VOXL 2 No ESC(s) detected
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Hi @Taylor-Presley ,
Confirming you are using J18 as the UART port to the ESC, and that the ESC has VBatt power (e.g. when you apply power you get an LED blink at least).
Do you have access to an oscilloscope to probe? That's my next step with comms issues, I'll try to just probe the UART and make sure there's traffic.
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@modaltb confirmed I'm using J18 and the ESC has power (I get an LED blink and quick chirp on connection). I've got a borrowed oscilloscope and confirmed there is traffic on the ESC. I also tried switching TX/RX on the cabling and this didn't help. I've also now installed voxl-esc per this discussion now and still get the following:
voxl2:/$ voxl-esc scan enabling bridge bridge enabled Detected Python version : 3.6.9 (default, Mar 10 2023, 16:46:00) [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: 2000000 INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 250000 INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 921600 INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 230400 INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 57600 INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 115200 INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 38400 Updated baud rate to 38400 INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 230400 Updated baud rate to 230400 ERROR: No ESC(s) detected, exiting. FAILED to ping ESCs disabling bridge bridge disabledWhat would you recommend for next step?
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What if we remove VOXL2 from the equation real quick, and try to go host PC to the ESC? This would be my next step, and we use little USB to Serial adapters for this, e.g. this dongle.
We have a guide here and this would reduce a variable for us.... I'm semi scratching my head at this point.
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Hi @Taylor-Presley
Make sure if you get that dongle modaltb suggested, you set the interface voltage to 3.3V. -
@modaltb @Vinny I'm using an Adafruit USB to TTL cable that I had around. Only gnd, tx, and rx are connected, and the ESC is powered by the power supply. It had the same issue.
mdr@mdr-System-Product-Name:~/voxl-esc-dev-python27/tools$ python voxl-esc-scan.py INFO: Device and baud rate are not provided, attempting to autodetect.. Scanning for ESC firmware: /dev/ttyUSB0, baud: 250000 Scanning for ESC firmware: /dev/ttyUSB0, baud: 2000000 Scanning for ESC firmware: /dev/ttyUSB0, baud: 921600 Scanning for ESC firmware: /dev/ttyUSB0, baud: 57600 Scanning for ESC firmware: /dev/ttyUSB0, baud: 115200 Scanning for ESC firmware: /dev/ttyUSB0, baud: 230400 Scanning for ESC bootloader: /dev/ttyUSB0, baud: 38400 Scanning for ESC bootloader: /dev/ttyUSB0, baud: 230400 Scanning for ESC bootloader: /dev/ttyUSB0, baud: 921600 ERROR: No ESC(s) detected, exiting.I can order the other dongle, but I'm measuring traffic on Tx and Rx. Thoughts?
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Can you check using two scope probes that there is a tx packet into ESC and a reply from ESC immediately after? Also check the signal levels - both should be at 3.3V. Tx and Rx could be shorted, appearing that there is rx and tx traffic. Can also measure resistance between tx and rx lines.
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@Alex-Kushleyev @Vinny @modaltb It has taken a while for me to run this to ground, but I have an update. It does look like there is a tx packet into ESC and a reply when I run the script, and from what I can tell they are simultaneous. Both are at 3.3V and measuring resistance between the lines is ~40-50 kilohms.
I've ordered another ESC and will perform the same tests to see if I can get a successful scan on it. Thanks for the help so far!
Taylor
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Hi @Taylor-Presley give me a holler if after you get the new setup you still have problems and I can get on the phone with you and try to troubleshoot!
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@Taylor-Presley , just to clarify, when you checked TX and RX on the scope, you should have seen first TX data coming from VOXL2 to ESC and then almost immediately ESC responding, right? (not RX and TX showing data at the same time)
If that is true, then the ESC seems to be working fine (at least in terms of UART communication) and there may be an issue that is outside of the ESC. Considering that you tried running voxl-esc tools on VOXL2 and on a PC, I am a bit puzzled.
Just to be absolutely sure, can you please run the
voxl-esctools from master branch, not the python27 branch. The python27 branch should still work but we are no longer testing it. the latest and greatest is in the master branch.Thank you!
Alex
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Hello @Taylor-Presley , were you able to resolve your issue? I am curious what it was or you still need some help. Thanks!
Alex
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@Alex-Kushleyev we were able to run voxl-esc tools but could only spin up 3 motors. The new ESC that you sent us works now and I'm able to spin all the motors. I wasn't able really to trace a root cause, but I'm just happy that it's working now. Thanks for all the help so far!
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I have the same issue, should I order a new esc? When I run the voxl-esc scan on the voxl2, it is trying to find esc under /dev/slpi-uart-2, which I went and checked under /dev/, and there is such port shown up.
The ESC does boot up with the sound, but I think the serial port maybe damaged.
Scan Report:
voxl-esc Starting Wizard What do you want to do? 1) scan 3) spin 5) upload_params 2) detect 4) upgrade_firmware #? 1 enabling bridge bridge enabled Detected Python version : 3.6.9 (default, Mar 10 2023, 16:46:00) [GCC 8.4.0] Found voxl-esc tools bin version: 1.2 VOXL Platform: M0054 Detected VOXL2 M0054 or M0104! Found previous connection information in .voxl_esc_cache .. Prioritizing /dev/slpi-uart-2 @ 57600 INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 57600 Sending library name request: libslpi_uart_bridge_slpi.so Received standard error event 2 Sending initialization request 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 Sending library name request: libslpi_uart_bridge_slpi.so Received standard error event 2 Sending initialization request 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: 250000 Sending library name request: libslpi_uart_bridge_slpi.so Received standard error event 2 Sending initialization request 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 Sending library name request: libslpi_uart_bridge_slpi.so Received standard error event 2 Sending initialization request 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 Sending library name request: libslpi_uart_bridge_slpi.so Received standard error event 2 Sending initialization request 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 Sending library name request: libslpi_uart_bridge_slpi.so Received standard error event 2 Sending initialization request 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 Sending library name request: libslpi_uart_bridge_slpi.so Received standard error event 2 Sending initialization request Received standard error event 2 Couldn't configure flight_controller sensor Error calling voxl_uart_init Sending library name request: libslpi_uart_bridge_slpi.so Received standard error event 2 Sending initialization request Received standard error event 2 Couldn't configure flight_controller sensor Error calling voxl_uart_init Updated baud rate to 38400 /usr/bin/voxl-esc: line 131: 8107 Segmentation fault python3 voxl-esc-scan.py FAILED to ping ESCs disabling bridge bridge disabled DONEls /dev/slpi-uart-* ls: cannot access '/dev/slpi-uart-*': No such file or directory -
@Cai-Bill, you are using very old voxl-esc tools. Please upgrade your SDK to at least 1.1.3 or 1.2, preferably latest 1.3.
Then perform a scan and you should be able to detect the esc. Alternatively, you could connect your esc to a PC if you have the right uart to usb adapter and run the voxl-esc tools on the linux pc.
The device for uart is not a typical linux device, it wont show up under /dev.
Alex
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@Alex-Kushleyev
I have upgrade the SDK1.3 and got the following error for esc:voxl2:/$ voxl-esc setup_sentinel_v1 enabling bridge bridge enabled [INFO] Setting CPU to performance mode [INFO] Scanning for ESC... terminate called after throwing an instance of 'qmi_error' what(): qmi_client_send_msg_sync() failed, (client_id=)0, result=0: qmi service error (-2) [ERROR] Unknown board detected: disabling bridge bridge disabled EXITING VOXL-ESC WITH ERRORAny clue on what may be the case?
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After reboot
I got the following error:Received standard error event SNS_STD_ERROR_NOT_SUPPORTED Connection error: connection reset Couldn't configure flight_controller sensor ERROR: fc_sensor_initialize failed ERROR: Failed to initialize slpi ERROR: Encountered error while initializing bus 12 ERROR: voxl_uart_flush: Bus '12' is not initialized ERROR: voxl_uart_write: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_write: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_write: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_write: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_write: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_write: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_write: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_write: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_read_bytes: Bus '12' is not initialized ERROR: voxl_uart_flush: Bus '12' is not initialized ERROR: voxl_uart_close: Bus '12' is not initialized -
After a third Reboot and and run the tool again I have the esc working:
voxl-esc setup_sentinel_v1 enabling bridge bridge enabled [INFO] Setting CPU to performance mode [INFO] Scanning for ESC... [INFO] M0117-1 detected [INFO] has for most recent firmware: eb6fb500 [INFO] Expected ESC firmware info: Firmware: modalai_esc_firmware_m0117_1_v0_39_RC10_eb6fb500.bin Firmware hash: eb6fb500 [INFO] Number of ESCs with correct FW: 0 [INFO] 0 of the ESCs do not have the current firmware [INFO] Uploading current ESC firmware... Detected Python version : 3.6.9 (default, Mar 10 2023, 16:46:00) [GCC 8.4.0] Found voxl-esc tools bin version: 1.6 INFO: Firmware file name : firmware/modalai_esc_firmware_m0117_1_v0_39_RC10_eb6fb500.bin INFO: Firmware file size : 23088 bytes VOXL Platform: M0054 Detected RB5 Flight, VOXL2 M0054 or M0104! INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 2000000 Sending library name request: libslpi_qrb5165_io.so Sending initialization request INFO: ESC(s) detected on port: /dev/slpi-uart-2, baud rate: 2000000 INFO: ESC(s) detected: [0, 1, 2, 3] INFO: Sending reset command to ESC ID 0 Updated baud rate to 230400 INFO: Installing firmware to ESC ID 0 : firmware/modalai_esc_firmware_m0117_1_v0_39_RC10_eb6fb500.bin Progress: 100% [##################################################] INFO: Firmware successfully updated for ESC id 0 Detected Python version : 3.6.9 (default, Mar 10 2023, 16:46:00) [GCC 8.4.0] Found voxl-esc tools bin version: 1.6 INFO: Firmware file name : firmware/modalai_esc_firmware_m0117_1_v0_39_RC10_eb6fb500.bin INFO: Firmware file size : 23088 bytes VOXL Platform: M0054 Detected RB5 Flight, VOXL2 M0054 or M0104! INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 2000000 Sending library name request: libslpi_qrb5165_io.so Sending initialization request INFO: ESC(s) detected on port: /dev/slpi-uart-2, baud rate: 2000000 INFO: ESC(s) detected: [1, 2, 3] INFO: Sending reset command to ESC ID 1 Updated baud rate to 230400 INFO: Installing firmware to ESC ID 1 : firmware/modalai_esc_firmware_m0117_1_v0_39_RC10_eb6fb500.bin Progress: 100% [##################################################] INFO: Firmware successfully updated for ESC id 1 Detected Python version : 3.6.9 (default, Mar 10 2023, 16:46:00) [GCC 8.4.0] Found voxl-esc tools bin version: 1.6 INFO: Firmware file name : firmware/modalai_esc_firmware_m0117_1_v0_39_RC10_eb6fb500.bin INFO: Firmware file size : 23088 bytes VOXL Platform: M0054 Detected RB5 Flight, VOXL2 M0054 or M0104! INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 2000000 Sending library name request: libslpi_qrb5165_io.so Sending initialization request INFO: ESC(s) detected on port: /dev/slpi-uart-2, baud rate: 2000000 INFO: ESC(s) detected: [0, 2, 3] INFO: Sending reset command to ESC ID 2 Updated baud rate to 230400 INFO: Installing firmware to ESC ID 2 : firmware/modalai_esc_firmware_m0117_1_v0_39_RC10_eb6fb500.bin Progress: 100% [##################################################] INFO: Firmware successfully updated for ESC id 2 Detected Python version : 3.6.9 (default, Mar 10 2023, 16:46:00) [GCC 8.4.0] Found voxl-esc tools bin version: 1.6 INFO: Firmware file name : firmware/modalai_esc_firmware_m0117_1_v0_39_RC10_eb6fb500.bin INFO: Firmware file size : 23088 bytes VOXL Platform: M0054 Detected RB5 Flight, VOXL2 M0054 or M0104! INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 2000000 Sending library name request: libslpi_qrb5165_io.so Sending initialization request INFO: ESC(s) detected on port: /dev/slpi-uart-2, baud rate: 2000000 INFO: ESC(s) detected: [0, 1, 3] INFO: Sending reset command to ESC ID 3 Updated baud rate to 230400 INFO: Installing firmware to ESC ID 3 : firmware/modalai_esc_firmware_m0117_1_v0_39_RC10_eb6fb500.bin Progress: 100% [##################################################] INFO: Firmware successfully updated for ESC id 3 [INFO] Verifying firmware upload was succecssful... successfully flashed firmware to all 4 escs uploading params file ../voxl-esc-params/Sentinel_V1/Sentinel_V1.xml Detected Python version : 3.6.9 (default, Mar 10 2023, 16:46:00) [GCC 8.4.0] Found voxl-esc tools bin version: 1.6 VOXL Platform: M0054 Detected RB5 Flight, VOXL2 M0054 or M0104! INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 2000000 Sending library name request: libslpi_qrb5165_io.so Sending initialization request INFO: ESC(s) detected on port: /dev/slpi-uart-2, baud rate: 2000000, protocol: firmware INFO: ESC Information: INFO: --------------------- ID : 0 Board : version 34: ModalAi 4-in-1 ESC (M0117-1) UID : 0x203034305743570C00290031 Firmware : version 39, hash eb6fb500 Bootloader : version 183, hash 25317f42 ID : 1 Board : version 34: ModalAi 4-in-1 ESC (M0117-1) UID : 0x203034305743570C00290041 Firmware : version 39, hash eb6fb500 Bootloader : version 183, hash 25317f42 ID : 2 Board : version 34: ModalAi 4-in-1 ESC (M0117-1) UID : 0x203034305743570C0029003E Firmware : version 39, hash eb6fb500 Bootloader : version 183, hash 25317f42 ID : 3 Board : version 34: ModalAi 4-in-1 ESC (M0117-1) UID : 0x203034305743570C0029002E Firmware : version 39, hash eb6fb500 Bootloader : version 183, hash 25317f42 --------------------- successfully pinged ESCs Detected Python version : 3.6.9 (default, Mar 10 2023, 16:46:00) [GCC 8.4.0] Found voxl-esc tools bin version: 1.6 INFO: Params file name : ../voxl-esc-params/Sentinel_V1/Sentinel_V1.xml INFO: Params file size : 7561 bytes VOXL Platform: M0054 Detected RB5 Flight, VOXL2 M0054 or M0104! INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 2000000 Sending library name request: libslpi_qrb5165_io.so Sending initialization request INFO: ESC(s) detected on port: /dev/slpi-uart-2, baud rate: 2000000 INFO: ESCs detected: INFO: --------------------- ID: 0, SW: 39, HW: 34: ModalAi 4-in-1 ESC (M0117-1) ID: 1, SW: 39, HW: 34: ModalAi 4-in-1 ESC (M0117-1) ID: 2, SW: 39, HW: 34: ModalAi 4-in-1 ESC (M0117-1) ID: 3, SW: 39, HW: 34: ModalAi 4-in-1 ESC (M0117-1) --------------------- INFO: Loading XML config file... INFO: Uploading params for ESC ID 255... -- board config -- id config -- uart config -- tune config DONE INFO: Resetting ESCs... DONE WARNING: Received 12 bytes of data from SLPI while SLPI uart not in use (topic uart_data) disabling bridge bridge disabledStill have no idea why the first two time failed, I did apt update and upgrade between every reboot and I also give chmod 755 to /data/, maybe that helped?
-
@Cai-Bill When you upgraded to SDK 1.3 did you download the full SDK and use
./install.shor did you just runapt update && apt upgrade? -
@tom I used ./install.sh
-
@Cai-Bill , I am not exactly sure why there was the issue during the firmware upgrade, but looks like you made it through, and is the ESC working properly now with PX4?
Alex
-
@Alex-Kushleyev
Yes it does now, thanks for the help.I'm currently trying to get postion fly mode to work, I check all the calibration, they are there, and the VIO output and IMU output looks fine. But when I go to qground control, I can't arm the drone with position mode. It give
MAV_CMD_COMPONENT_ARM_DISARM command temporarily rejeceted,I test the esc works and I can fly the drone with Manuel mode, but can't switch into position mode and there is no error logged. The drone is on battery and not connect to USB.
I will put my px4 params here:
# Onboard parameters for Vehicle 1 # # Stack: PX4 Pro # Vehicle: Multi-Rotor # Version: 1.14.0 dev # Git Revision: 636ffefcb102004d # # Vehicle-Id Component-Id Name Value Type 1 1 ASPD_SCALE_1 1.000000000000000000 9 1 1 BAT1_CAPACITY 4700.000000000000000000 9 1 1 BAT1_N_CELLS 3 6 1 1 BAT1_R_INTERNAL 0.003000000026077032 9 1 1 BAT1_SOURCE 0 6 1 1 BAT1_V_CHARGED 4.150000095367431641 9 1 1 BAT1_V_EMPTY 3.500000000000000000 9 1 1 BAT1_V_LOAD_DROP 0.100000001490116119 9 1 1 BAT_AVRG_CURRENT 15.000000000000000000 9 1 1 BAT_CRIT_THR 0.100000001490116119 9 1 1 BAT_EMERGEN_THR 0.050000000745058060 9 1 1 BAT_LOW_THR 0.150000005960464478 9 1 1 BAT_N_CELLS 3 6 1 1 BAT_V_CHARGED 4.050000190734863281 9 1 1 BAT_V_EMPTY 3.599999904632568359 9 1 1 BAT_V_LOAD_DROP 0.300000011920928955 9 1 1 CAL_ACC0_ID 2490378 6 1 1 CAL_ACC0_PRIO 50 6 1 1 CAL_ACC0_ROT -1 6 1 1 CAL_ACC0_XOFF 0.013878345489501953 9 1 1 CAL_ACC0_XSCALE 1.003414273262023926 9 1 1 CAL_ACC0_YOFF 0.009169578552246094 9 1 1 CAL_ACC0_YSCALE 1.002086520195007324 9 1 1 CAL_ACC0_ZOFF -0.086218357086181641 9 1 1 CAL_ACC0_ZSCALE 1.002695202827453613 9 1 1 CAL_ACC1_ID 0 6 1 1 CAL_ACC2_ID 0 6 1 1 CAL_ACC3_ID 0 6 1 1 CAL_AIR_CMODEL 0 6 1 1 CAL_AIR_TUBED_MM 1.500000000000000000 9 1 1 CAL_AIR_TUBELEN 0.200000002980232239 9 1 1 CAL_BARO0_ID 0 6 1 1 CAL_BARO1_ID 0 6 1 1 CAL_BARO2_ID 0 6 1 1 CAL_BARO3_ID 0 6 1 1 CAL_GYRO0_ID 2490378 6 1 1 CAL_GYRO0_PRIO 50 6 1 1 CAL_GYRO0_ROT -1 6 1 1 CAL_GYRO0_XOFF 0.017300000414252281 9 1 1 CAL_GYRO0_YOFF 0.013100000098347664 9 1 1 CAL_GYRO0_ZOFF -0.029300000518560410 9 1 1 CAL_GYRO1_ID 0 6 1 1 CAL_GYRO2_ID 0 6 1 1 CAL_GYRO3_ID 0 6 1 1 CAL_MAG0_ID 396809 6 1 1 CAL_MAG0_PRIO 75 6 1 1 CAL_MAG0_ROT 0 6 1 1 CAL_MAG0_XCOMP 0.000000000000000000 9 1 1 CAL_MAG0_XODIAG 0.010231973603367805 9 1 1 CAL_MAG0_XOFF -0.013507993891835213 9 1 1 CAL_MAG0_XSCALE 1.011053204536437988 9 1 1 CAL_MAG0_YCOMP 0.000000000000000000 9 1 1 CAL_MAG0_YODIAG -0.043380342423915863 9 1 1 CAL_MAG0_YOFF -0.043541945517063141 9 1 1 CAL_MAG0_YSCALE 1.010007023811340332 9 1 1 CAL_MAG0_ZCOMP 0.000000000000000000 9 1 1 CAL_MAG0_ZODIAG 0.123449578881263733 9 1 1 CAL_MAG0_ZOFF -0.078322507441043854 9 1 1 CAL_MAG0_ZSCALE 1.009836196899414063 9 1 1 CAL_MAG1_ID 0 6 1 1 CAL_MAG1_ROT -1 6 1 1 CAL_MAG2_ID 0 6 1 1 CAL_MAG2_ROT -1 6 1 1 CAL_MAG3_ID 0 6 1 1 CAL_MAG3_ROT -1 6 1 1 CAL_MAG_COMP_TYP 0 6 1 1 CAL_MAG_SIDES 63 6 1 1 CA_AIRFRAME 0 6 1 1 CA_FAILURE_MODE 0 6 1 1 CA_METHOD 2 6 1 1 CA_R0_SLEW 0.000000000000000000 9 1 1 CA_R10_SLEW 0.000000000000000000 9 1 1 CA_R11_SLEW 0.000000000000000000 9 1 1 CA_R1_SLEW 0.000000000000000000 9 1 1 CA_R2_SLEW 0.000000000000000000 9 1 1 CA_R3_SLEW 0.000000000000000000 9 1 1 CA_R4_SLEW 0.000000000000000000 9 1 1 CA_R5_SLEW 0.000000000000000000 9 1 1 CA_R6_SLEW 0.000000000000000000 9 1 1 CA_R7_SLEW 0.000000000000000000 9 1 1 CA_R8_SLEW 0.000000000000000000 9 1 1 CA_R9_SLEW 0.000000000000000000 9 1 1 CA_ROTOR0_AX 0.000000000000000000 9 1 1 CA_ROTOR0_AY 0.000000000000000000 9 1 1 CA_ROTOR0_AZ -1.000000000000000000 9 1 1 CA_ROTOR0_CT 6.500000000000000000 9 1 1 CA_ROTOR0_KM 0.050000000745058060 9 1 1 CA_ROTOR0_PX 0.170000001788139343 9 1 1 CA_ROTOR0_PY 0.170000001788139343 9 1 1 CA_ROTOR0_PZ 0.000000000000000000 9 1 1 CA_ROTOR10_AX 0.000000000000000000 9 1 1 CA_ROTOR10_AY 0.000000000000000000 9 1 1 CA_ROTOR10_AZ -1.000000000000000000 9 1 1 CA_ROTOR10_CT 6.500000000000000000 9 1 1 CA_ROTOR10_KM 0.050000000745058060 9 1 1 CA_ROTOR10_PX 0.000000000000000000 9 1 1 CA_ROTOR10_PY 0.000000000000000000 9 1 1 CA_ROTOR10_PZ 0.000000000000000000 9 1 1 CA_ROTOR11_AX 0.000000000000000000 9 1 1 CA_ROTOR11_AY 0.000000000000000000 9 1 1 CA_ROTOR11_AZ -1.000000000000000000 9 1 1 CA_ROTOR11_CT 6.500000000000000000 9 1 1 CA_ROTOR11_KM 0.050000000745058060 9 1 1 CA_ROTOR11_PX 0.000000000000000000 9 1 1 CA_ROTOR11_PY 0.000000000000000000 9 1 1 CA_ROTOR11_PZ 0.000000000000000000 9 1 1 CA_ROTOR1_AX 0.000000000000000000 9 1 1 CA_ROTOR1_AY 0.000000000000000000 9 1 1 CA_ROTOR1_AZ -1.000000000000000000 9 1 1 CA_ROTOR1_CT 6.500000000000000000 9 1 1 CA_ROTOR1_KM 0.050000000745058060 9 1 1 CA_ROTOR1_PX -0.170000001788139343 9 1 1 CA_ROTOR1_PY -0.170000001788139343 9 1 1 CA_ROTOR1_PZ 0.000000000000000000 9 1 1 CA_ROTOR2_AX 0.000000000000000000 9 1 1 CA_ROTOR2_AY 0.000000000000000000 9 1 1 CA_ROTOR2_AZ -1.000000000000000000 9 1 1 CA_ROTOR2_CT 6.500000000000000000 9 1 1 CA_ROTOR2_KM -0.050000000745058060 9 1 1 CA_ROTOR2_PX 0.170000001788139343 9 1 1 CA_ROTOR2_PY -0.170000001788139343 9 1 1 CA_ROTOR2_PZ 0.000000000000000000 9 1 1 CA_ROTOR3_AX 0.000000000000000000 9 1 1 CA_ROTOR3_AY 0.000000000000000000 9 1 1 CA_ROTOR3_AZ -1.000000000000000000 9 1 1 CA_ROTOR3_CT 6.500000000000000000 9 1 1 CA_ROTOR3_KM -0.050000000745058060 9 1 1 CA_ROTOR3_PX -0.170000001788139343 9 1 1 CA_ROTOR3_PY 0.170000001788139343 9 1 1 CA_ROTOR3_PZ 0.000000000000000000 9 1 1 CA_ROTOR4_AX 0.000000000000000000 9 1 1 CA_ROTOR4_AY 0.000000000000000000 9 1 1 CA_ROTOR4_AZ -1.000000000000000000 9 1 1 CA_ROTOR4_CT 6.500000000000000000 9 1 1 CA_ROTOR4_KM 0.050000000745058060 9 1 1 CA_ROTOR4_PX 0.000000000000000000 9 1 1 CA_ROTOR4_PY 0.000000000000000000 9 1 1 CA_ROTOR4_PZ 0.000000000000000000 9 1 1 CA_ROTOR5_AX 0.000000000000000000 9 1 1 CA_ROTOR5_AY 0.000000000000000000 9 1 1 CA_ROTOR5_AZ -1.000000000000000000 9 1 1 CA_ROTOR5_CT 6.500000000000000000 9 1 1 CA_ROTOR5_KM 0.050000000745058060 9 1 1 CA_ROTOR5_PX 0.000000000000000000 9 1 1 CA_ROTOR5_PY 0.000000000000000000 9 1 1 CA_ROTOR5_PZ 0.000000000000000000 9 1 1 CA_ROTOR6_AX 0.000000000000000000 9 1 1 CA_ROTOR6_AY 0.000000000000000000 9 1 1 CA_ROTOR6_AZ -1.000000000000000000 9 1 1 CA_ROTOR6_CT 6.500000000000000000 9 1 1 CA_ROTOR6_KM 0.050000000745058060 9 1 1 CA_ROTOR6_PX 0.000000000000000000 9 1 1 CA_ROTOR6_PY 0.000000000000000000 9 1 1 CA_ROTOR6_PZ 0.000000000000000000 9 1 1 CA_ROTOR7_AX 0.000000000000000000 9 1 1 CA_ROTOR7_AY 0.000000000000000000 9 1 1 CA_ROTOR7_AZ -1.000000000000000000 9 1 1 CA_ROTOR7_CT 6.500000000000000000 9 1 1 CA_ROTOR7_KM 0.050000000745058060 9 1 1 CA_ROTOR7_PX 0.000000000000000000 9 1 1 CA_ROTOR7_PY 0.000000000000000000 9 1 1 CA_ROTOR7_PZ 0.000000000000000000 9 1 1 CA_ROTOR8_AX 0.000000000000000000 9 1 1 CA_ROTOR8_AY 0.000000000000000000 9 1 1 CA_ROTOR8_AZ -1.000000000000000000 9 1 1 CA_ROTOR8_CT 6.500000000000000000 9 1 1 CA_ROTOR8_KM 0.050000000745058060 9 1 1 CA_ROTOR8_PX 0.000000000000000000 9 1 1 CA_ROTOR8_PY 0.000000000000000000 9 1 1 CA_ROTOR8_PZ 0.000000000000000000 9 1 1 CA_ROTOR9_AX 0.000000000000000000 9 1 1 CA_ROTOR9_AY 0.000000000000000000 9 1 1 CA_ROTOR9_AZ -1.000000000000000000 9 1 1 CA_ROTOR9_CT 6.500000000000000000 9 1 1 CA_ROTOR9_KM 0.050000000745058060 9 1 1 CA_ROTOR9_PX 0.000000000000000000 9 1 1 CA_ROTOR9_PY 0.000000000000000000 9 1 1 CA_ROTOR9_PZ 0.000000000000000000 9 1 1 CA_ROTOR_COUNT 4 6 1 1 CA_R_REV 0 6 1 1 CA_SV0_SLEW 0.000000000000000000 9 1 1 CA_SV1_SLEW 0.000000000000000000 9 1 1 CA_SV2_SLEW 0.000000000000000000 9 1 1 CA_SV3_SLEW 0.000000000000000000 9 1 1 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