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

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    • 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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