# VOXL ESC scripts over VOXL2 Source: https://forum.modalai.com/topic/1444/voxl-esc-scripts-over-voxl2 Category: VOXL 2 and VOXL 2 Mini (https://forum.modalai.com/category/26/voxl-2-and-voxl-2-mini) Tags: voxl-2 Posted: 2022-10-13 17:23:40 UTC by wilkinsaf Replies: 8 · Views: 899 ## wilkinsaf · 2022-10-13 17:23:40 UTC Hello, I know that I can control,setup, etc... voxl esc using the python scripts and tools described here: https://docs.modalai.com/modal-esc-v2-manual/ My question is...is there a way for me to execute these scripts and modify the voxl esc after it has already been connected to voxl2? It mentions that the device might come up as `/dev/ttyUSB0` or `/dev/ttyS1` but I am not seeing that in the device list on voxl2. Just wondering if this is possible, and if so, what path I should be trying to connect to Thanks! Output from `ls /dev` if helpful ``` voxl2:/$ ls -la /dev total 4 drwxr-xr-x 19 root root 8240 Oct 13 03:39 . drwxr-xr-x 34 root root 4096 Dec 10 2021 .. crw------- 1 root root 489, 0 Dec 10 2021 6002000.stm crw------- 1 system system 487, 0 Oct 13 03:38 adsprpc-smd crw------- 1 system system 487, 1 Oct 13 03:38 adsprpc-smd-secure crw------- 1 root root 499, 1 Oct 13 03:38 android_mbim crw------- 1 root root 10, 59 Oct 13 03:38 ashmem crw------- 1 root root 485, 0 Oct 13 03:38 at_usb0 crw------- 1 root root 485, 1 Oct 13 03:38 at_usb1 crw------- 1 root root 486, 0 Oct 13 03:38 avtimer crw-rw-rw- 1 root root 10, 58 Oct 13 03:38 binder drwxr-xr-x 3 root root 2580 Oct 13 03:39 block drwxr-xr-x 2 root root 240 Oct 13 03:39 bsg crw------- 1 root root 495, 0 Oct 13 03:38 btpower crw-rw---- 1 root disk 10, 234 Oct 13 03:38 btrfs-control drwxr-xr-x 3 root root 60 Jan 1 1970 bus crw------- 1 root root 490, 0 Oct 13 03:38 byte-cntr drwxr-xr-x 2 root root 5700 Oct 13 03:39 char crw------- 1 root root 5, 1 Oct 13 03:39 console crw------- 1 root root 10, 55 Oct 13 03:38 coresight-tmc-etf crw------- 1 root root 10, 54 Oct 13 03:38 coresight-tmc-etr crw------- 1 root root 10, 53 Oct 13 03:38 cpu_dma_latency crw------- 1 root root 498, 0 Oct 13 03:38 cvp crw------- 1 root root 252, 0 Oct 13 03:38 dcc_sram crw-rw---- 1 root diag 234, 0 Oct 13 03:38 diag drwxr-xr-x 8 root root 160 Dec 10 2021 disk crw------- 1 root root 499, 2 Oct 13 03:38 dpl_ctrl drwxr-xr-x 3 root root 100 Dec 10 2021 dri crw------- 1 root root 10, 61 Oct 13 03:38 ecryptfs lrwxrwxrwx 1 root root 13 Dec 10 2021 fd -> /proc/self/fd crw-rw-rw- 1 root root 1, 7 Oct 13 03:38 full crw-rw-rw- 1 root root 10, 229 Oct 13 03:38 fuse crw------- 1 root root 254, 0 Oct 13 03:38 gpiochip0 crw------- 1 root root 254, 1 Oct 13 03:38 gpiochip1 crw------- 1 root root 254, 2 Oct 13 03:38 gpiochip2 crw------- 1 root root 254, 3 Oct 13 03:38 gpiochip3 crw------- 1 root root 254, 4 Oct 13 03:38 gpiochip4 crw------- 1 root root 10, 57 Oct 13 03:38 hwbinder crw------- 1 root root 10, 183 Oct 13 03:38 hwrng crw------- 1 root root 89, 0 Dec 10 2021 i2c-0 crw------- 1 root root 89, 1 Dec 10 2021 i2c-1 crw------- 1 root root 89, 2 Dec 10 2021 i2c-2 crw------- 1 root root 245, 0 Oct 13 03:38 iio:device0 crw------- 1 root root 245, 1 Oct 13 03:38 iio:device1 crw------- 1 root root 245, 2 Oct 13 03:38 iio:device2 lrwxrwxrwx 1 root root 25 Dec 10 2021 initctl -> /run/systemd/initctl/fifo drwxr-xr-x 3 root root 120 Oct 13 03:38 input crw-rw-r-- 1 system system 10, 62 Oct 13 03:38 ion crw-rw-rw- 1 root root 507, 0 Dec 10 2021 kgsl-3d0 crw-r--r-- 1 root root 1, 11 Oct 13 03:38 kmsg drwxr-xr-x 2 root root 60 Jan 1 1970 lightnvm lrwxrwxrwx 1 root root 28 Dec 10 2021 log -> /run/systemd/journal/dev-log crw-rw---- 1 root disk 10, 237 Oct 13 03:38 loop-control brw-rw---- 1 root disk 7, 0 Oct 13 03:38 loop0 brw-rw---- 1 root disk 7, 8 Oct 13 03:38 loop1 brw-rw---- 1 root disk 7, 80 Oct 13 03:38 loop10 brw-rw---- 1 root disk 7, 88 Oct 13 03:38 loop11 brw-rw---- 1 root disk 7, 96 Oct 13 03:38 loop12 brw-rw---- 1 root disk 7, 104 Oct 13 03:38 loop13 brw-rw---- 1 root disk 7, 112 Oct 13 03:38 loop14 brw-rw---- 1 root disk 7, 120 Oct 13 03:38 loop15 brw-rw---- 1 root disk 7, 16 Oct 13 03:38 loop2 brw-rw---- 1 root disk 7, 24 Oct 13 03:38 loop3 brw-rw---- 1 root disk 7, 32 Oct 13 03:38 loop4 brw-rw---- 1 root disk 7, 40 Oct 13 03:38 loop5 brw-rw---- 1 root disk 7, 48 Oct 13 03:38 loop6 brw-rw---- 1 root disk 7, 56 Oct 13 03:38 loop7 brw-rw---- 1 root disk 7, 64 Oct 13 03:38 loop8 brw-rw---- 1 root disk 7, 72 Oct 13 03:38 loop9 drwxr-xr-x 2 root root 60 Jan 1 1970 mapper crw-rw---- 1 root video 248, 0 Oct 13 03:38 media0 crw-rw---- 1 root video 248, 1 Dec 10 2021 media1 crw-r----- 1 root kmem 1, 1 Oct 13 03:38 mem crw------- 1 root root 10, 50 Oct 13 03:38 memory_bandwidth drwxrwxrwt 2 root root 40 Jan 1 1970 mqueue crw------- 1 root root 256, 0 Oct 13 03:38 msm-rng crw------- 1 root root 10, 44 Oct 13 03:38 msm_aac crw------- 1 root root 10, 47 Oct 13 03:38 msm_aac_in crw------- 1 root root 10, 43 Oct 13 03:38 msm_alac crw------- 1 root root 10, 42 Oct 13 03:38 msm_amrnb crw------- 1 root root 10, 46 Oct 13 03:38 msm_amrnb_in crw------- 1 root root 10, 41 Oct 13 03:38 msm_amrwb crw------- 1 root root 10, 45 Oct 13 03:38 msm_amrwb_in crw------- 1 root root 10, 40 Oct 13 03:38 msm_amrwbplus crw------- 1 root root 10, 39 Oct 13 03:38 msm_ape crw------- 1 root root 10, 49 Oct 13 03:38 msm_audio_cal crw------- 1 root root 10, 38 Oct 13 03:38 msm_evrc crw------- 1 root root 10, 29 Oct 13 03:38 msm_evrc_in crw------- 1 root root 10, 37 Oct 13 03:38 msm_g711alaw crw------- 1 root root 10, 28 Oct 13 03:38 msm_g711alaw_in crw------- 1 root root 10, 36 Oct 13 03:38 msm_g711mlaw crw------- 1 root root 10, 27 Oct 13 03:38 msm_g711mlaw_in crw------- 1 root root 506, 0 Oct 13 03:38 msm_hdcp crw------- 1 root root 10, 35 Oct 13 03:38 msm_hweffects crw------- 1 root root 10, 34 Oct 13 03:38 msm_mp3 crw------- 1 root root 10, 33 Oct 13 03:38 msm_multi_aac crw------- 1 root root 497, 0 Oct 13 03:38 msm_npu crw------- 1 root root 10, 32 Oct 13 03:38 msm_qcelp crw------- 1 root root 10, 26 Oct 13 03:38 msm_qcelp_in crw------- 1 root root 10, 48 Oct 13 03:38 msm_rtac crw------- 1 root root 251, 0 Oct 13 03:38 msm_sps crw------- 1 root root 10, 31 Oct 13 03:38 msm_wma crw------- 1 root root 10, 30 Oct 13 03:38 msm_wmapro drwxr-xr-x 2 root root 60 Jan 1 1970 net crw------- 1 root root 10, 52 Oct 13 03:38 network_latency crw------- 1 root root 10, 51 Oct 13 03:38 network_throughput crw-rw-rw- 1 root root 1, 3 Oct 13 03:38 null crw------- 1 root root 108, 0 Oct 13 03:38 ppp crw-rw-rw- 1 root tty 5, 2 Oct 13 03:40 ptmx drwxr-xr-x 2 root root 0 Dec 10 2021 pts crw------- 1 root root 502, 0 Oct 13 03:38 qce crw------- 1 root root 237, 0 Oct 13 03:38 qsee_ipc_irq_spss crw------- 1 root root 505, 0 Oct 13 03:38 qseecom crw------- 1 root root 493, 0 Oct 13 03:38 qvr_external_sensor_ioctl brw-rw---- 1 root disk 1, 0 Oct 13 03:38 ram0 brw-rw---- 1 root disk 1, 1 Oct 13 03:38 ram1 brw-rw---- 1 root disk 1, 10 Oct 13 03:38 ram10 brw-rw---- 1 root disk 1, 11 Oct 13 03:38 ram11 brw-rw---- 1 root disk 1, 12 Oct 13 03:38 ram12 brw-rw---- 1 root disk 1, 13 Oct 13 03:38 ram13 brw-rw---- 1 root disk 1, 14 Oct 13 03:38 ram14 brw-rw---- 1 root disk 1, 15 Oct 13 03:38 ram15 brw-rw---- 1 root disk 1, 2 Oct 13 03:38 ram2 brw-rw---- 1 root disk 1, 3 Oct 13 03:38 ram3 brw-rw---- 1 root disk 1, 4 Oct 13 03:38 ram4 brw-rw---- 1 root disk 1, 5 Oct 13 03:38 ram5 brw-rw---- 1 root disk 1, 6 Oct 13 03:38 ram6 brw-rw---- 1 root disk 1, 7 Oct 13 03:38 ram7 brw-rw---- 1 root disk 1, 8 Oct 13 03:38 ram8 brw-rw---- 1 root disk 1, 9 Oct 13 03:38 ram9 crw------- 1 root root 242, 16 Oct 13 03:38 ramdump_a650_zap crw------- 1 root root 242, 4 Dec 10 2021 ramdump_adsp crw------- 1 root root 242, 6 Dec 10 2021 ramdump_cdsp crw------- 1 root root 242, 12 Dec 10 2021 ramdump_cvpss crw------- 1 root root 242, 0 Oct 13 03:38 ramdump_ipa_fws crw------- 1 root root 242, 2 Oct 13 03:38 ramdump_ipa_uc crw------- 1 root root 242, 17 Oct 13 03:38 ramdump_md_a650_zap crw------- 1 root root 242, 5 Dec 10 2021 ramdump_md_adsp crw------- 1 root root 242, 7 Dec 10 2021 ramdump_md_cdsp crw------- 1 root root 242, 13 Dec 10 2021 ramdump_md_cvpss crw------- 1 root root 242, 1 Oct 13 03:38 ramdump_md_ipa_fws crw------- 1 root root 242, 3 Oct 13 03:38 ramdump_md_ipa_uc crw------- 1 root root 242, 20 Dec 10 2021 ramdump_md_npu crw------- 1 root root 242, 15 Dec 10 2021 ramdump_md_slpi crw------- 1 root root 242, 11 Dec 10 2021 ramdump_md_spss crw------- 1 root root 242, 9 Dec 10 2021 ramdump_md_venus crw------- 1 root root 242, 18 Oct 13 03:38 ramdump_microdump_modem crw------- 1 root root 242, 19 Dec 10 2021 ramdump_npu crw------- 1 root root 242, 14 Dec 10 2021 ramdump_slpi crw------- 1 root root 242, 10 Dec 10 2021 ramdump_spss crw------- 1 root root 242, 8 Dec 10 2021 ramdump_venus crw-rw-rw- 1 root root 1, 8 Oct 13 03:38 random prw--w---- 1 root rebooters 0 Oct 13 03:38 rebooterdev crw-rw-r-- 1 root root 10, 242 Oct 13 03:38 rfkill crw------- 1 root root 499, 0 Oct 13 03:38 rmnet_ctrl crw------- 1 root root 253, 0 Oct 13 03:38 rpmsg_ctrl0 crw------- 1 root root 253, 1 Oct 13 03:38 rpmsg_ctrl1 lrwxrwxrwx 1 root root 4 Oct 13 03:38 rtc -> rtc0 crw------- 1 root root 249, 0 Oct 13 03:38 rtc0 brw-rw---- 1 root disk 8, 0 Dec 10 2021 sda brw-rw---- 1 root system 8, 1 Dec 10 2021 sda1 brw-rw---- 1 root system 8, 2 Dec 10 2021 sda2 brw-rw---- 1 root system 8, 3 Dec 10 2021 sda3 brw-rw---- 1 root system 8, 4 Dec 10 2021 sda4 brw-rw---- 1 root system 8, 5 Dec 10 2021 sda5 brw-rw---- 1 root system 8, 6 Dec 10 2021 sda6 brw-rw---- 1 root system 8, 7 Dec 10 2021 sda7 brw-rw---- 1 root system 8, 8 Dec 10 2021 sda8 brw-rw---- 1 root system 8, 9 Dec 10 2021 sda9 brw-rw---- 1 root disk 8, 16 Dec 10 2021 sdb brw-rw---- 1 root system 8, 17 Dec 10 2021 sdb1 brw-rw---- 1 root system 8, 18 Dec 10 2021 sdb2 brw-rw---- 1 root disk 8, 32 Dec 10 2021 sdc brw-rw---- 1 root system 8, 33 Dec 10 2021 sdc1 brw-rw---- 1 root system 8, 34 Dec 10 2021 sdc2 brw-rw---- 1 root disk 8, 48 Dec 10 2021 sdd brw-rw---- 1 root system 8, 49 Dec 10 2021 sdd1 brw-rw---- 1 root system 8, 50 Dec 10 2021 sdd2 brw-rw---- 1 root system 8, 51 Dec 10 2021 sdd3 brw-rw---- 1 root system 8, 52 Dec 10 2021 sdd4 brw-rw---- 1 root disk 8, 64 Oct 13 03:38 sde brw-rw---- 1 root system 8, 65 Oct 13 03:38 sde1 brw-rw---- 1 root system 8, 74 Oct 13 03:38 sde10 brw-rw---- 1 root system 8, 75 Oct 13 03:38 sde11 brw-rw---- 1 root system 8, 76 Oct 13 03:38 sde12 brw-rw---- 1 root system 8, 77 Oct 13 03:38 sde13 brw-rw---- 1 root system 8, 78 Oct 13 03:38 sde14 brw-rw---- 1 root system 8, 79 Oct 13 03:38 sde15 brw-rw---- 1 root system 259, 0 Oct 13 03:38 sde16 brw-rw---- 1 root system 259, 1 Oct 13 03:38 sde17 brw-rw---- 1 root system 259, 2 Oct 13 03:38 sde18 brw-rw---- 1 root system 259, 3 Oct 13 03:38 sde19 brw-rw---- 1 root system 8, 66 Oct 13 03:38 sde2 brw-rw-r-- 1 root system 259, 4 Oct 13 03:38 sde20 brw-rw---- 1 root system 259, 5 Oct 13 03:38 sde21 brw-rw---- 1 root system 259, 6 Oct 13 03:38 sde22 brw-rw---- 1 root system 259, 7 Oct 13 03:38 sde23 brw-rw---- 1 root system 259, 8 Oct 13 03:38 sde24 brw-rw---- 1 root system 259, 9 Oct 13 03:38 sde25 brw-rw---- 1 root system 259, 10 Oct 13 03:38 sde26 brw-rw---- 1 root system 259, 11 Oct 13 03:38 sde27 brw-rw---- 1 root system 259, 12 Oct 13 03:38 sde28 brw-rw---- 1 root system 259, 13 Oct 13 03:38 sde29 brw-rw---- 1 root system 8, 67 Oct 13 03:38 sde3 brw-rw---- 1 root system 259, 14 Oct 13 03:38 sde30 brw-rw---- 1 root system 259, 15 Oct 13 03:38 sde31 brw-rw---- 1 root system 259, 16 Oct 13 03:38 sde32 brw-rw---- 1 root system 259, 17 Oct 13 03:38 sde33 brw-rw---- 1 root system 259, 18 Oct 13 03:38 sde34 brw-rw---- 1 root system 259, 19 Oct 13 03:38 sde35 brw-rw---- 1 root system 259, 20 Oct 13 03:38 sde36 brw-rw---- 1 root system 259, 21 Oct 13 03:38 sde37 brw-rw---- 1 root system 259, 22 Oct 13 03:38 sde38 brw-rw---- 1 root system 259, 23 Oct 13 03:38 sde39 brw-rw---- 1 root system 8, 68 Oct 13 03:38 sde4 brw-rw---- 1 root system 259, 24 Oct 13 03:38 sde40 brw-rw---- 1 root system 259, 25 Oct 13 03:38 sde41 brw-rw---- 1 root system 259, 26 Oct 13 03:38 sde42 brw-rw---- 1 root system 259, 27 Oct 13 03:38 sde43 brw-rw---- 1 root system 259, 28 Oct 13 03:38 sde44 brw-rw---- 1 root system 259, 29 Oct 13 03:38 sde45 brw-rw---- 1 root system 259, 30 Oct 13 03:38 sde46 brw-rw---- 1 root system 259, 31 Oct 13 03:38 sde47 brw-rw---- 1 root system 259, 32 Oct 13 03:38 sde48 brw-rw---- 1 root system 259, 33 Oct 13 03:38 sde49 brw-rw---- 1 root system 8, 69 Oct 13 03:38 sde5 brw-rw---- 1 root system 259, 34 Oct 13 03:38 sde50 brw-rw---- 1 root system 259, 35 Oct 13 03:38 sde51 brw-rw---- 1 root system 259, 36 Oct 13 03:38 sde52 brw-rw---- 1 root system 259, 37 Oct 13 03:38 sde53 brw-rw---- 1 root system 259, 38 Oct 13 03:38 sde54 brw-rw---- 1 root system 259, 39 Oct 13 03:38 sde55 brw-rw---- 1 root system 259, 40 Oct 13 03:38 sde56 brw-rw---- 1 root system 259, 41 Oct 13 03:38 sde57 brw-rw---- 1 root system 259, 42 Oct 13 03:38 sde58 brw-rw---- 1 root system 259, 43 Oct 13 03:38 sde59 brw-rw---- 1 root system 8, 70 Oct 13 03:38 sde6 brw-rw---- 1 root system 259, 44 Oct 13 03:38 sde60 brw-rw---- 1 root system 8, 71 Oct 13 03:38 sde7 brw-rw---- 1 root system 8, 72 Oct 13 03:38 sde8 brw-rw---- 1 root system 8, 73 Oct 13 03:38 sde9 brw-rw---- 1 root disk 8, 80 Dec 10 2021 sdf brw-rw---- 1 root system 8, 81 Dec 10 2021 sdf1 brw-rw---- 1 root system 8, 82 Dec 10 2021 sdf2 brw-rw---- 1 root system 8, 83 Dec 10 2021 sdf3 brw-rw---- 1 root system 8, 84 Dec 10 2021 sdf4 brw-rw---- 1 root system 8, 85 Dec 10 2021 sdf5 brw-rw---- 1 root system 8, 86 Dec 10 2021 sdf6 brw-rw---- 1 root system 8, 87 Dec 10 2021 sdf7 brw-rw---- 1 root system 8, 88 Dec 10 2021 sdf8 brw-rw---- 1 root system 8, 89 Dec 10 2021 sdf9 brw-rw---- 1 root disk 8, 96 Oct 13 03:39 sdg crw------- 1 root root 491, 0 Oct 13 03:38 sensors drwxr-xr-x 4 root root 80 Oct 13 03:39 serial crw------- 1 root root 21, 0 Dec 10 2021 sg0 crw------- 1 system system 21, 1 Dec 10 2021 sg1 crw------- 1 root root 21, 2 Dec 10 2021 sg2 crw-rw---- 1 root disk 21, 3 Dec 10 2021 sg3 crw-rw---- 1 root disk 21, 4 Dec 10 2021 sg4 crw-rw---- 1 root disk 21, 5 Dec 10 2021 sg5 crw-rw---- 1 root disk 21, 6 Dec 10 2021 sg6 crw-rw---- 1 root disk 21, 7 Dec 10 2021 sg7 crw-rw---- 1 root disk 21, 8 Dec 10 2021 sg8 crw-rw---- 1 root disk 21, 9 Oct 13 03:39 sg9 drwxrwxrwt 2 root root 40 Dec 10 2021 shm crw------- 1 root root 239, 0 Oct 13 03:38 smcinvoke drwxr-xr-x 2 root root 60 Jan 1 1970 snd drwxrwxrwx 2 root root 120 Oct 13 03:38 socket crw------- 1 root root 240, 1 Oct 13 03:38 sp_kernel crw------- 1 root root 240, 2 Oct 13 03:38 sp_ssr crw------- 1 root root 240, 0 Oct 13 03:38 spcom crw------- 1 root root 153, 0 Dec 10 2021 spidev0.0 crw------- 1 root root 153, 1 Dec 10 2021 spidev1.0 crw------- 1 root root 153, 3 Dec 10 2021 spidev14.0 crw------- 1 root root 153, 2 Dec 10 2021 spidev3.0 crw------- 1 root root 488, 0 Oct 13 03:38 spss_utils lrwxrwxrwx 1 root root 15 Dec 10 2021 stderr -> /proc/self/fd/2 lrwxrwxrwx 1 root root 15 Dec 10 2021 stdin -> /proc/self/fd/0 lrwxrwxrwx 1 root root 15 Dec 10 2021 stdout -> /proc/self/fd/1 crw------- 1 root root 241, 9 Oct 13 03:38 subsys_a650_zap crw------- 1 root root 241, 2 Dec 10 2021 subsys_adsp crw------- 1 root root 241, 3 Dec 10 2021 subsys_cdsp crw------- 1 root root 241, 6 Dec 10 2021 subsys_cvpss crw------- 1 root root 241, 0 Oct 13 03:38 subsys_ipa_fws crw------- 1 root root 241, 1 Oct 13 03:38 subsys_ipa_uc crw------- 1 root root 241, 10 Dec 10 2021 subsys_npu crw------- 1 root root 241, 8 Dec 10 2021 subsys_slpi crw------- 1 root root 241, 5 Dec 10 2021 subsys_spss crw------- 1 root root 241, 4 Dec 10 2021 subsys_venus crw------- 1 root root 496, 0 Oct 13 03:38 synx_device crw-rw-rw- 1 root tty 5, 0 Oct 13 03:39 tty crw--w---- 1 root tty 4, 0 Oct 13 03:38 tty0 crw--w---- 1 root tty 4, 1 Oct 13 03:38 tty1 crw--w---- 1 root tty 4, 10 Oct 13 03:38 tty10 crw--w---- 1 root tty 4, 11 Oct 13 03:38 tty11 crw--w---- 1 root tty 4, 12 Oct 13 03:38 tty12 crw--w---- 1 root tty 4, 13 Oct 13 03:38 tty13 crw--w---- 1 root tty 4, 14 Oct 13 03:38 tty14 crw--w---- 1 root tty 4, 15 Oct 13 03:38 tty15 crw--w---- 1 root tty 4, 16 Oct 13 03:38 tty16 crw--w---- 1 root tty 4, 17 Oct 13 03:38 tty17 crw--w---- 1 root tty 4, 18 Oct 13 03:38 tty18 crw--w---- 1 root tty 4, 19 Oct 13 03:38 tty19 crw--w---- 1 root tty 4, 2 Oct 13 03:38 tty2 crw--w---- 1 root tty 4, 20 Oct 13 03:38 tty20 crw--w---- 1 root tty 4, 21 Oct 13 03:38 tty21 crw--w---- 1 root tty 4, 22 Oct 13 03:38 tty22 crw--w---- 1 root tty 4, 23 Oct 13 03:38 tty23 crw--w---- 1 root tty 4, 24 Oct 13 03:38 tty24 crw--w---- 1 root tty 4, 25 Oct 13 03:38 tty25 crw--w---- 1 root tty 4, 26 Oct 13 03:38 tty26 crw--w---- 1 root tty 4, 27 Oct 13 03:38 tty27 crw--w---- 1 root tty 4, 28 Oct 13 03:38 tty28 crw--w---- 1 root tty 4, 29 Oct 13 03:38 tty29 crw--w---- 1 root tty 4, 3 Oct 13 03:38 tty3 crw--w---- 1 root tty 4, 30 Oct 13 03:38 tty30 crw--w---- 1 root tty 4, 31 Oct 13 03:38 tty31 crw--w---- 1 root tty 4, 32 Oct 13 03:38 tty32 crw--w---- 1 root tty 4, 33 Oct 13 03:38 tty33 crw--w---- 1 root tty 4, 34 Oct 13 03:38 tty34 crw--w---- 1 root tty 4, 35 Oct 13 03:38 tty35 crw--w---- 1 root tty 4, 36 Oct 13 03:38 tty36 crw--w---- 1 root tty 4, 37 Oct 13 03:38 tty37 crw--w---- 1 root tty 4, 38 Oct 13 03:38 tty38 crw--w---- 1 root tty 4, 39 Oct 13 03:38 tty39 crw--w---- 1 root tty 4, 4 Oct 13 03:38 tty4 crw--w---- 1 root tty 4, 40 Oct 13 03:38 tty40 crw--w---- 1 root tty 4, 41 Oct 13 03:38 tty41 crw--w---- 1 root tty 4, 42 Oct 13 03:38 tty42 crw--w---- 1 root tty 4, 43 Oct 13 03:38 tty43 crw--w---- 1 root tty 4, 44 Oct 13 03:38 tty44 crw--w---- 1 root tty 4, 45 Oct 13 03:38 tty45 crw--w---- 1 root tty 4, 46 Oct 13 03:38 tty46 crw--w---- 1 root tty 4, 47 Oct 13 03:38 tty47 crw--w---- 1 root tty 4, 48 Oct 13 03:38 tty48 crw--w---- 1 root tty 4, 49 Oct 13 03:38 tty49 crw--w---- 1 root tty 4, 5 Oct 13 03:38 tty5 crw--w---- 1 root tty 4, 50 Oct 13 03:38 tty50 crw--w---- 1 root tty 4, 51 Oct 13 03:38 tty51 crw--w---- 1 root tty 4, 52 Oct 13 03:38 tty52 crw--w---- 1 root tty 4, 53 Oct 13 03:38 tty53 crw--w---- 1 root tty 4, 54 Oct 13 03:38 tty54 crw--w---- 1 root tty 4, 55 Oct 13 03:38 tty55 crw--w---- 1 root tty 4, 56 Oct 13 03:38 tty56 crw--w---- 1 root tty 4, 57 Oct 13 03:38 tty57 crw--w---- 1 root tty 4, 58 Oct 13 03:38 tty58 crw--w---- 1 root tty 4, 59 Oct 13 03:38 tty59 crw--w---- 1 root tty 4, 6 Oct 13 03:38 tty6 crw--w---- 1 root tty 4, 60 Oct 13 03:38 tty60 crw--w---- 1 root tty 4, 61 Oct 13 03:38 tty61 crw--w---- 1 root tty 4, 62 Oct 13 03:38 tty62 crw--w---- 1 root tty 4, 63 Oct 13 03:38 tty63 crw--w---- 1 root tty 4, 7 Oct 13 03:38 tty7 crw--w---- 1 root tty 4, 8 Oct 13 03:38 tty8 crw--w---- 1 root tty 4, 9 Oct 13 03:38 tty9 crw-rw---- 1 root dialout 166, 0 Oct 13 03:39 ttyACM0 crw-rw---- 1 root dialout 236, 0 Dec 10 2021 ttyHS0 crw-rw---- 1 root dialout 236, 1 Dec 10 2021 ttyHS1 crw-rw---- 1 root dialout 236, 2 Dec 10 2021 ttyHS2 crw------- 1 root root 10, 239 Oct 13 03:38 uhid crw------- 1 root root 10, 223 Oct 13 03:38 uinput crw-rw-rw- 1 root root 1, 9 Oct 13 03:38 urandom drwxr-xr-x 3 root root 60 Oct 13 03:38 usb-ffs crw------- 1 root root 10, 25 Oct 13 03:38 usf1 crw-rw---- 1 root video 81, 128 Oct 13 03:38 v4l-subdev0 crw-rw---- 1 root video 81, 129 Oct 13 03:38 v4l-subdev1 crw-rw---- 1 root video 81, 138 Oct 13 03:38 v4l-subdev10 crw-rw---- 1 root video 81, 139 Oct 13 03:38 v4l-subdev11 crw-rw---- 1 root video 81, 140 Oct 13 03:38 v4l-subdev12 crw-rw---- 1 root video 81, 141 Oct 13 03:38 v4l-subdev13 crw-rw---- 1 root video 81, 142 Oct 13 03:38 v4l-subdev14 crw-rw---- 1 root video 81, 143 Oct 13 03:38 v4l-subdev15 crw-rw---- 1 root video 81, 144 Oct 13 03:38 v4l-subdev16 crw-rw---- 1 root video 81, 130 Oct 13 03:38 v4l-subdev2 crw-rw---- 1 root video 81, 131 Oct 13 03:38 v4l-subdev3 crw-rw---- 1 root video 81, 132 Oct 13 03:38 v4l-subdev4 crw-rw---- 1 root video 81, 133 Oct 13 03:38 v4l-subdev5 crw-rw---- 1 root video 81, 134 Oct 13 03:38 v4l-subdev6 crw-rw---- 1 root video 81, 135 Oct 13 03:38 v4l-subdev7 crw-rw---- 1 root video 81, 136 Oct 13 03:38 v4l-subdev8 crw-rw---- 1 root video 81, 137 Oct 13 03:38 v4l-subdev9 crw-rw---- 1 root tty 7, 0 Oct 13 03:38 vcs crw-rw---- 1 root tty 7, 1 Oct 13 03:38 vcs1 crw-rw---- 1 root tty 7, 2 Oct 13 03:38 vcs2 crw-rw---- 1 root tty 7, 3 Oct 13 03:38 vcs3 crw-rw---- 1 root tty 7, 4 Oct 13 03:38 vcs4 crw-rw---- 1 root tty 7, 5 Oct 13 03:38 vcs5 crw-rw---- 1 root tty 7, 6 Oct 13 03:38 vcs6 crw-rw---- 1 root tty 7, 128 Oct 13 03:38 vcsa crw-rw---- 1 root tty 7, 129 Oct 13 03:38 vcsa1 crw-rw---- 1 root tty 7, 130 Oct 13 03:38 vcsa2 crw-rw---- 1 root tty 7, 131 Oct 13 03:38 vcsa3 crw-rw---- 1 root tty 7, 132 Oct 13 03:38 vcsa4 crw-rw---- 1 root tty 7, 133 Oct 13 03:38 vcsa5 crw-rw---- 1 root tty 7, 134 Oct 13 03:38 vcsa6 crw-rw---- 1 root tty 7, 64 Oct 13 03:38 vcsu crw-rw---- 1 root tty 7, 65 Oct 13 03:38 vcsu1 crw-rw---- 1 root tty 7, 66 Oct 13 03:38 vcsu2 crw-rw---- 1 root tty 7, 67 Oct 13 03:38 vcsu3 crw-rw---- 1 root tty 7, 68 Oct 13 03:38 vcsu4 crw-rw---- 1 root tty 7, 69 Oct 13 03:38 vcsu5 crw-rw---- 1 root tty 7, 70 Oct 13 03:38 vcsu6 crw------- 1 root root 10, 63 Oct 13 03:38 vga_arbiter crw-rw---- 1 root video 81, 0 Oct 13 03:38 video0 crw-rw---- 1 root video 81, 1 Dec 10 2021 video1 crw-rw---- 1 root video 81, 32 Dec 10 2021 video32 crw-rw---- 1 root video 81, 33 Dec 10 2021 video33 crw------- 1 root root 10, 56 Oct 13 03:38 vndbinder crw------- 1 root root 509, 0 Oct 13 03:38 voxl_b2b crw------- 1 root root 508, 0 Oct 13 03:38 voxl_rc_in crw-rw-rw- 1 root root 1, 5 Oct 13 03:38 zero brw-rw---- 1 root disk 254, 0 Oct 13 03:38 zram0 ``` ## Reply by wilkinsaf · 2022-10-13 17:46:48 UTC I have also tried /dev/ttyACM0 without any luck ## Reply by wilkinsaf · 2022-10-13 19:48:35 UTC Just realized all the things I need to do to modify the ESC can be found here: https://docs.modalai.com/modal-esc-px4-user-guide/#px4-params ## Reply by modaltb (ModalAI staff) · 2022-10-14 00:48:45 UTC Those are some of the PX4 params, but maybe not entirely what you need for flashing/setting ESC FW config. We haven't tried using the python tools on target yet, but what we really need to add this functionality into the PX4 ESC driver... It's on my todo list for sure. There's the python code that can be used to flash/configure the ESC from the USB-to-serial port that can then be connected to the ESC that you mentioned, we need to port the relevant functionality into [this](https://github.com/modalai/px4-firmware/tree/voxl-dev/src/drivers/uart_esc/modalai_esc). Then we could just have the new ESC FW or ESC config on VOXL 2 and have the driver update the ESCs ;) ## Reply by wilkinsaf · 2022-10-14 15:47:22 UTC (in reply to modaltb) @modaltb Thanks for the detailed response. I know you have bigger fish to fry, but was just curious. Also, is it required to run the calibration on the VOXL ESC before installation? I was able to map my motors correctly in PX4, but was unsure how I was going to calculate my max rpm. The only way I figured I could do it was bench testing with full thrust ## Reply by wilkinsaf · 2022-10-14 16:06:08 UTC (in reply to modaltb) @modaltb Also, we bumped our VOXL2 UAV into a desk. We had a VOXL ESC V2 connected to it. Nothing was broken after the bump, but the VOXL ESC V2 won't power on again. It was a pretty light crash. I am wondering if I had set the RPM too high and when it bumped into the desk it overloaded the ESC and it just gave out? Not sure how fragile those boards are, but they are just a circuit board. I have a feeling we did something wrong on our end. Was just wondering if you know of anything off the top of your head ## Reply by modaltb (ModalAI staff) · 2022-10-14 16:31:01 UTC This is a good fish to fry! No calibration needed, for the max RPM, I'm not really a pilot or anything, but I went to the motor data sheet when I was fiddling around with these. On my side, the ESC, upon power up, will always give some indication of life and then will go 'silent' unless it's receiving packets. On bootup, do you get nothing at all (no LEDs or 'sound')? ## Reply by wilkinsaf · 2022-10-14 16:40:44 UTC (in reply to modaltb) @modaltb Yeah no LEDs or sound. Can't arm. I don't have complete access to the wires on this UAV so it could just be a lose wire. I went to the motor data sheet but they didn't seem to run those tests. Just thought I'd ask in case you knew anything off the top of your head. Also, let me double check the px4-voxl service is not exiting early. That might be it ## Reply by wilkinsaf · 2022-10-14 17:04:58 UTC (in reply to wilkinsaf) @wilkinsaf Yeah no leds or noise. Welp, I am going to send this back for hardware inspection. See if a cable is loose. Thanks again @modaltb