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    ERROR: No ESC(s) detected, exiting.

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    • Alex KushleyevA
      Alex Kushleyev ModalAI Team
      last edited by

      You are saying that you are using a PC but the output you posted is from VOXL2. Can you please clarify? If you are using voxl2, did you follow the steps for voxl2 setup including disabling px4 and installing the slpi uart bridge, as documentation requires?

      1 Reply Last reply Reply Quote 0
      • S
        suvasis
        last edited by

        My mistake, i run it from PC again, the com port detected is /dev/ttyUSB0

        is this a firmware issue, "INFO: ESC(s) detected on port: /dev/ttyACM1, baud rate: 250000
        INFO: Detected protocol: firmware
        INFO: Additional Information:
        "
        The output is:

        voxl-esc/tools$ ./voxl-esc-scan.py
        Detected Python version : 3.8.10 (default, Nov 14 2022, 12:59:47)
        [GCC 9.4.0]
        Found voxl-esc tools bin version: 1.1
        INFO: All COM ports:
        /dev/ttyUSB0 : FT232R USB UART - FT232R USB UART
        INFO: UART Port Candidates:
        /dev/ttyUSB0
        INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 250000
        INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 921600
        INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 230400
        INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 57600
        INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 115200
        INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 2000000
        INFO: Scanning for ESC bootloader: /dev/ttyUSB0, baud: 38400
        INFO: Scanning for ESC bootloader: /dev/ttyUSB0, baud: 230400
        ERROR: No ESC(s) detected, exiting.

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

          Make sure your USB adapter TX goes into esc RX and vice versa. Also please use 3.3V usb to uart adapter signal levels.

          The esc needs to be powered on. Does the esc make a sound with motors when you apply power to it?

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          • S
            suvasis
            last edited by

            Make sure your USB adapter TX goes into esc RX and vice >>versa.
            I will recheck.

            Also please use 3.3V usb to uart adapter signal levels.
            I will recheck.

            The esc needs to be powered on. Does the esc make a sound >>with motors when you apply power to it?

            When I powered on the ESC, it made sound the very first time and the blue light turned on briefly and thereafter I don't see any blue light in the ESC.

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            • Alex KushleyevA
              Alex Kushleyev ModalAI Team
              last edited by

              The power on behavior is correct - a short beep and blue led flash, then off.

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              • S
                suvasis
                last edited by

                Thanks Alex,

                The wiring was an issue, now basic is working now:

                voxl-esc/tools$ ./voxl-esc-scan.py
                Detected Python version : 3.8.10 (default, Nov 14 2022, 12:59:47)
                [GCC 9.4.0]
                Found voxl-esc tools bin version: 1.1
                INFO: All COM ports:
                /dev/ttyUSB0 : FT232R USB UART - FT232R USB UART
                INFO: UART Port Candidates:
                /dev/ttyUSB0
                INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 250000
                INFO: ESC(s) detected on port: /dev/ttyUSB0, baud rate: 250000
                INFO: Detected protocol: firmware
                INFO: Additional Information:
                INFO: ---------------------
                ID : 0
                Board : version 34: ModalAi 4-in-1 ESC V2 RevC (M0117)
                UID : 0x203034305743570C00360052
                Firmware : version 36, hash f75f1fdb
                Bootloader : version 183, hash 25317f42

                ID         : 1
Board      : version 34: ModalAi 4-in-1 ESC V2 RevC (M0117)
UID        : 0x203034305743570C0036004C
Firmware   : version   36, hash f75f1fdb
Bootloader : version  183, hash 25317f42

ID         : 2
Board      : version 34: ModalAi 4-in-1 ESC V2 RevC (M0117)
UID        : 0x203034305743570C0036004B
Firmware   : version   36, hash f75f1fdb
Bootloader : version  183, hash 25317f42

ID         : 3
Board      : version 34: ModalAi 4-in-1 ESC V2 RevC (M0117)
UID        : 0x203034305743570C0042001C
Firmware   : version   36, hash f75f1fdb
Bootloader : version  183, hash 25317f42
                1 Reply Last reply Reply Quote 0
                • S
                  suvasis
                  last edited by

                  hi Alex,

                  I have wired wrongly some of the drone motors to esc. Do you sell individual cable connector?

                  I am new to soldering and don't want to re-solder the esc.

                  thanks.
                  suvasis

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                  • Alex KushleyevA
                    Alex Kushleyev ModalAI Team
                    last edited by

                    It is great to hear that you got it working!

                    Regarding motor wiring.. Are you saying that some motors are spinning in wrong direction? If so, you can use PX4 params to reverse the motor directions. Also, when using voxl-esc tools for testing, some scripts (but maybe not all) support commanding negative power and rpm, which will cause the motor to spin in opposite direction (specifically, voxl-esc-spin.py supports negative power and rpm commands).

                    Regarding soldering, I would encourage you to practice soldering on some other boards that are "junk", so you can gain some experience with soldering. This will help you make sure that the motor connections that you already made are good! Sometimes bad solder joint can result in failure to spin motor or can come loose in flight.

                    The motors are typically soldered to the ESC directly in order to avoid another connection (potential point of failure) between the motor and ESC..

                    1 Reply Last reply Reply Quote 0
                    • S
                      suvasis
                      last edited by

                      hi Alex,

                      I run tests on motors, I see the following result:

                      What does "RPM COMPARISON TEST FAILED" this mean?

                      command:
                      voxl-esc/tools$ python voxl-esc-spin.py --device /dev/ttyUSB0 --baud-rate 250000 --id 3 --power 15 --timeout 300

                      //result snippet:

                      [299.950] (3) RPM: 1828, PWR: 15, VBAT: 12.19V, TEMPERATURE: 36.48C, CURRENT: 0.11A
                      [299.960] (3) RPM: 1828, PWR: 15, VBAT: 12.18V, TEMPERATURE: 36.50C, CURRENT: 0.14A
                      [299.970] (3) RPM: 1828, PWR: 15, VBAT: 12.18V, TEMPERATURE: 36.50C, CURRENT: 0.14A
                      [299.980] (3) RPM: 1830, PWR: 15, VBAT: 12.18V, TEMPERATURE: 36.52C, CURRENT: 0.10A
                      [299.990] (3) RPM: 1830, PWR: 15, VBAT: 12.18V, TEMPERATURE: 36.52C, CURRENT: 0.11A
                      Finished!
                      [1678327467.651517] TX=30008, RX=30007 packets, RX CRC ERRORS=0
                      Average RPMs: 0.00 0.00 0.00 1829.42
                      Average RPM deviation between ESCs : 1829.42
                      RPM COMPARISON TEST FAILED

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

                        Actually you can ignore this. At the end of the test, the script compares the average rpms between 4 motors and reports if they are close to the same or not. In your case,
                        You only spun one motor. I will fix this in the script, but please ignore it for now.

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                        • S
                          suvasis
                          last edited by

                          hi Alex,

                          Thanks. I see it "RPM_COMPARISON TEST PASSED":

                          command:
                          voxl-esc/tools$ python voxl-esc-spin.py --id 255 --rpm 2000 --timeout 30

                          result snippet:
                          [29.991] (2) RPM: 2006, PWR: 16, VBAT: 12.15V, TEMPERATURE: 37.05C, CURRENT: 0.09A
                          [29.991] (3) RPM: 1989, PWR: 16, VBAT: 12.15V, TEMPERATURE: 37.05C, CURRENT: 0.14A
                          Finished!
                          [1678328032.787829] TX=3008, RX=2999 packets, RX CRC ERRORS=1
                          Average RPMs: 1996.62 2000.80 2003.73 1993.21
                          Average RPM deviation between ESCs : 10.52
                          RPM_COMPARISON TEST PASSED

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                          • S
                            suvasis
                            last edited by

                            hi Alex,

                            There is no documentation on which cable from motor go esc. Does it matter?

                            Thanks.
                            suvasis

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

                              For all 3-phase BLDC motors, the following rule applies: if you switch the order of any two (out of three) wires, the direction is reversed.

                              With that in mind, the ModalAI ESC has a parameter how to control the direction of motor based on the ID (0-3).

                              https://gitlab.com/voxl-public/flight-core-px4/voxl-esc/-/blob/dev-python3/params/old/esc_params_modalai_4_in_1_revb.xml#L40

                              In this example, the value 2 means ID-based, this means:
                              ID0 = normal direction
                              ID1 = reversed direction
                              ID2 = normal direction
                              ID3 = reversed direction

                              This is convenient so that if you solder the wires the same way to the ESC, the ESC will alternate directions, since in a Quadrotor, the motor direction alternates as you go around from ID 0 to 3.

                              If you want all four IDs to spin in the same direction (and you switch wires yourself to alternate directions), then you can set the dir parameter to 0 or 1.

                              However, please note that an ESC cannot know the true spin direction, as the three phases are (almost) identical.

                              S 1 Reply Last reply Reply Quote 0
                              • S
                                suvasis @Alex Kushleyev
                                last edited by

                                @Alex-Kushleyev

                                hi Alex,

                                I connected the esc after testing from PC.

                                But when I connect the esc to the vox2 using cable MCBL-00029-1.

                                and followed the document: https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/tree/dev-python3/voxl-esc-tools

                                "Installation Instructions for VOXL2"

                                I get the following message:

                                voxl2:~/voxl-esc/tools(dev-python3)$ python voxl-esc-upload-params.py --params-file ../params/RB5_Flight_V1/esc_params_modalai_4_in_1_revb_holybro2216_880_third_kp.xml
                                Detected Python version : 3.8.16 (default, Mar 7 2023, 22:05:32)
                                [GCC 7.5.0]
                                Found voxl-esc tools bin version: 1.1

                                INFO: Params file name : ../params/RB5_Flight_V1/esc_params_modalai_4_in_1_revb_holybro2216_880_third_kp.xml
                                INFO: Params file size : 6912 bytes

                                VOXL Platform: M0054
                                Detected VOXL2 M0054 or M0104!
                                INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 250000
                                Received standard error event 2
                                Couldn't configure flight_controller sensor
                                Error calling voxl_uart_init
                                INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 921600
                                Received standard error event 2
                                Couldn't configure flight_controller sensor
                                Error calling voxl_uart_init
                                INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 230400
                                Received standard error event 2
                                Couldn't configure flight_controller sensor
                                Error calling voxl_uart_init
                                INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 57600
                                Received standard error event 2
                                Couldn't configure flight_controller sensor
                                Error calling voxl_uart_init
                                INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 115200
                                Received standard error event 2
                                Couldn't configure flight_controller sensor
                                Error calling voxl_uart_init
                                INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 2000000
                                Received standard error event 2
                                Couldn't configure flight_controller sensor
                                Error calling voxl_uart_init
                                INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 38400
                                Received standard error event 2
                                Couldn't configure flight_controller sensor
                                Error calling voxl_uart_init
                                Received standard error event 2
                                Couldn't configure flight_controller sensor
                                Error calling voxl_uart_init
                                Updated baud rate to 38400
                                Segmentation fault
                                voxl2:~/voxl-esc/tools(dev-python3)$ ^C

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

                                  Hi @suvasis , please double check that you followed the instructions here : https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/tree/dev-python3/voxl-esc-tools#installation-instructions-for-voxl2 , most importantly including:

                                  • disabling px4 using systemctl
                                  • creating a symlink for the slpi uart bridge
                                  • restarting the board
                                  1 Reply Last reply Reply Quote 0
                                  • S
                                    suvasis
                                    last edited by

                                    Thanks. Alex,

                                    I followed the document:

                                    Installation Instructions for VOXL2

                                    #stop and disable PX4 while using voxl-esc tools
                                    systemctl stop voxl-px4 && systemctl disable voxl-px4

                                    #temporarily move libpx4.so and create symlink for slpi bridge to libpx4.so
                                    #this is required because currently the slpi application loader looks for libpx4.so (hardcoded)
                                    cd /usr/lib/rfsa/adsp
                                    mv libpx4.so libpx4.so.bak
                                    ln -s ./libslpi_uart_bridge_slpi.so ./libpx4.so

                                    #reboot VOXL2
                                    reboot

                                    Looks now it works after I re-did the steps:

                                    result:

                                    voxl2:~$
                                    voxl2:~$ cd /usr/lib/rfsa/adsp
                                    voxl2:/usr/lib/rfsa/adsp$ ls -l libpx4.so
                                    lrwxrwxrwx 1 root root 29 Mar 16 17:41 libpx4.so -> ./libslpi_uart_bridge_slpi.so
                                    voxl2:/usr/lib/rfsa/adsp$ cd
                                    voxl2:~$ pwd
                                    /home/root
                                    voxl2:~$ cd voxl-esc/tools/
                                    voxl2:~/voxl-esc/tools(dev-python3)$ ./voxl-esc-scan.py
                                    Detected Python version : 3.6.9 (default, Jun 29 2022, 11:45:57)
                                    [GCC 8.4.0]
                                    Found voxl-esc tools bin version: 1.1
                                    VOXL Platform: M0054
                                    Detected VOXL2 M0054 or M0104!
                                    INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 250000
                                    INFO: ESC(s) detected on port: /dev/slpi-uart-2, baud rate: 250000
                                    INFO: Detected protocol: firmware
                                    INFO: Additional Information:
                                    INFO: ---------------------
                                    ID : 0
                                    Board : version 34: ModalAi 4-in-1 ESC V2 RevC (M0117)
                                    UID : 0x203034305743570C00360052
                                    Firmware : version 36, hash f75f1fdb
                                    Bootloader : version 183, hash 25317f42

                                    ID         : 1
Board      : version 34: ModalAi 4-in-1 ESC V2 RevC (M0117)
UID        : 0x203034305743570C0036004C
Firmware   : version   36, hash f75f1fdb
Bootloader : version  183, hash 25317f42

ID         : 2
Board      : version 34: ModalAi 4-in-1 ESC V2 RevC (M0117)
UID        : 0x203034305743570C0036004B
Firmware   : version   36, hash f75f1fdb
Bootloader : version  183, hash 25317f42

ID         : 3
Board      : version 34: ModalAi 4-in-1 ESC V2 RevC (M0117)
UID        : 0x203034305743570C0042001C
Firmware   : version   36, hash f75f1fdb
Bootloader : version  183, hash 25317f42

                                    voxl2:~/voxl-esc/tools(dev-python3)$

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                                    • S
                                      suvasis
                                      last edited by

                                      hi Alex,

                                      I have 2 questions:

                                      1. After the tests are performed:

                                      #test voxl-esc tools
                                      cd /home/root/voxl-esc/tools
                                      ./voxl-esc-scan.py

                                      #perform ESC testing / calibration
                                      #...

                                      What does this do?

                                      #when done, restore original libpx4.so
                                      cd /usr/lib/rfsa/adsp
                                      rm libpx4.so
                                      cp libpx4.so.bak libpx4.so
                                      systemctl enable voxl-px4
                                      reboot

                                      1. While Uploading Parameters:

                                      I don't see any parameters file "params/esc_params_modalai_4_in_1.xml" per se

                                      python voxl-esc-upload-params.py --params-file ../params/esc_params_modalai_4_in_1.xml

                                      Thanks.
                                      suvasis

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                                      • Alex KushleyevA
                                        Alex Kushleyev ModalAI Team
                                        last edited by

                                        hi @suvasis

                                        #test voxl-esc tools
cd /home/root/voxl-esc/tools
./voxl-esc-scan.py

#perform ESC testing / calibration
#...

                                        this was just a place holder for any testing you want to do with the voxl-esc tools.

                                        #when done, restore original libpx4.so
cd /usr/lib/rfsa/adsp
rm libpx4.so
cp libpx4.so.bak libpx4.so
systemctl enable voxl-px4
reboot

                                        This part restores the PX4 functionality, because in order to use voxl-esc tools on VOXL2, the instructions told you to disable PX4 while using voxl-esc tools. Soon we will not require disabling PX4 to use voxl-esc tools, but currently you have to do it.

                                        1. Please note that we just made some updated to the voxl-esc tools and directory structure has slightly changed. Also, you no longer have to download the binary tools package and add it to the voxl-esc/tools directory. Please see an example params file here : https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/blob/dev/voxl-esc-params/old/esc_params_modalai_4_in_1_revb.xml
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