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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 @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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