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

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    • Eric KatzfeyE
      Eric Katzfey ModalAI Team @Jetson Nano
      last edited by

      @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 KushleyevA Jetson NanoJ 2 Replies Last reply Reply Quote 0
      • Alex KushleyevA
        Alex Kushleyev ModalAI Team @Eric Katzfey
        last edited by 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:

        • https://github.com/modalai/px4-firmware/pull/70/commits/55742d298bf9241a2af5aa2c7ba3a26788073356
        • https://github.com/modalai/px4-firmware/pull/70/commits/1c11e2e0ac3fcc19cb45ab59292b3cf5f4fdb348

        (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 NanoJ 2 Replies Last reply Reply Quote 0
        • Jetson NanoJ
          Jetson Nano @Alex Kushleyev
          last edited by Jetson Nano

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

          I changed the firmware version to the voxl-fpv-dev still the FC is not detecting the ESC.

          if i start esc through voxl_esc start , it is starting

          could please verify the parameters I mentioned.

          nsh> voxl_esc status
          INFO  [voxl_esc] Max update rate: 0 Hz
          INFO  [voxl_esc] Outputs on: no
          INFO  [voxl_esc] UART port: /dev/ttyS4
          INFO  [voxl_esc] UART open: no
          INFO  [voxl_esc] 
          INFO  [voxl_esc] Params: VOXL_ESC_CONFIG: 1
          INFO  [voxl_esc] Params: VOXL_ESC_MODE: 0
          INFO  [voxl_esc] Params: VOXL_ESC_BAUD: 250000
          INFO  [voxl_esc] Params: VOXL_ESC_FUNC1: 101
          INFO  [voxl_esc] Params: VOXL_ESC_FUNC2: 104
          INFO  [voxl_esc] Params: VOXL_ESC_FUNC3: 102
          INFO  [voxl_esc] Params: VOXL_ESC_FUNC4: 103
          INFO  [voxl_esc] Params: VOXL_ESC_SDIR1: 0
          INFO  [voxl_esc] Params: VOXL_ESC_SDIR2: 0
          INFO  [voxl_esc] Params: VOXL_ESC_SDIR3: 0
          INFO  [voxl_esc] Params: VOXL_ESC_SDIR4: 0
          INFO  [voxl_esc] Params: VOXL_ESC_RPM_MIN: 5500
          INFO  [voxl_esc] Params: VOXL_ESC_RPM_MAX: 15000
          INFO  [voxl_esc] Params: VOXL_ESC_T_PERC: 90
          INFO  [voxl_esc] Params: VOXL_ESC_T_DEAD: 20
          INFO  [voxl_esc] Params: VOXL_ESC_T_EXPO: 35
          INFO  [voxl_esc] Params: VOXL_ESC_T_MINF: 0.150000
          INFO  [voxl_esc] Params: VOXL_ESC_T_COSP: 0.990000
          INFO  [voxl_esc] Params: VOXL_ESC_VLOG: 0
          INFO  [voxl_esc] Params: VOXL_ESC_PUB_BST: 1
          INFO  [voxl_esc] Params: VOXL_ESC_T_WARN: 0
          INFO  [voxl_esc] Params: VOXL_ESC_T_OVER: 0
          INFO  [voxl_esc] Params: GPIO_CTL_CH: 0
          INFO  [voxl_esc] 
          INFO  [voxl_esc] -- ID: 0
          INFO  [voxl_esc]    Motor:           1
          INFO  [voxl_esc]    Direction:       1
          INFO  [voxl_esc]    State:           0
          INFO  [voxl_esc]    Requested:       0 RPM
          INFO  [voxl_esc]    Measured:        0 RPM
          INFO  [voxl_esc]    Command Counter: 0
          INFO  [voxl_esc]    Voltage:         0.000000 VDC
          INFO  [voxl_esc] 
          INFO  [voxl_esc] -- ID: 1
          INFO  [voxl_esc]    Motor:           4
          INFO  [voxl_esc]    Direction:       1
          INFO  [voxl_esc]    State:           0
          INFO  [voxl_esc]    Requested:       0 RPM
          INFO  [voxl_esc]    Measured:        0 RPM
          INFO  [voxl_esc]    Command Counter: 0
          INFO  [voxl_esc]    Voltage:         0.000000 VDC
          INFO  [voxl_esc] 
          INFO  [voxl_esc] -- ID: 2
          INFO  [voxl_esc]    Motor:           2
          INFO  [voxl_esc]    Direction:       1
          INFO  [voxl_esc]    State:           0
          INFO  [voxl_esc]    Requested:       0 RPM
          INFO  [voxl_esc]    Measured:        0 RPM
          INFO  [voxl_esc]    Command Counter: 0
          INFO  [voxl_esc]    Voltage:         0.000000 VDC
          INFO  [voxl_esc] 
          INFO  [voxl_esc] -- ID: 3
          INFO  [voxl_esc]    Motor:           3
          INFO  [voxl_esc]    Direction:       1
          INFO  [voxl_esc]    State:           0
          INFO  [voxl_esc]    Requested:       0 RPM
          INFO  [voxl_esc]    Measured:        0 RPM
          INFO  [voxl_esc]    Command Counter: 0
          INFO  [voxl_esc]    Voltage:         0.000000 VDC
          INFO  [voxl_esc] 
          voxl_esc: cycle: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms
          voxl_esc: output update interval: 0 events, 0.00us avg, min 0us max 0us 0.000us rms
          INFO  [mixer_module] Param prefix: VOXL_ESC
          control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms
          Channel Configuration:
          Channel 0: func:   0, value: 0, failsafe: 0, disarmed: 0, min: 5500, max: 15000
          Channel 1: func:   0, value: 0, failsafe: 0, disarmed: 0, min: 5500, max: 15000
          Channel 2: func:   0, value: 0, failsafe: 0, disarmed: 0, min: 5500, max: 15000
          Channel 3: func:   0, value: 0, failsafe: 0, disarmed: 0, min: 5500, max: 15000
          
          Alex KushleyevA 1 Reply Last reply Reply Quote 0
          • Jetson NanoJ
            Jetson Nano @Eric Katzfey
            last edited by 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

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

              @Jetson-Nano said in VOXL FPV Racing 4-in-1 ESC with flight core v2 and voxl2:

              if i start esc through voxl_esc start , it is starting

              Can you please provide the debug prints that voxl_esc driver outputs when you call voxl_esc start ?

              Alex

              Jetson NanoJ 1 Reply Last reply Reply Quote 0
              • Jetson NanoJ
                Jetson Nano @Alex Kushleyev
                last edited by Jetson Nano

                @Alex-Kushleyev When I run it for sometime it is makes the ESC blink once.
                then once again if I run the command it gives the following statement
                Error [voxl_esc] Task already running

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

                  @Jetson-Nano , you can stop the task and run it again or just look at the console output when you power on FC V2, so you see what happens when voxl_esc task prints when it start for the first time.

                  Jetson NanoJ 1 Reply Last reply Reply Quote 0
                  • Jetson NanoJ
                    Jetson Nano @Alex Kushleyev
                    last edited by Jetson Nano

                    @Alex-Kushleyev

                    nsh> voxl_esc stop
                    ERROR [voxl_esc] timeout, forcing stop
                    ERROR [voxl_esc] failed restoring uart to original state
                    ERROR [voxl_esc] error closing uart
                    nsh> voxl_esc start
                    ERROR [px4_work_queue] wq:ttyS4 not available
                    ERROR [px4_work_queue] init failed
                    INFO  [voxl_esc] Starting VOXL ESC driver
                    INFO  [voxl_esc] Params: VOXL_ESC_CONFIG: 1
                    INFO  [voxl_esc] Params: VOXL_ESC_MODE: 0
                    INFO  [voxl_esc] Params: VOXL_ESC_BAUD: 250000
                    INFO  [voxl_esc] Params: VOXL_ESC_FUNC1: 101
                    INFO  [voxl_esc] Params: VOXL_ESC_FUNC2: 104
                    INFO  [voxl_esc] Params: VOXL_ESC_FUNC3: 102
                    INFO  [voxl_esc] Params: VOXL_ESC_FUNC4: 103
                    INFO  [voxl_esc] Params: VOXL_ESC_SDIR1: 0
                    INFO  [voxl_esc] Params: VOXL_ESC_SDIR2: 0
                    INFO  [voxl_esc] Params: VOXL_ESC_SDIR3: 0
                    INFO  [voxl_esc] Params: VOXL_ESC_SDIR4: 0
                    INFO  [voxl_esc] Params: VOXL_ESC_RPM_MIN: 5500
                    INFO  [voxl_esc] Params: VOXL_ESC_RPM_MAX: 15000
                    INFO  [voxl_esc] Params: VOXL_ESC_T_PERC: 90
                    INFO  [voxl_esc] Params: VOXL_ESC_T_DEAD: 20
                    INFO  [voxl_esc] Params: VOXL_ESC_T_EXPO: 35
                    INFO  [voxl_esc] Params: VOXL_ESC_T_MINF: 0.150000
                    INFO  [voxl_esc] Params: VOXL_ESC_T_COSP: 0.990000
                    INFO  [voxl_esc] Params: VOXL_ESC_VLOG: 0
                    INFO  [voxl_esc] Params: VOXL_ESC_PUB_BST: 1
                    INFO  [voxl_esc] Params: VOXL_ESC_T_WARN: 0
                    INFO  [voxl_esc] Params: VOXL_ESC_T_OVER: 0
                    INFO  [voxl_esc] Params: GPIO_CTL_CH: 0
                    nsh> 
                    

                    can you verify whether it is a parameter related error. I have mentioned the parameters in the above thread.

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

                      @Jetson-Nano said in VOXL FPV Racing 4-in-1 ESC with flight core v2 and voxl2:

                      ERROR [px4_work_queue] wq:ttyS4 not available

                      the error above seems like an issue.

                      Also is your ESC actually running at 250K baud rate? Did you verify this using voxl-esc tools?

                      Additionally, it seems the voxl_esc driver does not produce the prints I was expecting, let me check to make sure the FC V2 is using the latest voxl_esc implementation.

                      Alex

                      Jetson NanoJ 1 Reply Last reply Reply Quote 0
                      • Jetson NanoJ
                        Jetson Nano @Alex Kushleyev
                        last edited by Jetson Nano

                        @Alex-Kushleyev
                        Yes it is running in the 250k baud rate.
                        I did not verify with the voxl-esc tools. I directly connected it to the FC.
                        I am using the voxl-fpv-dev version of px4

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

                          @Jetson-Nano , what do you mean voxl-fpv-dev version of px4? can you provide the link to the exact release?

                          Jetson NanoJ 1 Reply Last reply Reply Quote 0
                          • Jetson NanoJ
                            Jetson Nano @Alex Kushleyev
                            last edited by

                            @Alex-Kushleyev
                            https://github.com/modalai/px4-firmware/tree/voxl-fpv-dev

                            1 Reply Last reply Reply Quote 0
                            • Jetson NanoJ
                              Jetson Nano @Alex Kushleyev
                              last edited by Jetson Nano

                              @Alex-Kushleyev here you had mentioned a version where the change has been made with respect to the delay.
                              https://forum.modalai.com/post/21951

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

                                @Jetson-Nano , from your above screen shot from QGC, it seems you are using TELEM2 for MAV0, so that is probably why the port is not able to open. You should probably set MAV_0_CONFIG to Disabled...

                                ERROR [px4_work_queue] wq:ttyS4 not available
                                
                                Jetson NanoJ 1 Reply Last reply Reply Quote 0
                                • Jetson NanoJ
                                  Jetson Nano @Alex Kushleyev
                                  last edited by

                                  @Alex-Kushleyev Thank you for the help . I changed the parameter and now the ESC has been initialised. motor are able to rotate.
                                  Also is there any other parameter i should be aware of

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

                                    @Jetson-Nano , since you are probably using a custom motor and propeller you should:

                                    • first of all, update the ESC firmware to the latest
                                    • calibrate the ESC for the motor/propeller and upload params
                                    • update min and max rpm params in PX4 because they are used to scale the control output
                                    • set the correct motor mapping and direction in px4 params
                                    • i also recommend updating the baud rate to at least 921600 (or 1M). We are using 2Mbit for all latest ESC configs now. This reduces latency and ensures that you don't have ESC packet drops (depending on the update rate of your flight control loop)

                                    In order to perform the updates and tuning, you will need to use voxl-esc tools. Please see the following page for more info: https://docs.modalai.com/voxl-escs/faq/

                                    Alex

                                    Jetson NanoJ 1 Reply Last reply Reply Quote 0
                                    • Jetson NanoJ
                                      Jetson Nano @Alex Kushleyev
                                      last edited by

                                      @Alex-Kushleyev Thank you for the support. I will make the changes you have mentioned.

                                      1 Reply Last reply Reply Quote 0
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