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    ERROR: No ESC(s) detected, exiting.

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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.

      1 Reply Last reply Reply Quote 0
      • 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

          1 Reply Last reply Reply Quote 0
          • 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

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              • 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

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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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