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    ERROR: No ESC(s) detected, exiting.

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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.

              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
                        1 Reply Last reply Reply Quote 0
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