : https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/blob/master/voxl-esc-tools/doc/low_kv_motor_tuning.md?ref_type=heads#power-ramp-test
- perhaps at first, do not set the target power to 100% to avoid any damage, but you can run it up to 40%, since you are already noticing issues during calibration at 40%.
- please use ESC ID3 to get the total current information
- the plot will have a lot of useful information
- if you are using a PC for calibration, you can try higher --cmd-rate such as 1000 or 2000hz to get better resolution of data but this is not necessary. On VOXL, if you set cpu mode to perf, you may be able to do 500 or 1000 (not as high as on PC due to some extra delay because commands have to go through DSP)
perform the calibration using ESC ID 3, so that the total ESC current will also be available. But perhaps lets wait on this until we see the results of the ramp test.

If you are able to make a video with sound, it will tell me a lot about that is going on as well.

Alex

Stefan Amundarain

@Alex-Kushleyev good day alex, I preformed the test as requested, results below. video with sound linked. We used id3 but no current info was collected still. I did not perform the ESC Calibration for motor ID3 as my graphs seemed quite different from the ones in the gitlab.

video https://drive.google.com/file/d/1zO6EKrKQkgUZgLQA8bcMO49mlF7UDhCx/view?usp=drivesdk

voxl2:/usr/share/modalai/voxl-esc-tools$ ./voxl-esc-spin.py --id 3 --power 40 --ramp-time 8.0 --timeout 8.5 --enable-plot 1 --cmd-rate 1000
Detected Python version : 3.6.9 (default, Mar 10 2023, 16:46:00)
[GCC 8.4.0]
Found voxl-esc tools bin version: 1.6
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
Sending initialization request
INFO: ESC(s) detected on port: /dev/slpi-uart-2, baud rate: 2000000
ID : 0
Board : version 42: ModalAi 4-in-1 ESC (M0138-1)
UID : 0x20303033554657160045003A
Firmware : version 39, hash e4f576a0
Bootloader : version 184, hash e1c038de

ID         : 1
Board      : version 42: ModalAi 4-in-1 ESC (M0138-1)
UID        : 0x2030303355465716003F003A
Firmware   : version   39, hash e4f576a0
Bootloader : version  184, hash e1c038de

ID         : 2
Board      : version 42: ModalAi 4-in-1 ESC (M0138-1)
UID        : 0x2030303355465716004B003A
Firmware   : version   39, hash e4f576a0
Bootloader : version  184, hash e1c038de

ID         : 3
Board      : version 42: ModalAi 4-in-1 ESC (M0138-1)
UID        : 0x20303033554657160039003A
Firmware   : version   39, hash e4f576a0
Bootloader : version  184, hash e1c038de

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
[0.030] (3) RPM: 32, PWR: 3, VOLTAGE: 16.747V, TEMPERATURE: 35.01C, CURRENT: 0.000A
[0.055] (3) RPM: 32, PWR: 3, VOLTAGE: 16.747V, TEMPERATURE: 35.01C, CURRENT: 0.000A
[0.080] (3) RPM: 32, PWR: 3, VOLTAGE: 16.747V, TEMPERATURE: 35.01C, CURRENT: 0.000A
[0.114] (3) RPM: 175, PWR: 10, VOLTAGE: 16.742V, TEMPERATURE: 35.03C, CURRENT: 0.000A
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[1.857] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
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[4.196] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[4.224] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[4.251] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[4.278] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[4.305] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[4.333] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[4.363] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[4.392] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[4.421] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[4.449] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[4.477] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[4.505] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[4.533] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[4.563] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[4.591] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[4.620] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[4.649] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[4.679] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[4.707] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[4.737] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[4.767] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[4.796] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[4.825] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[4.855] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[4.884] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[4.913] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[4.943] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[4.971] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[5.000] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[5.029] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[5.057] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[5.085] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[5.113] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[5.141] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[5.169] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[5.198] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[5.227] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[5.256] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[5.286] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[5.315] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[5.344] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[5.373] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[5.403] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[5.432] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[5.461] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[5.492] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[5.523] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[5.553] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[5.582] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[5.612] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[5.644] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[5.674] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[5.706] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[5.736] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[5.768] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[5.801] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[5.835] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[5.868] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[5.901] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[5.935] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[5.970] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[6.004] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[6.040] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[6.075] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[6.110] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[6.145] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[6.179] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[6.214] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[6.248] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[6.275] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[6.303] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[6.330] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[6.357] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[6.386] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[6.415] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[6.443] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[6.472] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[6.500] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[6.531] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[6.564] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[6.597] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[6.632] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[6.668] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[6.702] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[6.736] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[6.769] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[6.803] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[6.839] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[6.873] (3) RPM: 2186, PWR: 7, VOLTAGE: 16.743V, TEMPERATURE: 35.08C, CURRENT: 0.000A
[6.915] (3) RPM: 2158, PWR: 7, VOLTAGE: 16.748V, TEMPERATURE: 35.13C, CURRENT: 0.000A
[7.037] (3) RPM: 2146, PWR: 7, VOLTAGE: 16.744V, TEMPERATURE: 35.37C, CURRENT: 0.000A
[7.144] (3) RPM: 2303, PWR: 8, VOLTAGE: 16.739V, TEMPERATURE: 35.41C, CURRENT: 0.000A
[7.185] (3) RPM: 2303, PWR: 8, VOLTAGE: 16.739V, TEMPERATURE: 35.41C, CURRENT: 0.000A
[7.223] (3) RPM: 2303, PWR: 8, VOLTAGE: 16.739V, TEMPERATURE: 35.41C, CURRENT: 0.000A
[7.259] (3) RPM: 2303, PWR: 8, VOLTAGE: 16.739V, TEMPERATURE: 35.41C, CURRENT: 0.000A
[7.295] (3) RPM: 2303, PWR: 8, VOLTAGE: 16.739V, TEMPERATURE: 35.41C, CURRENT: 0.000A
[7.329] (3) RPM: 2303, PWR: 8, VOLTAGE: 16.739V, TEMPERATURE: 35.41C, CURRENT: 0.000A
[7.365] (3) RPM: 2303, PWR: 8, VOLTAGE: 16.739V, TEMPERATURE: 35.41C, CURRENT: 0.000A
[7.401] (3) RPM: 2303, PWR: 8, VOLTAGE: 16.739V, TEMPERATURE: 35.41C, CURRENT: 0.000A
[7.438] (3) RPM: 2303, PWR: 8, VOLTAGE: 16.739V, TEMPERATURE: 35.41C, CURRENT: 0.000A
[7.473] (3) RPM: 2303, PWR: 8, VOLTAGE: 16.739V, TEMPERATURE: 35.41C, CURRENT: 0.000A
[7.507] (3) RPM: 2303, PWR: 8, VOLTAGE: 16.739V, TEMPERATURE: 35.41C, CURRENT: 0.000A
[7.535] (3) RPM: 2303, PWR: 8, VOLTAGE: 16.739V, TEMPERATURE: 35.41C, CURRENT: 0.000A
[7.564] (3) RPM: 2303, PWR: 8, VOLTAGE: 16.739V, TEMPERATURE: 35.41C, CURRENT: 0.000A
[7.593] (3) RPM: 2303, PWR: 8, VOLTAGE: 16.739V, TEMPERATURE: 35.41C, CURRENT: 0.000A
[7.622] (3) RPM: 2303, PWR: 8, VOLTAGE: 16.739V, TEMPERATURE: 35.41C, CURRENT: 0.000A
[7.653] (3) RPM: 2303, PWR: 8, VOLTAGE: 16.739V, TEMPERATURE: 35.41C, CURRENT: 0.000A
[7.684] (3) RPM: 2303, PWR: 8, VOLTAGE: 16.739V, TEMPERATURE: 35.41C, CURRENT: 0.000A
[7.715] (3) RPM: 2303, PWR: 8, VOLTAGE: 16.739V, TEMPERATURE: 35.41C, CURRENT: 0.000A
[7.747] (3) RPM: 2303, PWR: 8, VOLTAGE: 16.739V, TEMPERATURE: 35.41C, CURRENT: 0.000A
[7.780] (3) RPM: 2303, PWR: 8, VOLTAGE: 16.739V, TEMPERATURE: 35.41C, CURRENT: 0.000A
[7.815] (3) RPM: 2303, PWR: 8, VOLTAGE: 16.739V, TEMPERATURE: 35.41C, CURRENT: 0.000A
[7.852] (3) RPM: 2303, PWR: 8, VOLTAGE: 16.739V, TEMPERATURE: 35.41C, CURRENT: 0.000A
[7.889] (3) RPM: 2303, PWR: 8, VOLTAGE: 16.739V, TEMPERATURE: 35.41C, CURRENT: 0.000A
[7.926] (3) RPM: 2303, PWR: 8, VOLTAGE: 16.739V, TEMPERATURE: 35.41C, CURRENT: 0.000A
[7.963] (3) RPM: 2303, PWR: 8, VOLTAGE: 16.739V, TEMPERATURE: 35.41C, CURRENT: 0.000A
[8.000] (3) RPM: 2303, PWR: 8, VOLTAGE: 16.739V, TEMPERATURE: 35.41C, CURRENT: 0.000A
[8.037] (3) RPM: 2303, PWR: 8, VOLTAGE: 16.739V, TEMPERATURE: 35.41C, CURRENT: 0.000A
[8.072] (3) RPM: 2303, PWR: 8, VOLTAGE: 16.739V, TEMPERATURE: 35.41C, CURRENT: 0.000A
[8.108] (3) RPM: 2303, PWR: 8, VOLTAGE: 16.739V, TEMPERATURE: 35.41C, CURRENT: 0.000A
[8.143] (3) RPM: 2303, PWR: 8, VOLTAGE: 16.739V, TEMPERATURE: 35.41C, CURRENT: 0.000A
[8.178] (3) RPM: 2303, PWR: 8, VOLTAGE: 16.739V, TEMPERATURE: 35.41C, CURRENT: 0.000A
[8.213] (3) RPM: 2303, PWR: 8, VOLTAGE: 16.739V, TEMPERATURE: 35.41C, CURRENT: 0.000A
[8.249] (3) RPM: 2303, PWR: 8, VOLTAGE: 16.739V, TEMPERATURE: 35.41C, CURRENT: 0.000A
[8.284] (3) RPM: 2303, PWR: 8, VOLTAGE: 16.739V, TEMPERATURE: 35.41C, CURRENT: 0.000A
[8.319] (3) RPM: 2303, PWR: 8, VOLTAGE: 16.739V, TEMPERATURE: 35.41C, CURRENT: 0.000A
[8.354] (3) RPM: 2303, PWR: 8, VOLTAGE: 16.739V, TEMPERATURE: 35.41C, CURRENT: 0.000A
[8.389] (3) RPM: 2303, PWR: 8, VOLTAGE: 16.739V, TEMPERATURE: 35.41C, CURRENT: 0.000A
[8.425] (3) RPM: 2303, PWR: 8, VOLTAGE: 16.739V, TEMPERATURE: 35.41C, CURRENT: 0.000A
[8.460] (3) RPM: 2303, PWR: 8, VOLTAGE: 16.739V, TEMPERATURE: 35.41C, CURRENT: 0.000A
[8.495] (3) RPM: 2303, PWR: 8, VOLTAGE: 16.739V, TEMPERATURE: 35.41C, CURRENT: 0.000A
Finished!
[8.498904] TX=5566, RX=450 packets, RX CRC ERRORS=0
Average RPMs: 0.00 0.00 0.00 2303.00
Average RPM deviation between ESCs : 2303.00

Alex Kushleyev

@Stefan-Amundarain , it looks like the rx data. Is getting backed. Can you please change the cmd rate to 250 and also run “voxl-set-cpu-mode perf” to reduce cpu latency due to sleeping.

In the video, the motor spun up by the end of the test, but the feedback data does not show it due due to rx data back up.

I am mot sure why the current is not being reported, plotted. I will double check that. Maybe your version of voxl esc tools does not have this feature, you could grab the latest version of tools from voxl-esc gitlab repo.

Stefan Amundarain

@Alex-Kushleyev Hello, I will do as you have requested! print out below is from an esc_calibration i performed prior to you response. video is linked. Give me a few and ill update with your most recent request.

https://drive.google.com/file/d/127Co66A-7uA8z1pLYG2K-J0kVVrSJnlg/view?usp=drivesdk

Stefan Amundarain

@Alex-Kushleyev With voxl-set-cpu-mode perf. updating voxl-esc-tools now to see if that helps.

Alex Kushleyev

@Stefan-Amundarain , which version of Voxl SDK are you using? I will test it. It seems there are unexpected delays in the calibration and test scripts. Besides that, i do not see anything unusual yet.

Stefan Amundarain

@Alex-Kushleyev update**
While attempting to update the esc-tool-bin our (apt-get install updgrade) our voxl suite was removed. ( voxl suite: [blank])
I went ahead and reuploaded SDK 1.3 and after reconfiguration and a new voxl-configure-mpa the ESC seems to be working fine. I just was able to complete what seemed to be a solid calibration and spin test, results are attached. Still no current reading on id 3, but i will update you if this issue persists. Next steps are finishing calibration and attempting flight. I will update you as our results.

Stefan Amundarain

@Alex-Kushleyev As i mentioned in my original post, i experienced this issue with a different ESC as well. I am going to attempt the same steps (reupload SDK, reconfigure MPA) and see if the issue resolves itself when it updates or re installs the voxl-esc-firmware.

Alex Kushleyev

@Stefan-Amundarain ,

I made a mistake, the ESC ID that senses current is ID 2 on the FPV ESC (M0138). I confused it with the mini ESC (M0129), which has a similar hardware setup, but on M0129, the total current is sensed by ESC ID 3.

Also, i noticed your firmware is a bit out of date, i strongly recommend updating it using latest from : https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/tree/dev/voxl-esc-tools/firmware?ref_type=heads (version 39.20).

Otherwise, the calibration plot from above looks great, actually!

Here is the link to firmware update script (link), the process is very easy:

./voxl-esc-upload-firmware-all.sh

As long as the latest firmware is in the voxl-esc-tools/firmware, it will get automatically detected and uploaded (no duplicate firmware for the same board of different firmware version allowed in the folder).

Otherwise, you can specify the firmware path

./voxl-esc-upload-firmware.py --firmware-file <path_to_firmware> --id <ESC_ID>
(for each ESC_ID 0..3)

Alex

Stefan Amundarain

@Alex-Kushleyev We had a second ESC that faced this same issue.

Like with the previous board, i performed a voxl-configure-mpa which reset the board. After re-uploading the parameter file i faced the same "ticking" during motor calibration.

I then updated the voxl-esc-firmware as per your previous instructions from v0_39 to v39_20 (the newest available firmware for our M0138 ESC. Video of failed or poor calibration below.

https://drive.google.com/file/d/16_ey6Qj7q49LfWXzKo001pBkz8PH4Ls2/view?usp=drive_link

Alex Kushleyev

Hi @Stefan-Amundarain ,

Thank you for uploading the video with the detailed demonstration.

What I see from the video is that the initial "sinusoidal" spin-up works (almost) every time, but the ESC fails to transition to regular non-sinusoidal control mode. There are typically two reasons for this:

a bad motor / wiring / connection or one of the ESC Mosfets is not working properly. In some failures, the sinusoidal spin-up is still able to rotate the motor, but during the transition to normal operating mode, there are some checks to ensure proper motor behavior and if those checks fail, the ESC stops (and then restarts since you are commanding it to spin). The behavior i am seeing is very similar to this.
sometimes if you have spin-up time too fast (and spin-up power too low), the ESC will lose sync with the motor during sinusoidal spin-up. I would suggest trying to (you can do both changes at once):
- increase the spin-up time (double it from what you have now)
- increase the spin-up power by 20% (if it is 100 (which is 10% power), set it to 120, so it will be 12% power).
- also double check that the motor kV is set correctly, because it is used during sinusoidal spin-up for back-emf compensation.

I would also suggest swapping out the motor for an identical new motor, so you can eliminate the motor being an issue. You can also check the motor winding resistance to make sure all 3 possible pair-wise resistance measurements have the same resistance.

Finally, if all of these steps fail, please try to use another ESC channel to see if it is a dead ESC channel (which should be unlikely).

Please try these out and let me know what you find!

Alex