VOXL FPV Racing 4-in-1 ESC with flight core v2 and voxl2

Jetson Nano

Hello @Eric-Katzfey @Alex-Kushleyev @tom
I am using voxl2 , with flight core v2 and VOXL FPV Racing 4-in-1 ESC. I would like to know how to setup this pipeline. what are the parameters that requires to be changed and what are values.
could anyone help me this approach
The Flight controller is not recognising the ESC.

Eric Katzfey

@Jetson-Nano Are you using PX4 on the flight core v2? If so, what version? What do you mean when you say that it is not recognizing the ESC?

Jetson Nano

@Eric-Katzfey i am using http://voxl-packages.modalai.com/dists/fc-v2/dev/modalai_fc-v2_1.14.0-2.0.95.px4 version and also tried with http://voxl-packages.modalai.com/dists/fc-v2/dev/modalai_fc-v2_1.14.0-2.0.90.px4.
The ESC should start blinking blue LED to represent achieving data from FC. It is not happening.

Eric Katzfey

@Jetson-Nano How are the VOXL_ESC parameters set on your FCv2? There could be a UART baud rate mismatch between what FCv2 is using and what the ESC is using.

Alex Kushleyev

@Jetson-Nano , if the voxl_esc driver is started by PX4 running on the Flight Core, it should print out debugging information to the UART console. The log below was taken from PX4 running on VOXL2 DSP, but the output should be the same when using Flight Core V2.

Please also note that the Flight Core (V2), when powered up, starts immediately (as opposed to VOXL2 booting takes a few seconds), so FC V2 will try to detect the ESC before the ESC exits bootloader (which takes 1 second after power is applied) and will fail to detect the ESC. This was fixed in our FC V2 drone config, please check your voxl-esc driver behavior. Here is the commit that added the delay of 1.5 seconds before starting voxl esc driver on FC V2:

(voxl-esc driver log from VOXL2 DSP is below)

INFO  [muorb] SLPI: VOXL_ESC: Starting VOXL ESC driver
INFO  [muorb] SLPI: VOXL_ESC: Opening UART ESC device 2, baud rate 2000000
INFO  [muorb] SLPI: VOXL_ESC: Successfully opened UART ESC device
INFO  [muorb] SLPI: VOXL_ESC: Detecting ESCs...
INFO  [muorb] SLPI: VOXL_ESC: 	ESC ID     : 0
INFO  [muorb] SLPI: VOXL_ESC: 	Board Type : 37: ModalAi 4-in-1 ESC (M0134-1)
INFO  [muorb] SLPI: VOXL_ESC: 	Unique ID  : 0x203330385246571900480024
INFO  [muorb] SLPI: VOXL_ESC: 	Firmware   : version   39, hash eb6fb500
INFO  [muorb] SLPI: VOXL_ESC: 	Bootloader : version  183, hash b4fa2cf8
INFO  [muorb] SLPI: VOXL_ESC: 	Reply time : 1646us
INFO  [muorb] SLPI: VOXL_ESC:
INFO  [muorb] SLPI: VOXL_ESC: 	ESC ID     : 1
INFO  [muorb] SLPI: VOXL_ESC: 	Board Type : 37: ModalAi 4-in-1 ESC (M0134-1)
INFO  [muorb] SLPI: VOXL_ESC: 	Unique ID  : 0x2033303852465719004D004D
INFO  [muorb] SLPI: VOXL_ESC: 	Firmware   : version   39, hash eb6fb500
INFO  [muorb] SLPI: VOXL_ESC: 	Bootloader : version  183, hash b4fa2cf8
INFO  [muorb] SLPI: VOXL_ESC: 	Reply time : 621us
INFO  [muorb] SLPI: VOXL_ESC:
INFO  [muorb] SLPI: VOXL_ESC: 	ESC ID     : 2
INFO  [muorb] SLPI: VOXL_ESC: 	Board Type : 37: ModalAi 4-in-1 ESC (M0134-1)
INFO  [muorb] SLPI: VOXL_ESC: 	Unique ID  : 0x203330385246571900500042
INFO  [muorb] SLPI: VOXL_ESC: 	Firmware   : version   39, hash eb6fb500
INFO  [muorb] SLPI: VOXL_ESC: 	Bootloader : versiINFO  [qshell] Send cmd: 'voxl_esc start'
INFO  [muorb] SLPI: VOXL_ESC: 	Reply time : 1120us
INFO  [muorb] SLPI: VOXL_ESC:
INFO  [muorb] SLPI: VOXL_ESC: 	ESC ID     : 3
INFO  [muorb] SLPI: VOXL_ESC: 	Board Type : 37: ModalAi 4-in-1 ESC (M0134-1)
INFO  [muorb] SLPI: VOXL_ESC: 	Unique ID  : 0x2033303852465719004D0050
INFO  [muorb] SLPI: VOXL_ESC: 	Firmware   : version   39, hash eb6fb500
INFO  [muorb] SLPI: VOXL_ESC: 	Bootloader : version  183, hash b4fa2cf8
INFO  [muorb] SLPI: VOXL_ESC: 	Reply time : 617us
INFO  [muorb] SLPI: VOXL_ESC:
INFO  [muorb] SLPI: VOXL_ESC: Use extened rpm packet : 1
INFO  [muorb] SLPI: VOXL_ESC: All ESCs successfully detected

Jetson Nano

@Alex-Kushleyev Thank you for reverting back. I will verify this and get back.

Jetson Nano

@Eric-Katzfey @Alex-Kushleyev

Voxl2 is connected to Flight core v2 through telem 1.
ESC is connected to flight core through telem 2.
the parameters are the following

Screenshot from 2025-04-22 09-41-07.png

Screenshot from 2025-04-22 09-42-31.png

Screenshot from 2025-04-22 09-40-50.png