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

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    • 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

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