ESC feedback

[Moderator]

Question from customer - the modalai esc is working fine when commanded, but the RPM and voltage feedback is not available. I have attached a screenshot of the modalai_esc status which shows the feedback isn't coming in. I checked the connections, they seem fine.

[modaltb]

Hello, thanks for reporting. Good news is we already have a fix in for via this commit:
https://github.com/modalai/px4-firmware/commit/577fec3b9a843b709086fc07b913b2c194367e10

It's slated to release in our next platform release (platform release 0.9), I can't mention the release date, as the release gods will then delay it... but we are getting close!!!!!

There are pre-release channels available for developers, captured here: https://docs.modalai.com/configure-pkg-manager/#dev

[vivek rk]

Hey, thanks for that. I was able to pull the voxl-dev branch and got it working on the VOXL2, I can see the feedback of the RPM on the mavlink topic SERVO_OUTPUT_RAW. But the frequency is at 10Hz.
When I try to use the following command

mavlink stream -u "port_number" -s SERVO_OUTPUT_RAW -r 100

I get an error stream SERVO_OUTPUT_RAW not found

From the uart_esc code in px4-firmware I see that the uorb topic thats being used for RPM information is ESC_STATUS. And doing the following commands yields no result. The frequency is still 10Hz

mavlink stream -u "port_number" -s ESC_STATUS -r 100

mavlink stream -u "port_number" -s ESC_INFO -r 100

Is there anything I can do to increase the frequency of the message ?

[modaltb]

Sorry for the lag, what if you use px4-listener esc_status ?

If it's showing up there, likely we need to modify something to get this offboard....

[vivek rk]

So when i try px4-listener it says command not found.

The command that works is
listener esc_status
This produces the following resutls
never published

But after some investigation, the uorb topic with the rpm information is
actuator_outputs

I can read the output

This topic is being published at 500Hz

I tried to increase the rate of the following mavlink topics

mavlink stream -u 15446 -s actuator_output -r 100
mavlink stream -u 15446 -s ACTUATOR_OUTPUT -r 100
mavlink stream -u 15446 -s actuator_outputs -r 100
mavlink stream -u 15446 -s ACTUATOR_OUTPUTS -r 100

Which results in the following error message
ERROR [mavlink] stream ACTUATOR_OUTPUTS not found (same for all other)

[vivek rk]

Fixed the problem, the mavlink stream name is SERVO_OUTPUT_RAW_0.

changing that to 200Hz gives us the RPM feedback at 200Hz on mavros