ESC issue: rotors not spinning
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We had an initial successful testing of our brand new starling 2 drone. By the next flight we were unable to arm. After some debugging it was clear the esc is unresponsive. How should we proceed?
voxl-esc spin logs:
Welcome to Ubuntu 18.04.5 LTS (GNU/Linux 4.19.125 aarch64) * Documentation: https://help.ubuntu.com * Management: https://landscape.canonical.com * Support: https://ubuntu.com/advantage * Strictly confined Kubernetes makes edge and IoT secure. Learn how MicroK8s just raised the bar for easy, resilient and secure K8s cluster deployment. https://ubuntu.com/engage/secure-kubernetes-at-the-edge This system has been minimized by removing packages and content that are not required on a system that users do not log into. To restore this content, you can run the 'unminimize' command. Last login: Fri Aug 15 14:53:00 2025 from 192.168.5.14 ▂▂▂▂▂▂▂▂▂▂▂▂▂ ▂▄▆▆██▛▀▀▀▀▀▀▀▀▜████▆▆▄▂ ███╗ ███╗ ██████╗ ██████╗ █████╗ ██╗ ▗▆████▀▔ ▔▔▀▀▀▀▚▄ ████╗ ████║██╔═══██╗██╔══██╗██╔══██╗██║ ▗▟████▀ ▗██▖ ▐█ ▝▀▆▄▄▄ ██╔████╔██║██║ ██║██║ ██║███████║██║ ▟████▀ ▗█▘▝█▖ ▐█ ▜█▀ ██║╚██╔╝██║██║ ██║██║ ██║██╔══██║██║ █▌ ▐█▌ ▗█▘ ▝█▖ ▐█ ▐▄ ██║ ╚═╝ ██║╚██████╔╝██████╔╝██║ ██║███████╗ ▀████ ▗█▘ ▝█▖ ▐█ ▂▄███ ╚═╝ ╚═╝ ╚═════╝ ╚═════╝ ╚═╝ ╚═╝╚══════╝ ▀▀██▄▄ ▂▆███▀ ▀▀██▄▄ ▀▀▆▄▄▄▄▆██▀▀▀▘ ──────────────────────────────────────────────────────────────────────────────── system-image: 1.8.04-M0054-14.1a-perf kernel: #1 SMP PREEMPT Mon Mar 24 22:31:58 UTC 2025 4.19.125 ──────────────────────────────────────────────────────────────────────────────── hw platform: M0054 mach.var: 1.0.1 SKU: MRB-D0014-4-V1-C27-T7-M22-X0 ──────────────────────────────────────────────────────────────────────────────── voxl-suite: 1.5.0 ──────────────────────────────────────────────────────────────────────────────── current IP: wlan0: *** ──────────────────────────────────────────────────────────────────────────────── voxl2:~$ voxl-esc spin enabling bridge detected voxl-px4 is enabled Removed /etc/systemd/system/multi-user.target.wants/voxl-px4.service. detected voxl-px4 is running, stopping it now Sending kill slpi command! bridge enabled Detected Python version : 3.6.9 (default, Mar 10 2023, 16:46:00) [GCC 8.4.0] Found voxl-esc tools bin version: 1.9 VOXL Platform: M0054 Detected RB5 Flight, VOXL2 M0054 or M0104! INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 2000000 Sending library name request: libslpi_qrb5165_io.so Sending initialization request INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 230400 Updated baud rate to 230400 WARNING: No ESC(s) detected VOXL Platform: M0054 Detected RB5 Flight, VOXL2 M0054 or M0104! INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 250000 INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 230400 ERROR: voxl_uart_read_bytes: Bus '12' is not initialized Updated baud rate to 230400 WARNING: No ESC(s) detected VOXL Platform: M0054 Detected RB5 Flight, VOXL2 M0054 or M0104! INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 921600 INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 230400 Updated baud rate to 230400 WARNING: No ESC(s) detected VOXL Platform: M0054 Detected RB5 Flight, VOXL2 M0054 or M0104! INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 57600 INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 230400 Updated baud rate to 230400 WARNING: No ESC(s) detected ERROR: not all ESCs found FAILED to ping ESCs when calling spin script disabling bridge Sending kill slpi command! re-enabling voxl-px4 Created symlink /etc/systemd/system/multi-user.target.wants/voxl-px4.service → /etc/systemd/system/voxl-px4.service. restarting voxl-px4 bridge disabled EXITING VOXL-ESC WITH ERRORvoxl-mpa logs:
voxl2:~$ voxl-configure-mpa ------------------------------------------------------------------ Welcome to voxl-configure-mpa! VOXL is currently thinks it is in the following hardware: family code: MRB-D0014 (starling-2 (D0014)) compute board: 4 (voxl2) hw version: 1 cam config: 27 modem config: 22 (M0141 w/ Alfa Networks WiFi Dongle AWUS036EACS) tx config: 7 (elrs_beta_fpv) extras config: 0 (none) SKU: MRB-D0014-4-V1-C27-T7-M22-X0 If this doesn't look right, quit and run voxl-configure-sku to set it correctly. Then run voxl-configure-mpa again. Continue? y/n: y Continuing No handling specified for Modem Num: 22 No handling specified for Misc Num: 0 No custom voxl-streamer mods for: 27 No custom modem mods for: 22 No handling specified for Misc Num: 0 About to Execute: systemctl enable voxl-wait-for-fs systemctl start voxl-wait-for-fs systemctl disable voxl-static-ip voxl-configure-extrinsics D0014_Starling_2 voxl-configure-vio-cams tracking_front_down_rear voxl-configure-cameras 27 voxl-configure-cpu-monitor factory_enable voxl-configure-qvio disable voxl-configure-dfs factory_disable voxl-configure-tag-detector factory_disable voxl-configure-tflite factory_disable voxl-configure-vision-hub factory_enable voxl-configure-mavlink-server factory_enable voxl-configure-portal enable voxl-configure-lepton disable voxl-configure-lepton-tracker disable voxl-configure-uvc disable voxl-configure-streamer factory_enable voxl-configure-modem disable voxl-configure-mavcam factory_enable voxl-configure-rangefinders 1_downward_on_m0173 voxl-configure-vtx --disable voxl-configure-vrx --disable voxl-configure-state-estimator disable voxl-configure-osd disable voxl-configure-imu factory_enable voxl-configure-flow-server disable voxl-configure-feature-tracker disable voxl-configure-open-vins factory_enable systemctl stop voxl-px4 systemctl disable voxl-px4 sleep 3 voxl-esc setup_d0014_starling_2 voxl-elrs configure systemctl stop voxl-px4 rm -f /data/px4/param/parameters voxl-configure-px4 crsf_gps_noapm systemctl stop voxl-mavlink-server sleep 1 voxl-configure-px4-params --non-interactive --platform MRB-D0014 set_px4_conf_param RC CRSF_RAW executing: systemctl enable voxl-wait-for-fs Success! executing: systemctl start voxl-wait-for-fs Success! executing: systemctl disable voxl-static-ip Success! executing: voxl-configure-extrinsics D0014_Starling_2 wiping old extrinsic config file copying /usr/share/modalai/extrinsic_configs/D0014_Starling_2.conf to /etc/modalai/extrinsics.conf done configuring extrinsics you can check what was set by running voxl-inspect-extrinsics --all Success! executing: voxl-configure-vio-cams tracking_front_down_rear wiping old vio-cam config file copying /usr/share/modalai/vio_cam_configs/tracking_front_down_rear.conf to /etc/modalai/vio_cams.conf done configuring vio-cams you can check what was set by running voxl-inspect-vio-cams Success! executing: voxl-configure-cameras 27 Camera Configuration: 27 camera server config helper list: tracking_front:ar0144:0:rotate: hires:imx412:1: tracking_rear:ar0144:2:rotate: tof:pmd-tof-liow2:3: tracking_down:ar0144:4: driver binary list: /usr/share/modalai/chi-cdk/ar0144-combo/com.qti.sensormodule.ar0144_combo_0.bin /usr/share/modalai/chi-cdk/imx412-fpv/com.qti.sensormodule.imx412_fpv_1.bin /usr/share/modalai/chi-cdk/ar0144-fsin/com.qti.sensormodule.ar0144_fsin_2.bin /usr/share/modalai/chi-cdk/irs2975c/com.qti.sensormodule.irs2975c_3.bin /usr/share/modalai/chi-cdk/ar0144-combo/com.qti.sensormodule.ar0144_combo_6.bin calling camera-server-config-helper tracking_front:ar0144:0:rotate: hires:imx412:1: tracking_rear:ar0144:2:rotate: tof:pmd-tof-liow2:3: tracking_down:ar0144:4: detected system image 1.8.4 using new imx412 defaults MISP awb str: auto Setting MISP AWB to Auto MISP channels enabled in defaults : 0 ERROR: object missing misp_channels ERROR: Reading config file: multiple cameras with id: 0 FAILED TO WRITE CONFIG TO DISK camera-server-config-helper failed on attempt 1 detected system image 1.8.4 using new imx412 defaults MISP awb str: auto Setting MISP AWB to Auto MISP channels enabled in defaults : 0 ERROR: object missing misp_channels MISP awb str: auto Setting MISP AWB to Auto MISP channels enabled in defaults : 0 ERROR: object missing misp_channels MISP awb str: auto Setting MISP AWB to Auto MISP channels enabled in defaults : 0 ERROR: object missing misp_channels successfully wrote this camera config to disk: ================================================================= configuration for 5 cameras: cam #0 name: tracking_front sensor type: ar0144 isEnabled: 1 camId: 0 camId2: -1 fps: 30 en_rotate: 1 en_rotate2: 1 en_preview: 1 pre_width: 1280 pre_height: 800 en_raw_preview: 1 en_small_video: 0 small_video_width: -1 small_video_height: -1 en_large_video: 0 large_video_width: -1 large_video_height: -1 en_misp: 1 misp_width: 1280 misp_height: 800 en_snapshot: 0 snap_width: -1 snap_height: -1 exif_focal_length: 0.000000 exif_focal_len_35mm_format:0 exif_fnumber: 0.000000 ae_mode: lme_msv msv_exposure_min_us: 20 msv_exposure_max_us: 12000 gain_min : 54 gain_max : 8000 standby_enabled: 0 decimator: 1 independent_exposure:0 cam #1 name: hires sensor type: imx412 isEnabled: 1 camId: 1 camId2: -1 fps: 30 en_rotate: 0 en_rotate2: 0 en_preview: 0 pre_width: 640 pre_height: 480 en_raw_preview: 0 en_small_video: 1 small_video_width: 1024 small_video_height: 768 en_large_video: 1 large_video_width: 4056 large_video_height: 3040 en_misp: 0 misp_width: -1 misp_height: -1 en_snapshot: 1 snap_width: 4056 snap_height: 3040 exif_focal_length: 3.100000 exif_focal_len_35mm_format:17 exif_fnumber: 1.240000 ae_mode: isp msv_exposure_min_us: 20 msv_exposure_max_us: 33000 gain_min : 54 gain_max : 8000 standby_enabled: 0 decimator: 1 independent_exposure:0 cam #2 name: tracking_rear sensor type: ar0144 isEnabled: 1 camId: 2 camId2: -1 fps: 30 en_rotate: 1 en_rotate2: 1 en_preview: 1 pre_width: 1280 pre_height: 800 en_raw_preview: 1 en_small_video: 0 small_video_width: -1 small_video_height: -1 en_large_video: 0 large_video_width: -1 large_video_height: -1 en_misp: 1 misp_width: 1280 misp_height: 800 en_snapshot: 0 snap_width: -1 snap_height: -1 exif_focal_length: 0.000000 exif_focal_len_35mm_format:0 exif_fnumber: 0.000000 ae_mode: lme_msv msv_exposure_min_us: 20 msv_exposure_max_us: 12000 gain_min : 54 gain_max : 8000 standby_enabled: 0 decimator: 1 independent_exposure:0 cam #3 name: tof sensor type: pmd-tof-liow2 isEnabled: 1 camId: 3 camId2: -1 fps: 10 en_rotate: 1 en_rotate2: 0 en_preview: 1 pre_width: 240 pre_height: 1629 en_raw_preview: 1 en_small_video: 0 small_video_width: -1 small_video_height: -1 en_large_video: 0 large_video_width: -1 large_video_height: -1 en_misp: 0 misp_width: -1 misp_height: -1 en_snapshot: 0 snap_width: -1 snap_height: -1 exif_focal_length: 0.000000 exif_focal_len_35mm_format:0 exif_fnumber: 0.000000 ae_mode: off msv_exposure_min_us: 0 msv_exposure_max_us: 6000 gain_min : 0 gain_max : 0 standby_enabled: 0 decimator: 5 independent_exposure:0 cam #4 name: tracking_down sensor type: ar0144 isEnabled: 1 camId: 4 camId2: -1 fps: 30 en_rotate: 0 en_rotate2: 0 en_preview: 1 pre_width: 1280 pre_height: 800 en_raw_preview: 1 en_small_video: 0 small_video_width: -1 small_video_height: -1 en_large_video: 0 large_video_width: -1 large_video_height: -1 en_misp: 1 misp_width: 1280 misp_height: 800 en_snapshot: 0 snap_width: -1 snap_height: -1 exif_focal_length: 0.000000 exif_focal_len_35mm_format:0 exif_fnumber: 0.000000 ae_mode: lme_msv msv_exposure_min_us: 20 msv_exposure_max_us: 12000 gain_min : 54 gain_max : 8000 standby_enabled: 0 decimator: 1 independent_exposure:0 fsync_en: 0 fsync_gpio: 109 ================================================================= camera_server_config_helper is done camera-server-config-helper succeeded on attempt 2 setting gpio pin 109 for fsync enabling fsync pin copying required camera drivers in place /usr/share/modalai/chi-cdk/ar0144-combo/com.qti.sensormodule.ar0144_combo_0.bin /usr/share/modalai/chi-cdk/imx412-fpv/com.qti.sensormodule.imx412_fpv_1.bin /usr/share/modalai/chi-cdk/ar0144-fsin/com.qti.sensormodule.ar0144_fsin_2.bin /usr/share/modalai/chi-cdk/irs2975c/com.qti.sensormodule.irs2975c_3.bin /usr/share/modalai/chi-cdk/ar0144-combo/com.qti.sensormodule.ar0144_combo_6.bin enabling voxl-camera-server ------------------------------------------------------------------ Done Configuring Cameras Please power cycle VOXL to load new drivers camera server will start on next reboot ------------------------------------------------------------------ Success! executing: voxl-configure-cpu-monitor factory_enable wiping old config file Creating new config file: /etc/modalai/voxl-cpu-monitor.conf enabling voxl-cpu-monitor systemd service Done configuring voxl-cpu-monitor Success! executing: voxl-configure-qvio disable disabling voxl-qvio-server systemd service stopping voxl-qvio-server systemd service Done configuring voxl-qvio-server Success! executing: voxl-configure-dfs factory_disable wiping old config file Creating new config file: /etc/modalai/voxl-dfs-server.conf disabling voxl-dfs-server systemd service stopping voxl-dfs-server systemd service Done configuring voxl-dfs-server Success! executing: voxl-configure-tag-detector factory_disable wiping old config file Creating new config file: /etc/modalai/voxl-tag-detector.conf disabling voxl-tag-detector systemd service stopping voxl-tag-detector systemd service Done configuring voxl-tag-detector Success! executing: voxl-configure-tflite factory_disable wiping old config file Creating new config file: /etc/modalai/voxl-tflite-server.conf The config file was modified during parsing, saving the changes to disk disabling voxl-tflite-server systemd service stopping voxl-tflite-server systemd service Done configuring voxl-tflite-server Success! executing: voxl-configure-vision-hub factory_enable wiping old config file Created new json file: /etc/modalai/voxl-vision-hub.conf The JSON config file data was modified during parsing, saving the changes to disk enabling voxl-vision-hub systemd service Done configuring voxl-vision-hub service will start on next reboot Success! executing: voxl-configure-mavlink-server factory_enable wiping old config file Created new json file: /etc/modalai/voxl-mavlink-server.conf enabling voxl-mavlink-server systemd service Done configuring voxl-mavlink-server Success! executing: voxl-configure-portal enable enabling voxl-portal systemd service Done configuring voxl-portal Success! executing: voxl-configure-lepton disable disabling voxl-lepton-server systemd service stopping voxl-lepton-server systemd service Done configuring voxl-lepton-server Success! executing: voxl-configure-lepton-tracker disable disabling voxl-lepton-tracker systemd service stopping voxl-lepton-tracker systemd service Done configuring voxl-lepton-tracker Success! executing: voxl-configure-uvc disable disabling voxl-uvc-server systemd service stopping voxl-uvc-server systemd service Done configuring voxl-uvc-server Success! executing: voxl-configure-streamer factory_enable wiping old config file Creating new config file: /etc/modalai/voxl-streamer.conf writing /etc/modalai/voxl-streamer.conf to disk parsed config file enabling voxl-streamer systemd service Done configuring voxl-streamer, it will start on next reboot Success! executing: voxl-configure-modem disable disabling voxl-modem systemd service stopping voxl-modem systemd service Done configuring voxl-modem Success! executing: voxl-configure-mavcam factory_enable Creating new config file: /etc/modalai/voxl-mavcam-manager.conf writing /etc/modalai/voxl-mavcam-manager.conf to disk enabling voxl-mavcam-manager systemd service Done configuring voxl-mavcam-manager It will start automatically on the next reboot Success! executing: voxl-configure-rangefinders 1_downward_on_m0173 creating new config file for 1 downward TOF without multiplexer DONE enabling voxl-rangefinder-server systemd service Done configuring voxl-rangefinder-server Success! executing: voxl-configure-vtx --disable Disabling voxl-vtx systemd service Detected kernel version: 4.19.125 Default 88XXau kernel module already loaded Success! executing: voxl-configure-vrx --disable Success! executing: voxl-configure-state-estimator disable disabling voxl-state-estimator systemd service stopping voxl-state-estimator systemd service Done configuring voxl-state-estimator Success! executing: voxl-configure-osd disable disabling voxl-osd systemd service stopping voxl-osd systemd service Done configuring voxl-osd Success! executing: voxl-configure-imu factory_enable wiping old config file Creating new config file: /etc/modalai/voxl-imu-server.conf enabling voxl-imu-server systemd service Done configuring voxl-imu-server Success! executing: voxl-configure-flow-server disable disabling voxl-flow-server systemd service stopping voxl-flow-server systemd service Done configuring voxl-flow-server Success! executing: voxl-configure-feature-tracker disable disabling voxl-feature-tracker systemd service stopping voxl-feature-tracker systemd service Done configuring voxl-feature-tracker Success! executing: voxl-configure-open-vins factory_enable /usr/bin/voxl-configure-open-vins: line 1: #!/bin/bash: No such file or directory wiping old config file Setting printing level to: SILENT Creating new config file: /etc/modalai/voxl-open-vins-server.conf The config file was modified during parsing, saving the changes to disk QUIT REQUESTED Exiting Cleanly enabling voxl-open-vins-server systemd service Please recycle power to reflect changes Done configuring voxl-open-vins-server Success! executing: systemctl stop voxl-px4 Success! executing: systemctl disable voxl-px4 Removed /etc/systemd/system/multi-user.target.wants/voxl-px4.service. Success! executing: sleep 3 Success! executing: voxl-esc setup_d0014_starling_2 enabling bridge bridge enabled [INFO] Setting CPU to performance mode Sending kill slpi command! [INFO] Scanning for ESC... successfully pinged ESCs [ERROR] Unknown board detected: disabling bridge Sending kill slpi command! bridge disabled EXITING VOXL-ESC WITH ERROR first try failed, executing a second time: voxl-esc setup_d0014_starling_2 enabling bridge bridge enabled [INFO] Setting CPU to performance mode Sending kill slpi command! [INFO] Scanning for ESC... successfully pinged ESCs [ERROR] Unknown board detected: disabling bridge Sending kill slpi command! bridge disabled EXITING VOXL-ESC WITH ERROR FAILED TO EXECUTE: voxl-esc setup_d0014_starling_2 executing: voxl-elrs configure Uploading config! Sending library name request: libslpi_qrb5165_io.so Sending initialization request Selected firmware image: BETAFPV 900MHz RX | v3.2.1.2 ELRS Receiver "BETAFPV 900RX" already up to date! Setting pwm channels... Success! executing: systemctl stop voxl-px4 Success! executing: rm -f /data/px4/param/parameters Success! executing: voxl-configure-px4 crsf_gps_noapm wiping old config file enabling voxl-px4 systemd service Created symlink /etc/systemd/system/multi-user.target.wants/voxl-px4.service → /etc/systemd/system/voxl-px4.service. Done configuring voxl-px4 Success! executing: systemctl stop voxl-mavlink-server Success! executing: sleep 1 Success! executing: voxl-configure-px4-params --non-interactive --platform MRB-D0014 [INFO] Voxl-px4 not currently running. [INFO] Starting voxl-px4 service... [INFO] Voxl-px4 started successfully! This process will do the following: 1. Load the following param files: platforms/VOXL_2_defaults.params platforms/D0014_Starling_2.params EKF2_helpers/vio_gps_baro.params EKF2_helpers/exposed_baro.params battery_helpers/Amprius_18650_2s.params other_helpers/starling_2_indoor_position.params radio_helpers/Commando_8.params 2. Restore calibration params [INFO] Loading file: /usr/share/modalai/px4_params/v1.14/platforms/VOXL_2_defaults.params [INFO] Scanning currently loaded parameters... The following parameters about to be loaded differ from those currently loaded: NAME CURRENT NEW [1] IMU_GYRO_RATEMAX 400.0 800.0 [2] CBRK_SUPPLY_CHK 0.0 894281.0 [3] COM_ARM_SDCARD 1.0 0.0 [4] COM_CPU_MAX 95.0 -1.0 [5] MAV_TYPE 0.0 2.0 [6] SYS_AUTOSTART 0.0 4001.0 [7] SDLOG_PROFILE 1.0 129.0 [8] EKF2_REQ_SACC 0.5 1.5 [9] EKF2_REQ_GPS_H 10.0 5.0 [10] COM_KILL_DISARM 5.0 0.0 [INFO] Setting params... [INFO] PX4 parameter configuration successful! [INFO] Loading file: /usr/share/modalai/px4_params/v1.14/platforms/D0014_Starling_2.params [INFO] Scanning currently loaded parameters... The following parameters about to be loaded differ from those currently loaded: NAME CURRENT NEW [1] BAT_AVRG_CURRENT 15.0 4.3 [2] MPC_THR_HOVER 0.5 0.34 [3] THR_MDL_FAC 0.0 0.9 [4] VOXL_ESC_RPM_MIN 5500.0 2000.0 [5] MPC_THR_MAX 1.0 0.6 [6] MPC_THR_MIN 0.12 0.07 [7] MPC_MANTHR_MIN 0.08 0.07 [8] VOXL_ESC_FUNC1 0.0 102.0 [9] VOXL_ESC_FUNC2 0.0 103.0 [10] VOXL_ESC_FUNC3 0.0 101.0 [11] VOXL_ESC_FUNC4 0.0 104.0 [12] VOXL_ESC_BAUD 250000.0 2000000.0 [13] VOXL_ESC_CONFIG 0.0 1.0 [14] VOXL_ESC_VLOG 0.0 1.0 [15] EKF2_IMU_POS_X 0.0 0.0043 [16] EKF2_IMU_POS_Y 0.0 0.0073 [17] EKF2_IMU_POS_Z 0.0 -0.016 [18] CA_ROTOR_COUNT 0.0 4.0 [19] CA_ROTOR0_PX 0.0 0.085 [20] CA_ROTOR0_PY 0.0 0.0625 [21] CA_ROTOR1_PX 0.0 -0.085 [22] CA_ROTOR1_PY 0.0 -0.0625 [23] CA_ROTOR2_PX 0.0 0.085 [24] CA_ROTOR2_PY 0.0 -0.0625 [25] CA_ROTOR3_PX 0.0 -0.085 [26] CA_ROTOR3_PY 0.0 0.0625 [27] CA_ROTOR2_KM 0.05 -0.05 [28] CA_ROTOR3_KM 0.05 -0.05 [29] IMU_DGYRO_CUTOFF 30.0 60.0 [30] IMU_ACCEL_CUTOFF 30.0 80.0 [31] IMU_GYRO_CUTOFF 40.0 80.0 [32] IMU_GYRO_DNF_EN 0.0 1.0 [33] MC_ROLL_CUTOFF 0.0 30.0 [34] MC_PITCH_CUTOFF 0.0 30.0 [35] MC_YAW_CUTOFF 0.0 10.0 [36] MC_ROLL_P 6.5 16.0 [37] MC_ROLLRATE_P 0.15 0.072 [38] MC_ROLLRATE_I 0.2 0.171 [39] MC_ROLLRATE_D 0.003 0.0009 [40] MC_PITCH_P 6.5 16.0 [41] MC_PITCHRATE_P 0.15 0.097 [42] MC_PITCHRATE_I 0.2 0.228 [43] MC_PITCHRATE_D 0.003 0.0011 [44] MC_YAWRATE_P 0.2 0.15 [45] MC_YAWRATE_I 0.1 0.5 [46] MC_ROLLRATE_MAX 220.0 130.0 [47] MC_PITCHRATE_MAX 220.0 130.0 [48] MC_YAWRATE_MAX 200.0 150.0 [49] MPC_TKO_RAMP_T 3.0 1.0 [50] COM_SPOOLUP_TIME 1.0 2.0 [51] LNDMC_ROT_MAX 20.0 30.0 [52] LNDMC_TRIG_TIME 1.0 0.5 [53] COM_DISARM_LAND 2.0 0.1 [54] COM_DISARM_PRFLT 10.0 20.0 [INFO] Setting params... [INFO] PX4 parameter configuration successful! [INFO] Loading file: /usr/share/modalai/px4_params/v1.14/EKF2_helpers/vio_gps_baro.params [INFO] Scanning currently loaded parameters... The following parameters about to be loaded differ from those currently loaded: NAME CURRENT NEW [1] EKF2_RNG_DELAY 5.0 50.0 [2] EKF2_HGT_REF 1.0 0.0 [3] EKF2_EV_QMIN 0.0 1.0 [INFO] Setting params... [INFO] PX4 parameter configuration successful! [INFO] Loading file: /usr/share/modalai/px4_params/v1.14/EKF2_helpers/exposed_baro.params [INFO] Scanning currently loaded parameters... The following parameters about to be loaded differ from those currently loaded: NAME CURRENT NEW [1] EKF2_BARO_NOISE 3.5 3.0 [INFO] Setting params... [INFO] PX4 parameter configuration successful! [INFO] Loading file: /usr/share/modalai/px4_params/v1.14/battery_helpers/Amprius_18650_2s.params [INFO] Scanning currently loaded parameters... The following parameters about to be loaded differ from those currently loaded: NAME CURRENT NEW [1] BAT1_N_CELLS 0.0 2.0 [2] BAT1_R_INTERNAL 0.005 0.022 [3] BAT1_CAPACITY -1.0 3950.0 [4] BAT1_V_CHARGED 4.05 4.1 [5] BAT1_V_EMPTY 3.6 2.8 [6] BAT_CRIT_THR 0.07 0.1 [INFO] Setting params... [INFO] PX4 parameter configuration successful! [INFO] Loading file: /usr/share/modalai/px4_params/v1.14/other_helpers/starling_2_indoor_position.params [INFO] Scanning currently loaded parameters... The following parameters about to be loaded differ from those currently loaded: NAME CURRENT NEW [1] MPC_YAW_EXPO 0.6 0.3 [2] MPC_XY_MAN_EXPO 0.6 0.45 [3] MPC_Z_MAN_EXPO 0.6 0.1 [4] MPC_JERK_MAX 8.0 40.0 [5] MPC_TILTMAX_AIR 45.0 30.0 [6] MPC_ACC_HOR_MAX 5.0 1000.0 [7] MPC_ACC_UP_MAX 4.0 3.0 [8] MPC_HOLD_MAX_XY 0.8 0.0 [9] MPC_HOLD_MAX_Z 0.6 0.0 [10] MPC_VEL_MANUAL 10.0 3.0 [11] MPC_XY_VEL_MAX 12.0 3.0 [12] MPC_XY_CRUISE 5.0 3.0 [13] MPC_Z_VEL_MAX_DN 1.5 1.0 [14] MPC_Z_V_AUTO_DN 1.5 1.0 [15] MPC_Z_VEL_MAX_UP 3.0 1.0 [16] MPC_Z_V_AUTO_UP 3.0 1.0 [17] MPC_LAND_SPEED 0.7 1.0 [18] MPC_XY_P 0.95 3.5 [19] MPC_XY_VEL_P_ACC 1.8 3.0 [20] MPC_XY_VEL_I_ACC 0.4 0.1 [21] MPC_XY_VEL_D_ACC 0.2 0.0 [22] MPC_Z_P 1.0 5.0 [23] MPC_Z_VEL_P_ACC 4.0 8.0 [INFO] Setting params... [INFO] PX4 parameter configuration successful! [INFO] Loading file: /usr/share/modalai/px4_params/v1.14/radio_helpers/Commando_8.params [INFO] Scanning currently loaded parameters... The following parameters about to be loaded differ from those currently loaded: NAME CURRENT NEW [1] RC_CHAN_CNT 0.0 16.0 [2] RC_MAP_ROLL 0.0 1.0 [3] RC_MAP_PITCH 0.0 2.0 [4] RC_MAP_THROTTLE 0.0 3.0 [5] RC_MAP_YAW 0.0 4.0 [6] RC_MAP_KILL_SW 0.0 5.0 [7] RC_MAP_FLTMODE 0.0 6.0 [8] COM_FLTMODE1 -1.0 0.0 [9] COM_FLTMODE2 -1.0 0.0 [10] COM_FLTMODE3 -1.0 2.0 [11] COM_FLTMODE4 -1.0 2.0 [12] COM_FLTMODE5 -1.0 7.0 [13] COM_FLTMODE6 -1.0 7.0 [14] RC5_MAX 2000.0 1988.0 [15] RC5_MIN 1000.0 1011.0 [16] RC6_MAX 2000.0 1988.0 [17] RC6_MIN 1000.0 1011.0 [18] RC7_MAX 2000.0 1988.0 [19] RC7_MIN 1000.0 1011.0 [20] RC8_MAX 2000.0 1988.0 [21] RC8_MIN 1000.0 1011.0 [INFO] Setting params... [INFO] PX4 parameter configuration successful! [INFO] Loading file: /data/px4/param/parameters_gyro.cal [INFO] Scanning currently loaded parameters... The following parameters about to be loaded differ from those currently loaded: NAME CURRENT NEW [1] CAL_GYRO0_ID 0.0 2490378.0 [2] CAL_GYRO0_PRIO -1.0 50.0 [3] CAL_GYRO0_XOFF 0.0 0.0005 [4] CAL_GYRO0_YOFF 0.0 0.0129 [5] CAL_GYRO0_ZOFF 0.0 0.0078 [INFO] Setting params... [INFO] PX4 parameter configuration successful! [INFO] Trimming duplicate parameters... [INFO] Loading file: /data/px4/param/parameters_acc.cal [INFO] Scanning currently loaded parameters... The following parameters about to be loaded differ from those currently loaded: NAME CURRENT NEW [1] CAL_ACC0_ID 0.0 2490378.0 [2] CAL_ACC0_PRIO -1.0 50.0 [3] CAL_ACC0_XOFF 0.0 0.0067 [4] CAL_ACC0_YOFF 0.0 0.0747 [5] CAL_ACC0_ZOFF 0.0 0.0884 [INFO] Setting params... [INFO] PX4 parameter configuration successful! [INFO] Trimming duplicate parameters... [INFO] Loading file: /data/px4/param/parameters_level.cal [INFO] Scanning currently loaded parameters... The following parameters about to be loaded differ from those currently loaded: NAME CURRENT NEW [1] SENS_BOARD_X_OFF 0.0 -0.3481 [2] SENS_BOARD_Y_OFF 0.0 0.087 [INFO] Setting params... [INFO] PX4 parameter configuration successful! [INFO] Trimming duplicate parameters... [INFO] Loading file: /data/px4/param/parameters_mag.cal [INFO] Scanning currently loaded parameters... The following parameters about to be loaded differ from those currently loaded: NAME CURRENT NEW [1] CAL_MAG0_ID 0.0 527625.0 [2] CAL_MAG0_PRIO -1.0 75.0 [3] CAL_MAG0_XOFF 0.0 0.0741 [4] CAL_MAG0_YOFF 0.0 0.0822 [5] CAL_MAG0_ZOFF 0.0 0.1073 [6] CAL_MAG0_XSCALE 1.0 1.0064 [7] CAL_MAG0_YSCALE 1.0 1.0357 [8] CAL_MAG0_ZSCALE 1.0 0.9691 [9] CAL_MAG0_XODIAG 0.0 -0.0151 [10] CAL_MAG0_YODIAG 0.0 -0.0273 [11] CAL_MAG0_ZODIAG 0.0 0.0054 [12] CAL_MAG0_ROT -1.0 0.0 [INFO] Setting params... [INFO] PX4 parameter configuration successful! [INFO] Trimming duplicate parameters... [INFO] Loading file: /data/px4/param/parameters_rc.cal [INFO] Trimming duplicate parameters... [INFO] Scanning currently loaded parameters... [INFO] No difference in parameters was detected. [INFO] Loading file: /data/px4/param/parameters_baro_tc.cal [INFO] Scanning currently loaded parameters... The following parameters about to be loaded differ from those currently loaded: NAME CURRENT NEW [1] TC_B_ENABLE 0.0 1.0 [2] TC_B0_ID 0.0 12018473.0 [3] TC_B0_TREF 40.0 62.77 [4] TC_B0_TMIN 5.0 55.48 [5] TC_B0_TMAX 75.0 70.07 [6] TC_B0_X0 0.0 0.0957 [7] TC_B0_X1 0.0 -2.9135 [INFO] Setting params... [INFO] PX4 parameter configuration successful! [INFO] Done configuring for platform MRB-D0014 [INFO] make sure to fully power cycle VOXL before flying. Success! executing: set_px4_conf_param RC CRSF_RAW Success! ------------------------------------------------------------------ FAILED TO EXECUTE the following steps: voxl-esc setup_d0014_starling_2 Encountered Problems Configuring MPA Services :-/ Some Services may not start up on next reboot Calibration File Status: Present /data/modalai/voxl-imu-server.cal Present /data/modalai/opencv_tracking_front_intrinsics.yml Present /data/modalai/opencv_tracking_down_intrinsics.yml Present /data/modalai/opencv_tracking_rear_intrinsics.yml Present /data/px4/param/parameters_gyro.cal Present /data/px4/param/parameters_acc.cal Present /data/px4/param/parameters_level.cal Present /data/px4/param/parameters_baro_tc.cal Present /data/px4/param/parameters_mag.cal All Required Calibration Files Present PLEASE POWER CYCLE YOUR VOXL ------------------------------------------------------------------ -
We had an initial successful testing of our brand new starling 2 drone. By the next flight we were unable to arm. After some debugging it was clear the esc is unresponsive. How should we proceed?
voxl-esc spin logs:
Welcome to Ubuntu 18.04.5 LTS (GNU/Linux 4.19.125 aarch64) * Documentation: https://help.ubuntu.com * Management: https://landscape.canonical.com * Support: https://ubuntu.com/advantage * Strictly confined Kubernetes makes edge and IoT secure. Learn how MicroK8s just raised the bar for easy, resilient and secure K8s cluster deployment. https://ubuntu.com/engage/secure-kubernetes-at-the-edge This system has been minimized by removing packages and content that are not required on a system that users do not log into. To restore this content, you can run the 'unminimize' command. Last login: Fri Aug 15 14:53:00 2025 from 192.168.5.14 ▂▂▂▂▂▂▂▂▂▂▂▂▂ ▂▄▆▆██▛▀▀▀▀▀▀▀▀▜████▆▆▄▂ ███╗ ███╗ ██████╗ ██████╗ █████╗ ██╗ ▗▆████▀▔ ▔▔▀▀▀▀▚▄ ████╗ ████║██╔═══██╗██╔══██╗██╔══██╗██║ ▗▟████▀ ▗██▖ ▐█ ▝▀▆▄▄▄ ██╔████╔██║██║ ██║██║ ██║███████║██║ ▟████▀ ▗█▘▝█▖ ▐█ ▜█▀ ██║╚██╔╝██║██║ ██║██║ ██║██╔══██║██║ █▌ ▐█▌ ▗█▘ ▝█▖ ▐█ ▐▄ ██║ ╚═╝ ██║╚██████╔╝██████╔╝██║ ██║███████╗ ▀████ ▗█▘ ▝█▖ ▐█ ▂▄███ ╚═╝ ╚═╝ ╚═════╝ ╚═════╝ ╚═╝ ╚═╝╚══════╝ ▀▀██▄▄ ▂▆███▀ ▀▀██▄▄ ▀▀▆▄▄▄▄▆██▀▀▀▘ ──────────────────────────────────────────────────────────────────────────────── system-image: 1.8.04-M0054-14.1a-perf kernel: #1 SMP PREEMPT Mon Mar 24 22:31:58 UTC 2025 4.19.125 ──────────────────────────────────────────────────────────────────────────────── hw platform: M0054 mach.var: 1.0.1 SKU: MRB-D0014-4-V1-C27-T7-M22-X0 ──────────────────────────────────────────────────────────────────────────────── voxl-suite: 1.5.0 ──────────────────────────────────────────────────────────────────────────────── current IP: wlan0: *** ──────────────────────────────────────────────────────────────────────────────── voxl2:~$ voxl-esc spin enabling bridge detected voxl-px4 is enabled Removed /etc/systemd/system/multi-user.target.wants/voxl-px4.service. detected voxl-px4 is running, stopping it now Sending kill slpi command! bridge enabled Detected Python version : 3.6.9 (default, Mar 10 2023, 16:46:00) [GCC 8.4.0] Found voxl-esc tools bin version: 1.9 VOXL Platform: M0054 Detected RB5 Flight, VOXL2 M0054 or M0104! INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 2000000 Sending library name request: libslpi_qrb5165_io.so Sending initialization request INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 230400 Updated baud rate to 230400 WARNING: No ESC(s) detected VOXL Platform: M0054 Detected RB5 Flight, VOXL2 M0054 or M0104! INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 250000 INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 230400 ERROR: voxl_uart_read_bytes: Bus '12' is not initialized Updated baud rate to 230400 WARNING: No ESC(s) detected VOXL Platform: M0054 Detected RB5 Flight, VOXL2 M0054 or M0104! INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 921600 INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 230400 Updated baud rate to 230400 WARNING: No ESC(s) detected VOXL Platform: M0054 Detected RB5 Flight, VOXL2 M0054 or M0104! INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 57600 INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 230400 Updated baud rate to 230400 WARNING: No ESC(s) detected ERROR: not all ESCs found FAILED to ping ESCs when calling spin script disabling bridge Sending kill slpi command! re-enabling voxl-px4 Created symlink /etc/systemd/system/multi-user.target.wants/voxl-px4.service → /etc/systemd/system/voxl-px4.service. restarting voxl-px4 bridge disabled EXITING VOXL-ESC WITH ERRORvoxl-mpa logs:
voxl2:~$ voxl-configure-mpa ------------------------------------------------------------------ Welcome to voxl-configure-mpa! VOXL is currently thinks it is in the following hardware: family code: MRB-D0014 (starling-2 (D0014)) compute board: 4 (voxl2) hw version: 1 cam config: 27 modem config: 22 (M0141 w/ Alfa Networks WiFi Dongle AWUS036EACS) tx config: 7 (elrs_beta_fpv) extras config: 0 (none) SKU: MRB-D0014-4-V1-C27-T7-M22-X0 If this doesn't look right, quit and run voxl-configure-sku to set it correctly. Then run voxl-configure-mpa again. Continue? y/n: y Continuing No handling specified for Modem Num: 22 No handling specified for Misc Num: 0 No custom voxl-streamer mods for: 27 No custom modem mods for: 22 No handling specified for Misc Num: 0 About to Execute: systemctl enable voxl-wait-for-fs systemctl start voxl-wait-for-fs systemctl disable voxl-static-ip voxl-configure-extrinsics D0014_Starling_2 voxl-configure-vio-cams tracking_front_down_rear voxl-configure-cameras 27 voxl-configure-cpu-monitor factory_enable voxl-configure-qvio disable voxl-configure-dfs factory_disable voxl-configure-tag-detector factory_disable voxl-configure-tflite factory_disable voxl-configure-vision-hub factory_enable voxl-configure-mavlink-server factory_enable voxl-configure-portal enable voxl-configure-lepton disable voxl-configure-lepton-tracker disable voxl-configure-uvc disable voxl-configure-streamer factory_enable voxl-configure-modem disable voxl-configure-mavcam factory_enable voxl-configure-rangefinders 1_downward_on_m0173 voxl-configure-vtx --disable voxl-configure-vrx --disable voxl-configure-state-estimator disable voxl-configure-osd disable voxl-configure-imu factory_enable voxl-configure-flow-server disable voxl-configure-feature-tracker disable voxl-configure-open-vins factory_enable systemctl stop voxl-px4 systemctl disable voxl-px4 sleep 3 voxl-esc setup_d0014_starling_2 voxl-elrs configure systemctl stop voxl-px4 rm -f /data/px4/param/parameters voxl-configure-px4 crsf_gps_noapm systemctl stop voxl-mavlink-server sleep 1 voxl-configure-px4-params --non-interactive --platform MRB-D0014 set_px4_conf_param RC CRSF_RAW executing: systemctl enable voxl-wait-for-fs Success! executing: systemctl start voxl-wait-for-fs Success! executing: systemctl disable voxl-static-ip Success! executing: voxl-configure-extrinsics D0014_Starling_2 wiping old extrinsic config file copying /usr/share/modalai/extrinsic_configs/D0014_Starling_2.conf to /etc/modalai/extrinsics.conf done configuring extrinsics you can check what was set by running voxl-inspect-extrinsics --all Success! executing: voxl-configure-vio-cams tracking_front_down_rear wiping old vio-cam config file copying /usr/share/modalai/vio_cam_configs/tracking_front_down_rear.conf to /etc/modalai/vio_cams.conf done configuring vio-cams you can check what was set by running voxl-inspect-vio-cams Success! executing: voxl-configure-cameras 27 Camera Configuration: 27 camera server config helper list: tracking_front:ar0144:0:rotate: hires:imx412:1: tracking_rear:ar0144:2:rotate: tof:pmd-tof-liow2:3: tracking_down:ar0144:4: driver binary list: /usr/share/modalai/chi-cdk/ar0144-combo/com.qti.sensormodule.ar0144_combo_0.bin /usr/share/modalai/chi-cdk/imx412-fpv/com.qti.sensormodule.imx412_fpv_1.bin /usr/share/modalai/chi-cdk/ar0144-fsin/com.qti.sensormodule.ar0144_fsin_2.bin /usr/share/modalai/chi-cdk/irs2975c/com.qti.sensormodule.irs2975c_3.bin /usr/share/modalai/chi-cdk/ar0144-combo/com.qti.sensormodule.ar0144_combo_6.bin calling camera-server-config-helper tracking_front:ar0144:0:rotate: hires:imx412:1: tracking_rear:ar0144:2:rotate: tof:pmd-tof-liow2:3: tracking_down:ar0144:4: detected system image 1.8.4 using new imx412 defaults MISP awb str: auto Setting MISP AWB to Auto MISP channels enabled in defaults : 0 ERROR: object missing misp_channels ERROR: Reading config file: multiple cameras with id: 0 FAILED TO WRITE CONFIG TO DISK camera-server-config-helper failed on attempt 1 detected system image 1.8.4 using new imx412 defaults MISP awb str: auto Setting MISP AWB to Auto MISP channels enabled in defaults : 0 ERROR: object missing misp_channels MISP awb str: auto Setting MISP AWB to Auto MISP channels enabled in defaults : 0 ERROR: object missing misp_channels MISP awb str: auto Setting MISP AWB to Auto MISP channels enabled in defaults : 0 ERROR: object missing misp_channels successfully wrote this camera config to disk: ================================================================= configuration for 5 cameras: cam #0 name: tracking_front sensor type: ar0144 isEnabled: 1 camId: 0 camId2: -1 fps: 30 en_rotate: 1 en_rotate2: 1 en_preview: 1 pre_width: 1280 pre_height: 800 en_raw_preview: 1 en_small_video: 0 small_video_width: -1 small_video_height: -1 en_large_video: 0 large_video_width: -1 large_video_height: -1 en_misp: 1 misp_width: 1280 misp_height: 800 en_snapshot: 0 snap_width: -1 snap_height: -1 exif_focal_length: 0.000000 exif_focal_len_35mm_format:0 exif_fnumber: 0.000000 ae_mode: lme_msv msv_exposure_min_us: 20 msv_exposure_max_us: 12000 gain_min : 54 gain_max : 8000 standby_enabled: 0 decimator: 1 independent_exposure:0 cam #1 name: hires sensor type: imx412 isEnabled: 1 camId: 1 camId2: -1 fps: 30 en_rotate: 0 en_rotate2: 0 en_preview: 0 pre_width: 640 pre_height: 480 en_raw_preview: 0 en_small_video: 1 small_video_width: 1024 small_video_height: 768 en_large_video: 1 large_video_width: 4056 large_video_height: 3040 en_misp: 0 misp_width: -1 misp_height: -1 en_snapshot: 1 snap_width: 4056 snap_height: 3040 exif_focal_length: 3.100000 exif_focal_len_35mm_format:17 exif_fnumber: 1.240000 ae_mode: isp msv_exposure_min_us: 20 msv_exposure_max_us: 33000 gain_min : 54 gain_max : 8000 standby_enabled: 0 decimator: 1 independent_exposure:0 cam #2 name: tracking_rear sensor type: ar0144 isEnabled: 1 camId: 2 camId2: -1 fps: 30 en_rotate: 1 en_rotate2: 1 en_preview: 1 pre_width: 1280 pre_height: 800 en_raw_preview: 1 en_small_video: 0 small_video_width: -1 small_video_height: -1 en_large_video: 0 large_video_width: -1 large_video_height: -1 en_misp: 1 misp_width: 1280 misp_height: 800 en_snapshot: 0 snap_width: -1 snap_height: -1 exif_focal_length: 0.000000 exif_focal_len_35mm_format:0 exif_fnumber: 0.000000 ae_mode: lme_msv msv_exposure_min_us: 20 msv_exposure_max_us: 12000 gain_min : 54 gain_max : 8000 standby_enabled: 0 decimator: 1 independent_exposure:0 cam #3 name: tof sensor type: pmd-tof-liow2 isEnabled: 1 camId: 3 camId2: -1 fps: 10 en_rotate: 1 en_rotate2: 0 en_preview: 1 pre_width: 240 pre_height: 1629 en_raw_preview: 1 en_small_video: 0 small_video_width: -1 small_video_height: -1 en_large_video: 0 large_video_width: -1 large_video_height: -1 en_misp: 0 misp_width: -1 misp_height: -1 en_snapshot: 0 snap_width: -1 snap_height: -1 exif_focal_length: 0.000000 exif_focal_len_35mm_format:0 exif_fnumber: 0.000000 ae_mode: off msv_exposure_min_us: 0 msv_exposure_max_us: 6000 gain_min : 0 gain_max : 0 standby_enabled: 0 decimator: 5 independent_exposure:0 cam #4 name: tracking_down sensor type: ar0144 isEnabled: 1 camId: 4 camId2: -1 fps: 30 en_rotate: 0 en_rotate2: 0 en_preview: 1 pre_width: 1280 pre_height: 800 en_raw_preview: 1 en_small_video: 0 small_video_width: -1 small_video_height: -1 en_large_video: 0 large_video_width: -1 large_video_height: -1 en_misp: 1 misp_width: 1280 misp_height: 800 en_snapshot: 0 snap_width: -1 snap_height: -1 exif_focal_length: 0.000000 exif_focal_len_35mm_format:0 exif_fnumber: 0.000000 ae_mode: lme_msv msv_exposure_min_us: 20 msv_exposure_max_us: 12000 gain_min : 54 gain_max : 8000 standby_enabled: 0 decimator: 1 independent_exposure:0 fsync_en: 0 fsync_gpio: 109 ================================================================= camera_server_config_helper is done camera-server-config-helper succeeded on attempt 2 setting gpio pin 109 for fsync enabling fsync pin copying required camera drivers in place /usr/share/modalai/chi-cdk/ar0144-combo/com.qti.sensormodule.ar0144_combo_0.bin /usr/share/modalai/chi-cdk/imx412-fpv/com.qti.sensormodule.imx412_fpv_1.bin /usr/share/modalai/chi-cdk/ar0144-fsin/com.qti.sensormodule.ar0144_fsin_2.bin /usr/share/modalai/chi-cdk/irs2975c/com.qti.sensormodule.irs2975c_3.bin /usr/share/modalai/chi-cdk/ar0144-combo/com.qti.sensormodule.ar0144_combo_6.bin enabling voxl-camera-server ------------------------------------------------------------------ Done Configuring Cameras Please power cycle VOXL to load new drivers camera server will start on next reboot ------------------------------------------------------------------ Success! executing: voxl-configure-cpu-monitor factory_enable wiping old config file Creating new config file: /etc/modalai/voxl-cpu-monitor.conf enabling voxl-cpu-monitor systemd service Done configuring voxl-cpu-monitor Success! executing: voxl-configure-qvio disable disabling voxl-qvio-server systemd service stopping voxl-qvio-server systemd service Done configuring voxl-qvio-server Success! executing: voxl-configure-dfs factory_disable wiping old config file Creating new config file: /etc/modalai/voxl-dfs-server.conf disabling voxl-dfs-server systemd service stopping voxl-dfs-server systemd service Done configuring voxl-dfs-server Success! executing: voxl-configure-tag-detector factory_disable wiping old config file Creating new config file: /etc/modalai/voxl-tag-detector.conf disabling voxl-tag-detector systemd service stopping voxl-tag-detector systemd service Done configuring voxl-tag-detector Success! executing: voxl-configure-tflite factory_disable wiping old config file Creating new config file: /etc/modalai/voxl-tflite-server.conf The config file was modified during parsing, saving the changes to disk disabling voxl-tflite-server systemd service stopping voxl-tflite-server systemd service Done configuring voxl-tflite-server Success! executing: voxl-configure-vision-hub factory_enable wiping old config file Created new json file: /etc/modalai/voxl-vision-hub.conf The JSON config file data was modified during parsing, saving the changes to disk enabling voxl-vision-hub systemd service Done configuring voxl-vision-hub service will start on next reboot Success! executing: voxl-configure-mavlink-server factory_enable wiping old config file Created new json file: /etc/modalai/voxl-mavlink-server.conf enabling voxl-mavlink-server systemd service Done configuring voxl-mavlink-server Success! executing: voxl-configure-portal enable enabling voxl-portal systemd service Done configuring voxl-portal Success! executing: voxl-configure-lepton disable disabling voxl-lepton-server systemd service stopping voxl-lepton-server systemd service Done configuring voxl-lepton-server Success! executing: voxl-configure-lepton-tracker disable disabling voxl-lepton-tracker systemd service stopping voxl-lepton-tracker systemd service Done configuring voxl-lepton-tracker Success! executing: voxl-configure-uvc disable disabling voxl-uvc-server systemd service stopping voxl-uvc-server systemd service Done configuring voxl-uvc-server Success! executing: voxl-configure-streamer factory_enable wiping old config file Creating new config file: /etc/modalai/voxl-streamer.conf writing /etc/modalai/voxl-streamer.conf to disk parsed config file enabling voxl-streamer systemd service Done configuring voxl-streamer, it will start on next reboot Success! executing: voxl-configure-modem disable disabling voxl-modem systemd service stopping voxl-modem systemd service Done configuring voxl-modem Success! executing: voxl-configure-mavcam factory_enable Creating new config file: /etc/modalai/voxl-mavcam-manager.conf writing /etc/modalai/voxl-mavcam-manager.conf to disk enabling voxl-mavcam-manager systemd service Done configuring voxl-mavcam-manager It will start automatically on the next reboot Success! executing: voxl-configure-rangefinders 1_downward_on_m0173 creating new config file for 1 downward TOF without multiplexer DONE enabling voxl-rangefinder-server systemd service Done configuring voxl-rangefinder-server Success! executing: voxl-configure-vtx --disable Disabling voxl-vtx systemd service Detected kernel version: 4.19.125 Default 88XXau kernel module already loaded Success! executing: voxl-configure-vrx --disable Success! executing: voxl-configure-state-estimator disable disabling voxl-state-estimator systemd service stopping voxl-state-estimator systemd service Done configuring voxl-state-estimator Success! executing: voxl-configure-osd disable disabling voxl-osd systemd service stopping voxl-osd systemd service Done configuring voxl-osd Success! executing: voxl-configure-imu factory_enable wiping old config file Creating new config file: /etc/modalai/voxl-imu-server.conf enabling voxl-imu-server systemd service Done configuring voxl-imu-server Success! executing: voxl-configure-flow-server disable disabling voxl-flow-server systemd service stopping voxl-flow-server systemd service Done configuring voxl-flow-server Success! executing: voxl-configure-feature-tracker disable disabling voxl-feature-tracker systemd service stopping voxl-feature-tracker systemd service Done configuring voxl-feature-tracker Success! executing: voxl-configure-open-vins factory_enable /usr/bin/voxl-configure-open-vins: line 1: #!/bin/bash: No such file or directory wiping old config file Setting printing level to: SILENT Creating new config file: /etc/modalai/voxl-open-vins-server.conf The config file was modified during parsing, saving the changes to disk QUIT REQUESTED Exiting Cleanly enabling voxl-open-vins-server systemd service Please recycle power to reflect changes Done configuring voxl-open-vins-server Success! executing: systemctl stop voxl-px4 Success! executing: systemctl disable voxl-px4 Removed /etc/systemd/system/multi-user.target.wants/voxl-px4.service. Success! executing: sleep 3 Success! executing: voxl-esc setup_d0014_starling_2 enabling bridge bridge enabled [INFO] Setting CPU to performance mode Sending kill slpi command! [INFO] Scanning for ESC... successfully pinged ESCs [ERROR] Unknown board detected: disabling bridge Sending kill slpi command! bridge disabled EXITING VOXL-ESC WITH ERROR first try failed, executing a second time: voxl-esc setup_d0014_starling_2 enabling bridge bridge enabled [INFO] Setting CPU to performance mode Sending kill slpi command! [INFO] Scanning for ESC... successfully pinged ESCs [ERROR] Unknown board detected: disabling bridge Sending kill slpi command! bridge disabled EXITING VOXL-ESC WITH ERROR FAILED TO EXECUTE: voxl-esc setup_d0014_starling_2 executing: voxl-elrs configure Uploading config! Sending library name request: libslpi_qrb5165_io.so Sending initialization request Selected firmware image: BETAFPV 900MHz RX | v3.2.1.2 ELRS Receiver "BETAFPV 900RX" already up to date! Setting pwm channels... Success! executing: systemctl stop voxl-px4 Success! executing: rm -f /data/px4/param/parameters Success! executing: voxl-configure-px4 crsf_gps_noapm wiping old config file enabling voxl-px4 systemd service Created symlink /etc/systemd/system/multi-user.target.wants/voxl-px4.service → /etc/systemd/system/voxl-px4.service. Done configuring voxl-px4 Success! executing: systemctl stop voxl-mavlink-server Success! executing: sleep 1 Success! executing: voxl-configure-px4-params --non-interactive --platform MRB-D0014 [INFO] Voxl-px4 not currently running. [INFO] Starting voxl-px4 service... [INFO] Voxl-px4 started successfully! This process will do the following: 1. Load the following param files: platforms/VOXL_2_defaults.params platforms/D0014_Starling_2.params EKF2_helpers/vio_gps_baro.params EKF2_helpers/exposed_baro.params battery_helpers/Amprius_18650_2s.params other_helpers/starling_2_indoor_position.params radio_helpers/Commando_8.params 2. Restore calibration params [INFO] Loading file: /usr/share/modalai/px4_params/v1.14/platforms/VOXL_2_defaults.params [INFO] Scanning currently loaded parameters... The following parameters about to be loaded differ from those currently loaded: NAME CURRENT NEW [1] IMU_GYRO_RATEMAX 400.0 800.0 [2] CBRK_SUPPLY_CHK 0.0 894281.0 [3] COM_ARM_SDCARD 1.0 0.0 [4] COM_CPU_MAX 95.0 -1.0 [5] MAV_TYPE 0.0 2.0 [6] SYS_AUTOSTART 0.0 4001.0 [7] SDLOG_PROFILE 1.0 129.0 [8] EKF2_REQ_SACC 0.5 1.5 [9] EKF2_REQ_GPS_H 10.0 5.0 [10] COM_KILL_DISARM 5.0 0.0 [INFO] Setting params... [INFO] PX4 parameter configuration successful! [INFO] Loading file: /usr/share/modalai/px4_params/v1.14/platforms/D0014_Starling_2.params [INFO] Scanning currently loaded parameters... The following parameters about to be loaded differ from those currently loaded: NAME CURRENT NEW [1] BAT_AVRG_CURRENT 15.0 4.3 [2] MPC_THR_HOVER 0.5 0.34 [3] THR_MDL_FAC 0.0 0.9 [4] VOXL_ESC_RPM_MIN 5500.0 2000.0 [5] MPC_THR_MAX 1.0 0.6 [6] MPC_THR_MIN 0.12 0.07 [7] MPC_MANTHR_MIN 0.08 0.07 [8] VOXL_ESC_FUNC1 0.0 102.0 [9] VOXL_ESC_FUNC2 0.0 103.0 [10] VOXL_ESC_FUNC3 0.0 101.0 [11] VOXL_ESC_FUNC4 0.0 104.0 [12] VOXL_ESC_BAUD 250000.0 2000000.0 [13] VOXL_ESC_CONFIG 0.0 1.0 [14] VOXL_ESC_VLOG 0.0 1.0 [15] EKF2_IMU_POS_X 0.0 0.0043 [16] EKF2_IMU_POS_Y 0.0 0.0073 [17] EKF2_IMU_POS_Z 0.0 -0.016 [18] CA_ROTOR_COUNT 0.0 4.0 [19] CA_ROTOR0_PX 0.0 0.085 [20] CA_ROTOR0_PY 0.0 0.0625 [21] CA_ROTOR1_PX 0.0 -0.085 [22] CA_ROTOR1_PY 0.0 -0.0625 [23] CA_ROTOR2_PX 0.0 0.085 [24] CA_ROTOR2_PY 0.0 -0.0625 [25] CA_ROTOR3_PX 0.0 -0.085 [26] CA_ROTOR3_PY 0.0 0.0625 [27] CA_ROTOR2_KM 0.05 -0.05 [28] CA_ROTOR3_KM 0.05 -0.05 [29] IMU_DGYRO_CUTOFF 30.0 60.0 [30] IMU_ACCEL_CUTOFF 30.0 80.0 [31] IMU_GYRO_CUTOFF 40.0 80.0 [32] IMU_GYRO_DNF_EN 0.0 1.0 [33] MC_ROLL_CUTOFF 0.0 30.0 [34] MC_PITCH_CUTOFF 0.0 30.0 [35] MC_YAW_CUTOFF 0.0 10.0 [36] MC_ROLL_P 6.5 16.0 [37] MC_ROLLRATE_P 0.15 0.072 [38] MC_ROLLRATE_I 0.2 0.171 [39] MC_ROLLRATE_D 0.003 0.0009 [40] MC_PITCH_P 6.5 16.0 [41] MC_PITCHRATE_P 0.15 0.097 [42] MC_PITCHRATE_I 0.2 0.228 [43] MC_PITCHRATE_D 0.003 0.0011 [44] MC_YAWRATE_P 0.2 0.15 [45] MC_YAWRATE_I 0.1 0.5 [46] MC_ROLLRATE_MAX 220.0 130.0 [47] MC_PITCHRATE_MAX 220.0 130.0 [48] MC_YAWRATE_MAX 200.0 150.0 [49] MPC_TKO_RAMP_T 3.0 1.0 [50] COM_SPOOLUP_TIME 1.0 2.0 [51] LNDMC_ROT_MAX 20.0 30.0 [52] LNDMC_TRIG_TIME 1.0 0.5 [53] COM_DISARM_LAND 2.0 0.1 [54] COM_DISARM_PRFLT 10.0 20.0 [INFO] Setting params... [INFO] PX4 parameter configuration successful! [INFO] Loading file: /usr/share/modalai/px4_params/v1.14/EKF2_helpers/vio_gps_baro.params [INFO] Scanning currently loaded parameters... The following parameters about to be loaded differ from those currently loaded: NAME CURRENT NEW [1] EKF2_RNG_DELAY 5.0 50.0 [2] EKF2_HGT_REF 1.0 0.0 [3] EKF2_EV_QMIN 0.0 1.0 [INFO] Setting params... [INFO] PX4 parameter configuration successful! [INFO] Loading file: /usr/share/modalai/px4_params/v1.14/EKF2_helpers/exposed_baro.params [INFO] Scanning currently loaded parameters... The following parameters about to be loaded differ from those currently loaded: NAME CURRENT NEW [1] EKF2_BARO_NOISE 3.5 3.0 [INFO] Setting params... [INFO] PX4 parameter configuration successful! [INFO] Loading file: /usr/share/modalai/px4_params/v1.14/battery_helpers/Amprius_18650_2s.params [INFO] Scanning currently loaded parameters... The following parameters about to be loaded differ from those currently loaded: NAME CURRENT NEW [1] BAT1_N_CELLS 0.0 2.0 [2] BAT1_R_INTERNAL 0.005 0.022 [3] BAT1_CAPACITY -1.0 3950.0 [4] BAT1_V_CHARGED 4.05 4.1 [5] BAT1_V_EMPTY 3.6 2.8 [6] BAT_CRIT_THR 0.07 0.1 [INFO] Setting params... [INFO] PX4 parameter configuration successful! [INFO] Loading file: /usr/share/modalai/px4_params/v1.14/other_helpers/starling_2_indoor_position.params [INFO] Scanning currently loaded parameters... The following parameters about to be loaded differ from those currently loaded: NAME CURRENT NEW [1] MPC_YAW_EXPO 0.6 0.3 [2] MPC_XY_MAN_EXPO 0.6 0.45 [3] MPC_Z_MAN_EXPO 0.6 0.1 [4] MPC_JERK_MAX 8.0 40.0 [5] MPC_TILTMAX_AIR 45.0 30.0 [6] MPC_ACC_HOR_MAX 5.0 1000.0 [7] MPC_ACC_UP_MAX 4.0 3.0 [8] MPC_HOLD_MAX_XY 0.8 0.0 [9] MPC_HOLD_MAX_Z 0.6 0.0 [10] MPC_VEL_MANUAL 10.0 3.0 [11] MPC_XY_VEL_MAX 12.0 3.0 [12] MPC_XY_CRUISE 5.0 3.0 [13] MPC_Z_VEL_MAX_DN 1.5 1.0 [14] MPC_Z_V_AUTO_DN 1.5 1.0 [15] MPC_Z_VEL_MAX_UP 3.0 1.0 [16] MPC_Z_V_AUTO_UP 3.0 1.0 [17] MPC_LAND_SPEED 0.7 1.0 [18] MPC_XY_P 0.95 3.5 [19] MPC_XY_VEL_P_ACC 1.8 3.0 [20] MPC_XY_VEL_I_ACC 0.4 0.1 [21] MPC_XY_VEL_D_ACC 0.2 0.0 [22] MPC_Z_P 1.0 5.0 [23] MPC_Z_VEL_P_ACC 4.0 8.0 [INFO] Setting params... [INFO] PX4 parameter configuration successful! [INFO] Loading file: /usr/share/modalai/px4_params/v1.14/radio_helpers/Commando_8.params [INFO] Scanning currently loaded parameters... The following parameters about to be loaded differ from those currently loaded: NAME CURRENT NEW [1] RC_CHAN_CNT 0.0 16.0 [2] RC_MAP_ROLL 0.0 1.0 [3] RC_MAP_PITCH 0.0 2.0 [4] RC_MAP_THROTTLE 0.0 3.0 [5] RC_MAP_YAW 0.0 4.0 [6] RC_MAP_KILL_SW 0.0 5.0 [7] RC_MAP_FLTMODE 0.0 6.0 [8] COM_FLTMODE1 -1.0 0.0 [9] COM_FLTMODE2 -1.0 0.0 [10] COM_FLTMODE3 -1.0 2.0 [11] COM_FLTMODE4 -1.0 2.0 [12] COM_FLTMODE5 -1.0 7.0 [13] COM_FLTMODE6 -1.0 7.0 [14] RC5_MAX 2000.0 1988.0 [15] RC5_MIN 1000.0 1011.0 [16] RC6_MAX 2000.0 1988.0 [17] RC6_MIN 1000.0 1011.0 [18] RC7_MAX 2000.0 1988.0 [19] RC7_MIN 1000.0 1011.0 [20] RC8_MAX 2000.0 1988.0 [21] RC8_MIN 1000.0 1011.0 [INFO] Setting params... [INFO] PX4 parameter configuration successful! [INFO] Loading file: /data/px4/param/parameters_gyro.cal [INFO] Scanning currently loaded parameters... The following parameters about to be loaded differ from those currently loaded: NAME CURRENT NEW [1] CAL_GYRO0_ID 0.0 2490378.0 [2] CAL_GYRO0_PRIO -1.0 50.0 [3] CAL_GYRO0_XOFF 0.0 0.0005 [4] CAL_GYRO0_YOFF 0.0 0.0129 [5] CAL_GYRO0_ZOFF 0.0 0.0078 [INFO] Setting params... [INFO] PX4 parameter configuration successful! [INFO] Trimming duplicate parameters... [INFO] Loading file: /data/px4/param/parameters_acc.cal [INFO] Scanning currently loaded parameters... The following parameters about to be loaded differ from those currently loaded: NAME CURRENT NEW [1] CAL_ACC0_ID 0.0 2490378.0 [2] CAL_ACC0_PRIO -1.0 50.0 [3] CAL_ACC0_XOFF 0.0 0.0067 [4] CAL_ACC0_YOFF 0.0 0.0747 [5] CAL_ACC0_ZOFF 0.0 0.0884 [INFO] Setting params... [INFO] PX4 parameter configuration successful! [INFO] Trimming duplicate parameters... [INFO] Loading file: /data/px4/param/parameters_level.cal [INFO] Scanning currently loaded parameters... The following parameters about to be loaded differ from those currently loaded: NAME CURRENT NEW [1] SENS_BOARD_X_OFF 0.0 -0.3481 [2] SENS_BOARD_Y_OFF 0.0 0.087 [INFO] Setting params... [INFO] PX4 parameter configuration successful! [INFO] Trimming duplicate parameters... [INFO] Loading file: /data/px4/param/parameters_mag.cal [INFO] Scanning currently loaded parameters... The following parameters about to be loaded differ from those currently loaded: NAME CURRENT NEW [1] CAL_MAG0_ID 0.0 527625.0 [2] CAL_MAG0_PRIO -1.0 75.0 [3] CAL_MAG0_XOFF 0.0 0.0741 [4] CAL_MAG0_YOFF 0.0 0.0822 [5] CAL_MAG0_ZOFF 0.0 0.1073 [6] CAL_MAG0_XSCALE 1.0 1.0064 [7] CAL_MAG0_YSCALE 1.0 1.0357 [8] CAL_MAG0_ZSCALE 1.0 0.9691 [9] CAL_MAG0_XODIAG 0.0 -0.0151 [10] CAL_MAG0_YODIAG 0.0 -0.0273 [11] CAL_MAG0_ZODIAG 0.0 0.0054 [12] CAL_MAG0_ROT -1.0 0.0 [INFO] Setting params... [INFO] PX4 parameter configuration successful! [INFO] Trimming duplicate parameters... [INFO] Loading file: /data/px4/param/parameters_rc.cal [INFO] Trimming duplicate parameters... [INFO] Scanning currently loaded parameters... [INFO] No difference in parameters was detected. [INFO] Loading file: /data/px4/param/parameters_baro_tc.cal [INFO] Scanning currently loaded parameters... The following parameters about to be loaded differ from those currently loaded: NAME CURRENT NEW [1] TC_B_ENABLE 0.0 1.0 [2] TC_B0_ID 0.0 12018473.0 [3] TC_B0_TREF 40.0 62.77 [4] TC_B0_TMIN 5.0 55.48 [5] TC_B0_TMAX 75.0 70.07 [6] TC_B0_X0 0.0 0.0957 [7] TC_B0_X1 0.0 -2.9135 [INFO] Setting params... [INFO] PX4 parameter configuration successful! [INFO] Done configuring for platform MRB-D0014 [INFO] make sure to fully power cycle VOXL before flying. Success! executing: set_px4_conf_param RC CRSF_RAW Success! ------------------------------------------------------------------ FAILED TO EXECUTE the following steps: voxl-esc setup_d0014_starling_2 Encountered Problems Configuring MPA Services :-/ Some Services may not start up on next reboot Calibration File Status: Present /data/modalai/voxl-imu-server.cal Present /data/modalai/opencv_tracking_front_intrinsics.yml Present /data/modalai/opencv_tracking_down_intrinsics.yml Present /data/modalai/opencv_tracking_rear_intrinsics.yml Present /data/px4/param/parameters_gyro.cal Present /data/px4/param/parameters_acc.cal Present /data/px4/param/parameters_level.cal Present /data/px4/param/parameters_baro_tc.cal Present /data/px4/param/parameters_mag.cal All Required Calibration Files Present PLEASE POWER CYCLE YOUR VOXL ------------------------------------------------------------------Did anything happen between flight 1 and flight 2 which could have damaged anything on the drone?
When you power on your Starling 2, do you see blue lights blinking on the ESC? You can see the description of the expected behavior here : https://docs.modalai.com/voxl-escs/faq/#q-what-is-the-behavior-of-the-four-blue-on-board-leds. In the ESC datasheet (https://docs.modalai.com/voxl-mini-esc-datasheet/) you can see which side the LEDs are located and one of them is labeled, you should be able to spot the other three next to the each MCU.
Do you hear a tone that the ESC typically makes (using motors) when the power is applied?
Please check the integrity of the UART cable that connects the ESC to VOXL2.
Alex
-
Did anything happen between flight 1 and flight 2 which could have damaged anything on the drone?
When you power on your Starling 2, do you see blue lights blinking on the ESC? You can see the description of the expected behavior here : https://docs.modalai.com/voxl-escs/faq/#q-what-is-the-behavior-of-the-four-blue-on-board-leds. In the ESC datasheet (https://docs.modalai.com/voxl-mini-esc-datasheet/) you can see which side the LEDs are located and one of them is labeled, you should be able to spot the other three next to the each MCU.
Do you hear a tone that the ESC typically makes (using motors) when the power is applied?
Please check the integrity of the UART cable that connects the ESC to VOXL2.
Alex
The drone was untouched between the first and the next flight. To me the ESC looks clean and I detached and reattached the UART cable.
The 4 leds on the ESC first flash at high frequency then the come the sounds, then those leds flash another 4 times then they remain off. I see the same behavior and sound on our healthy drone.The drone will be sent back for inspection today!
Thanks for the reply! -
The drone was untouched between the first and the next flight. To me the ESC looks clean and I detached and reattached the UART cable.
The 4 leds on the ESC first flash at high frequency then the come the sounds, then those leds flash another 4 times then they remain off. I see the same behavior and sound on our healthy drone.The drone will be sent back for inspection today!
Thanks for the reply!@Federico-Wyrwal , thank you for the reply. More debugging would be needed to figure out the root cause and it looks like you already submitted an RMA for the inspection / repair, so we will take care of it. Thank you.
Alex
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