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    KDE 4012XF motors with 16 in props

    ESCs
    3
    22
    1407
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    • Alex KushleyevA
      Alex Kushleyev ModalAI Team @Alex Kushleyev
      last edited by

      @Chase-Riley , i forgot to mention.. a small fan blowing air over the ESC may not result in much cooling. Airflow from propellers could provide a lot more cooling than a small fan. Please keep an eye on the temperatures of the ESC. After you perform the tuning and calibration, you can run all 4 motors (loaded with propellers) on the bench at hover rpm (rpm needed for your vehicle to hover) for several minutes and look at the ESC temp (it will be printed live in the terminal when you use voxl-esc-spin.py test script.

      • Ideally the ESC temperature should stay below 60-70 C
      • 80C is acceptable
      • 90C is worrisome
      • 100C and above is critical

      ESC should still operate above 125C. The temperature on M0134-6 is measured inside the MCU, so the Mosfets are likely to be even hotter. At that point you will probably run into thermal runaway (the hotter the ESC gets, the faster it will continue to heat up) and eventually mosfets and / or copper traces may burn up.

      1 Reply Last reply Reply Quote 0
      • Chase RileyC
        Chase Riley @Alex Kushleyev
        last edited by

        @Alex-Kushleyev I was able to install the new firmware to the ESC, however when I am trying to upload the new params file ../voxl-esc-params/low_kv/mn4006_m0134_6_low_kv.xml I receive the following error.

        [GCC 8.4.0]
Found voxl-esc tools bin version: 1.2

INFO: Params file name : /usr/share/modalai/voxl-esc-params/low_kv/mn4006_m0134_6_low_kv.xml 
INFO: Params file size : 8365 bytes


VOXL Platform: M0054
Detected VOXL2 M0054 or M0104!
Found previous connection information in .voxl_esc_cache ..
Prioritizing /dev/slpi-uart-2 @ 250000
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
INFO: ESC(s) detected on port: /dev/slpi-uart-2, baud rate: 250000
INFO: ESCs detected:
INFO: ---------------------
ID: 0, SW: 39, HW: 41: Unknown Board
ID: 1, SW: 39, HW: 41: Unknown Board
ID: 2, SW: 39, HW: 41: Unknown Board
ID: 3, SW: 39, HW: 41: Unknown Board
---------------------
ERROR: ESC firmware version 39 is incompatible with params supported by this utility
       Acceptable ESC firmware versions are:  [38]```
        Alex KushleyevA 1 Reply Last reply Reply Quote 0
        • Alex KushleyevA
          Alex Kushleyev ModalAI Team @Chase Riley
          last edited by

          @Chase-Riley please use the latest voxl-esc tools from dev branch:

          git clone https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc.git -b dev

          you can clone that directly to voxl2 and just use the python scripts directly (instead of voxl-esc wrapper), since you working on a custom esc tuning.

          Some helpful tips here too : https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/blob/dev/voxl-esc-tools/recovery.md

          Chase RileyC 1 Reply Last reply Reply Quote 0
          • Chase RileyC
            Chase Riley @Alex Kushleyev
            last edited by

            @Alex-Kushleyev I made sure to have the latest version and know I can not detect the esc. See below.

            Detected Python version : 3.6.9 (default, Mar 10 2023, 16:46:00) 
[GCC 8.4.0]
Found voxl-esc tools bin version: 1.5
VOXL Platform: M0054
Detected RB5 Flight, VOXL2 M0054 or M0104!
INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 2000000
/usr/lib/libvoxl_io.so: undefined symbol: voxl_uart_init_legacy_slpi
INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 230400
/usr/lib/libvoxl_io.so: undefined symbol: voxl_uart_init_legacy_slpi
WARNING: No ESC(s) detected
VOXL Platform: M0054
Detected RB5 Flight, VOXL2 M0054 or M0104!
INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 250000
/usr/lib/libvoxl_io.so: undefined symbol: voxl_uart_init_legacy_slpi
INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 230400
/usr/lib/libvoxl_io.so: undefined symbol: voxl_uart_init_legacy_slpi
WARNING: No ESC(s) detected
VOXL Platform: M0054
Detected RB5 Flight, VOXL2 M0054 or M0104!
INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 921600
/usr/lib/libvoxl_io.so: undefined symbol: voxl_uart_init_legacy_slpi
INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 230400
/usr/lib/libvoxl_io.so: undefined symbol: voxl_uart_init_legacy_slpi
WARNING: No ESC(s) detected
VOXL Platform: M0054
Detected RB5 Flight, VOXL2 M0054 or M0104!
INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 230400
/usr/lib/libvoxl_io.so: undefined symbol: voxl_uart_init_legacy_slpi
INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 230400
/usr/lib/libvoxl_io.so: undefined symbol: voxl_uart_init_legacy_slpi
WARNING: No ESC(s) detected
VOXL Platform: M0054
Detected RB5 Flight, VOXL2 M0054 or M0104!
INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 57600
/usr/lib/libvoxl_io.so: undefined symbol: voxl_uart_init_legacy_slpi
INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 230400
/usr/lib/libvoxl_io.so: undefined symbol: voxl_uart_init_legacy_slpi
WARNING: No ESC(s) detected
VOXL Platform: M0054
Detected RB5 Flight, VOXL2 M0054 or M0104!
INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 115200
/usr/lib/libvoxl_io.so: undefined symbol: voxl_uart_init_legacy_slpi
INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 230400
/usr/lib/libvoxl_io.so: undefined symbol: voxl_uart_init_legacy_slpi
WARNING: No ESC(s) detected

ERROR: not all ESCs found
            Alex KushleyevA 1 Reply Last reply Reply Quote 0
            • Alex KushleyevA
              Alex Kushleyev ModalAI Team @Chase Riley
              last edited by

              @Chase-Riley said in KDE 4012XF motors with 16 in props:

              /usr/lib/libvoxl_io.so: undefined symbol: voxl_uart_init_legacy_slpi

              this error means that you are using relatively old VOXL2 SDK -- the interface for the UART bridge (which connects the DSP uart to CPU) has changed.

              Are you able to updated the VOXL2 SDK to 1.1.2? and then repeat the procedure using dev branch of voxl-esc ?

              Chase RileyC 1 Reply Last reply Reply Quote 0
              • Chase RileyC
                Chase Riley @Alex Kushleyev
                last edited by

                @Alex-Kushleyev Would rather not update if possible. I have spent months getting everything to work in 1.0. What would be affected if I did make the upgrade? Would I lose any config or param files?

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

                  @Chase-Riley OK

                  In this case, please try voxl-esc from this commit : https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/tree/066b6308611ac162342a716689d1b4ebe82b1a63

                  This is right before the DSP bridge interface changed and it should support firmware 39 in param update:
                  https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/blob/066b6308611ac162342a716689d1b4ebe82b1a63/voxl-esc-tools/voxl-esc-upload-params.py#L58

                  However, still use the firmware and params that i originally posted for the low kv motor tuning

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

                    also tag 1.3.2 should work https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/tags/v1.3.2

                    Chase RileyC 1 Reply Last reply Reply Quote 0
                    • Chase RileyC
                      Chase Riley @Alex Kushleyev
                      last edited by

                      @Alex-Kushleyev 1.3.2 seemed to have got the job done. I will let you know if I run in to anymore issues while tuning the esc.

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

                        @Chase-Riley , great!

                        Now, the tools in latest dev branch have some improvements including plotting. Can you please try one more thing:

                        • use voxl-esc dev branch
                        • replace the following file from v1.3.2, which will allow you to use the old uart bridge interface : https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/blob/master/voxl-esc-tools/voxl_serial.py replace with https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/blob/v1.3.2/voxl-esc-tools/voxl_serial.py

                        this will be easier to support

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                        • Alex KushleyevA Alex Kushleyev referenced this topic on
                        • Alex KushleyevA
                          Alex Kushleyev ModalAI Team @Alex Kushleyev
                          last edited by

                          @Matthew-Wellner FYI

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