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    ERROR: No ESC(s) detected, exiting.

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    • 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..

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                • 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.

                    1 Reply Last reply Reply Quote 0
                    • 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

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                        • 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.

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                          • 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

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                            • 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

                                  1 Reply Last reply Reply Quote 0
                                  • 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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