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

Jetson Nano

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 Kushleyev

@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 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 Kushleyev

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

Jetson Nano

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

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 Kushleyev

@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 Nano

@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 Kushleyev

@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 Nano

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