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    Flight Core V2 - VOXL ESC 4in1 Integration

    ESCs
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    • A
      Alex Kushleyev ModalAI Team @Jetson Nano
      last edited by 21 Feb 2025, 04:24

      @Jetson-Nano ,

      I checked with my colleague and they said that the current way will not work for forwarding the Neopixel LED packet to the FC V2. Here is roughly how the LED packet is created and sent to the ESC:

      • voxl-send-neopixle-cmd creates a data packet (using the specific format for ESC) and sends it to a special process modal-io-bridge via mpa pipe that is also called modal-io-bridge.
      • The modal-io-bridge is a PX4 module that is specific to VOXL2 and it runs on the CPU (not DSP). It receives the data from the mpa pipe and sends out the data using ORB_ID(modal_io_data) using data type modal_io_data_s.
      • then voxl_esc driver that runs on the DSP gets this data and forwards it to the ESC directly, as shown here: https://github.com/modalai/px4-firmware/blob/70d986f08acbf90e3752ef832151d8f993e18697/src/drivers/actuators/voxl_esc/voxl_esc.cpp#L1346
      • this approach has no option to forward the message to external FC.

      However, actually this week we are making changes to use mavlink tunnel messages instead of this custom io bridge. I will find out how to get this to work for FC V2.

      Alex

      J 2 Replies Last reply 21 Feb 2025, 04:30 Reply Quote 0
      • J
        Jetson Nano @Alex Kushleyev
        last edited by 21 Feb 2025, 04:30

        @Alex-Kushleyev ,
        Thanks for the clarity, I also went through the same process and was not able to find any way to forward the message to ESC through external FC.
        If you could help with a work around this approach it will be really helpful. I can test it out and get back to you.

        1 Reply Last reply Reply Quote 0
        • J
          Jetson Nano @Alex Kushleyev
          last edited by Jetson Nano 21 Feb 2025, 04:46 21 Feb 2025, 04:36

          @Alex-Kushleyev
          just a thought, the data from Voxl2 is transfered to FC. so you can convert them to specific msg type and forward it to external FC and External FC already has modal-io-bridge, it can forward the data to ESC. There will be need of conversion of msg types multiple places, for handling and forwarding.
          the External Fc has turtle mode running on it, will it setup affect it.

          A 1 Reply Last reply 21 Feb 2025, 04:47 Reply Quote 0
          • A
            Alex Kushleyev ModalAI Team @Jetson Nano
            last edited by 21 Feb 2025, 04:47

            @Jetson-Nano , there is probably more than one way of getting this to work, but I have been told that with the new approach that we have just implemented (being tested now), the mavlink tunnel should take care of routing the LED data from VOXL2 to FC V2 to ESC.

            I asked my colleague to help describing how to test this.

            Alex

            J 1 Reply Last reply 21 Feb 2025, 04:55 Reply Quote 0
            • J
              Jetson Nano @Alex Kushleyev
              last edited by 21 Feb 2025, 04:55

              @Alex-Kushleyev Thanks for the help. I will also test it out and get back with the results as soon as the approach is shared.
              Can you also help me with finding clarity whether turtle mode will be affected by this setup.

              A 1 Reply Last reply 21 Feb 2025, 05:01 Reply Quote 0
              • A
                Alex Kushleyev ModalAI Team @Jetson Nano
                last edited by 21 Feb 2025, 05:01

                @Jetson-Nano , As far as I know, turtle mode should work the same when running PX4 on VOXL2 and FC V2. Have you tested it? The LED command should not interfere with the turtle mode.

                I have not actually tested the turtle mode on FC myself, but the code that is running in voxl-esc px4 driver is the same, so as long as you are entering the turtle mode correctly, it should work.

                Alex

                J 1 Reply Last reply 21 Feb 2025, 05:08 Reply Quote 0
                • J
                  Jetson Nano @Alex Kushleyev
                  last edited by 21 Feb 2025, 05:08

                  @Alex-Kushleyev I have not tested turtle mode with Voxl2 - FCV2 setup. I have tested with the Voxl2, internal PX4 server.
                  I will test it out and get back to you.

                  J 1 Reply Last reply 21 Feb 2025, 13:22 Reply Quote 0
                  • J
                    Jetson Nano @Jetson Nano
                    last edited by 21 Feb 2025, 13:22

                    @Alex-Kushleyev , I tested the turtle mode out and it is working fine.

                    Once the approach for LEDs are shared, I will test it out .

                    I had an additional query, while we are using Telem for FCV2 and ESC communication. Will the PWM output (8 pinout) still be transmission and can we access the data.

                    E 1 Reply Last reply 21 Feb 2025, 16:37 Reply Quote 0
                    • E
                      Eric Katzfey ModalAI Team @Jetson Nano
                      last edited by 21 Feb 2025, 16:37

                      @Jetson-Nano The updated voxl-io-server version is here: http://voxl-packages.modalai.com/dists/qrb5165/dev/binary-arm64/voxl-io-server_0.0.5-202502191136_arm64.deb. The updated FC v2 image is here: http://voxl-packages.modalai.com/dists/fc-v2/dev/modalai_fc-v2_1.14.0-2.0.95.px4. I have only tested with PX4 running on VOXL 2 but it should also work with external FC v2.

                      J 1 Reply Last reply 22 Feb 2025, 05:44 Reply Quote 0
                      • J
                        Jetson Nano @Eric Katzfey
                        last edited by Jetson Nano 26 Feb 2025, 04:32 22 Feb 2025, 05:44

                        @Eric-Katzfey thank you for sharing the data.
                        I tried flashing the voxl-io-server you mentioned, but I got the following error.

                        t@t-MS-7B29:~/git/voxl-io-server-master$ ./deploy_to_voxl.sh
                        searching for ADB device
                        checking VOXL for dpkg/opkg
                        dpkg detected
                        voxl-io-server_0.0.5-202502191136_arm64.deb: 1 file pushed. 2.1 MB/s (25928 bytes in 0.012s)
                        dpkg: considering removing voxl-neopixel-manager in favour of voxl-io-server ...
                        dpkg: warning: ignoring dependency problem with removal of voxl-neopixel-manager:
                         voxl-suite depends on voxl-neopixel-manager (>= 0.0.3)
                          voxl-neopixel-manager is to be removed.
                        
                        dpkg: yes, will remove voxl-neopixel-manager in favour of voxl-io-server
                        dpkg: regarding .../voxl-io-server_0.0.5-202502191136_arm64.deb containing voxl-io-server:
                         voxl-io-server conflicts with voxl-mpa-tools (<= 1.2.3)
                          voxl-mpa-tools (version 1.2.3) is present and installed.
                        
                        dpkg: error processing archive /data/voxl-io-server_0.0.5-202502191136_arm64.deb (--install):
                         conflicting packages - not installing voxl-io-server
                        Errors were encountered while processing:
                         /data/voxl-io-server_0.0.5-202502191136_arm64.deb
                        DONE
                        
                        

                        @Alex-Kushleyev can you check this out

                        J 2 Replies Last reply 28 Feb 2025, 13:23 Reply Quote 0
                        • J
                          Jetson Nano @Jetson Nano
                          last edited by 28 Feb 2025, 13:23

                          This post is deleted!
                          1 Reply Last reply Reply Quote 0
                          • J
                            Jetson Nano @Jetson Nano
                            last edited by 10 Mar 2025, 05:04

                            @Alex-Kushleyev @Eric-Katzfey
                            can you check the above mentioned error.

                            E 1 Reply Last reply 10 Mar 2025, 15:53 Reply Quote 0
                            • E
                              Eric Katzfey ModalAI Team @Jetson Nano
                              last edited by 10 Mar 2025, 15:53

                              @Jetson-Nano To install the new voxl-io-server try dpkg --force-all -i voxl-io-server_0.0.5-202502191136_arm64.deb.

                              1 Reply Last reply Reply Quote 0
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