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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

      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.

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

                          hey @Alex-Kushleyev
                          I am facing the same issue again, the ESC is not initialising when connected through fc v2 , i have followed all the suggestions you mentioned earlier. the FC as well as VOXL 2 is powered through ESC.

                          nsh> voxl_esc start
INFO  [voxl_esc] 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: 2000000
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> voxl_esc status
INFO  [voxl_esc] not running
nsh> voxl_esc start
INFO  [voxl_esc] 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: 2000000
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>
                          Alex KushleyevA 1 Reply Last reply Reply Quote 0
                          • Alex KushleyevA
                            Alex Kushleyev ModalAI Team @Jetson Nano
                            last edited by

                            @Jetson-Nano ,

                            The primary causes of ESC not being detected by the FC (aside from hardware / wiring issues) is using incorrect UART port or incorrect baud rate. So you should make sure the ESC is running the latest firmware, double check the params that you want to use on the ESC (for your motor / prop) and you can also set the ESC baud rate in the ESC params. You should set up your ESC (using voxl-esc tools) before plugging it into your FC, so that you know exactly what your ESC is set up to do and then you just need to match your PX4 params to what you set in the ESC (baud rate, rpm limits, and use correct UART port).

                            Alex

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

                              @Alex-Kushleyev Thank you for reverting, I didnt change anything with respect to the fc or ESC, the firmware is the same.
                              could you help me with understanding why it was working earlier , it is not now.
                              The firmware of the FC is voxl-fpv-dev version, and when i tried to build again it is giving error, and not building.
                              I still dont know whether the issue is with respect to FC firmware or ESC

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

                                @Jetson-Nano , please confirm the ESC is working by using a usb to serial connection directly to the esc and voxl-esc Python tools on a Linux PC or VM.

                                You can run simple commands to detect the esc and perform spin tests if needed, this is all documented.

                                https://docs.modalai.com/voxl-escs/faq/

                                If the esc is ok, then you will need to double check the FC v2 setup.

                                Alex

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

                                  Hey @Alex-Kushleyev , for the same setup I mentioned above my esc is not starting by default, while I run voxl_esc start in mavlink console, it starts and works.
                                  what could be the reason for such behaviour. Please could you help me out

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

                                    @Jetson-Nano , this is likely related to the fact that the FC starts quicker than the ESC bootloader's 1s wait time. We discussed this before.

                                    So if you are saying that delaying the start of voxl_esc driver in px4 on your FC solves the problem, then the issue is exactly that.

                                    Please delay the start of the voxl_esc driver in your px4 start-up script, for example you can see it at the bottom of the script here : https://github.com/modalai/px4-firmware/blob/bugfix-fpv-rev0-airframe/boards/modalai/fc-v2/init/rc.board_sensors

                                    if param greater VOXL_ESC_CONFIG 0
then
	usleep 1500000
	voxl_esc start
fi
                                    Jetson NanoJ 1 Reply Last reply Reply Quote 0
                                    • Jetson NanoJ
                                      Jetson Nano @Alex Kushleyev
                                      last edited by

                                      @Alex-Kushleyev I have already tried it, It was working fine earlier. since past 2 days the behaviour has changed, I have verified everything else and nothing else could be a reason for such behaviour , I even played around with delay to verify it, still the same issue.
                                      please excuse me for repeating the questions but is there any other reason that can cause this issue.

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

                                        @Jetson-Nano ,

                                        Thank you for clarifying. Unfortunately, since I don't know what you changed between the working and non-working condition, it is hard to help. Also, since you are indicating that the ESC is responding if you manually start the esc driver, then the ESC itself should still be functional.

                                        Please try to backtrack your changes until you have a working setup again.

                                        Alex

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

                                          @Alex-Kushleyev , I will backtrack the steps and try re-configuring the setup.

                                          1 Reply Last reply Reply Quote 0
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