ESC Calibration Error Voxl2
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I'm trying to Calibrate my 4 in 1 ESCs. I run the command listed here https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/blob/master/voxl-esc-tools/calibration.md. At the end, no calibration parameters file is printed, only error. How can i fix this to get the parameters file so i may upload it through the Voxl with this command ./voxl-esc-upload-params.py --params-file ../voxl-esc-params/<params_file>.xml to successfully calibrate the ESCs?
Thank You
ERROR IS BELOW:
./voxl-esc-calibrate.py --id 0 --pwm-min 10 --pwm-max 95 --pwm-step 3 --pwm-step-duration 0.7
Detected Python version : 3.6.9 (default, Mar 10 2023, 16:46:00)
[GCC 8.4.0]
Found voxl-esc tools bin version: 1.4
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
Received standard error event 2
Sending initialization request
INFO: ESC(s) detected on port: /dev/slpi-uart-2, baud rate: 2000000
WARNING:
This test requires motors to spin at high speeds with
propellers attached. Please ensure that appropriate
protective equipment is being worn at all times and
that the motor and propeller are adequately isolated
from all persons.For best results, please perform this test at the
nominal voltage for the battery used.Type "Yes" to continue: yes
POW: 0, RPM: 1353.00, Voltage: 15.79V, Current: 0.05A
POW: 0, RPM: 1369.00, Voltage: 15.79V, Current: 0.05A
POW: 0, RPM: 1385.00, Voltage: 15.79V, Current: 0.02A
POW: 0, RPM: 1419.00, Voltage: 15.79V, Current: 0.07A
POW: 0, RPM: 1419.00, Voltage: 15.79V, Current: 0.07A
POW: 0, RPM: 1453.00, Voltage: 15.79V, Current: 0.02A
POW: 0, RPM: 1453.00, Voltage: 15.79V, Current: 0.02A
POW: 0, RPM: 1486.00, Voltage: 15.79V, Current: 0.17A
POW: 0, RPM: 1486.00, Voltage: 15.79V, Current: 0.17A
POW: 0, RPM: 1499.00, Voltage: 15.79V, Current: 0.02A
POW: 5, RPM: 1569.00, Voltage: 15.79V, Current: -0.23A
POW: 10, RPM: 969.00, Voltage: 15.79V, Current: -0.02A
POW: 10, RPM: 969.00, Voltage: 15.79V, Current: -0.02A
POW: 10, RPM: 928.00, Voltage: 15.79V, Current: 0.12A
POW: 10, RPM: 913.00, Voltage: 15.79V, Current: 0.01A...
POW: 46, RPM: 4759.00, Voltage: 15.77V, Current: 0.23A
POW: 46, RPM: 4759.00, Voltage: 15.77V, Current: 0.26A
...POW: 79, RPM: 8226.00, Voltage: 15.75V, Current: 0.38A
POW: 79, RPM: 8162.00, Voltage: 15.75V, Current: 0.39A
...POW: 94, RPM: 9683.00, Voltage: 15.74V, Current: 0.45A
POW: 94, RPM: 9691.00, Voltage: 15.74V, Current: 0.42AINFO: Test took 20.56 seconds
Quadratic fit: motor_voltage = a2rpm_desired^2 + a1rpm_desired + a0
a0 = -177.472309779
a1 = 1.57805489295
a2 = -3.72938840838e-06
ESC Params (after scaling):
pwm_vs_rpm_curve_a0 = -177.472309779
pwm_vs_rpm_curve_a1 = 1.57805489295
pwm_vs_rpm_curve_a2 = -3.72938840838e-06
Traceback (most recent call last):
File "./voxl-esc-calibrate.py", line 194, in <module>
plt.plot(rpms, motor_voltages, 'bo')
File "/usr/lib/python3/dist-packages/matplotlib/pyplot.py", line 3250, in plot
ax = gca()
File "/usr/lib/python3/dist-packages/matplotlib/pyplot.py", line 962, in gca
return gcf().gca(**kwargs)
File "/usr/lib/python3/dist-packages/matplotlib/pyplot.py", line 592, in gcf
return figure()
File "/usr/lib/python3/dist-packages/matplotlib/pyplot.py", line 539, in figure
**kwargs)
File "/usr/lib/python3/dist-packages/matplotlib/backend_bases.py", line 171, in new_figure_manager
return cls.new_figure_manager_given_figure(num, fig)
File "/usr/lib/python3/dist-packages/matplotlib/backends/backend_tkagg.py", line 1049, in new_figure_manager_given_figure
window = Tk.Tk(className="matplotlib")
File "/usr/lib/python3.6/tkinter/init.py", line 2023, in init
self.tk = _tkinter.create(screenName, baseName, className, interactive, wantobjects, useTk, sync, use)
_tkinter.TclError: no display name and no $DISPLAY environment variable -
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@Abdullah01 , the original issue was that ESC calibration was actually done without propellers mounted, you can see the current at 94% power was very small, 0.4A
However, the script still produced the a0, a1, a2 parameters (which would have been wrong to use because calibration was done without a propeller..)
The error at the end was a result of attempted plot - since voxl2 does not have a display attached, the plot failed. Since that version, we have transitioned to using
plotlyfor plotting, and calibration plots are saved to disk in addition to attempt to plot it to display. The plot feature was updated after SDK 1.1.2 release, but you can get it directly from gitlab here : https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/blob/dev/voxl-esc-tools/voxl-esc-calibrate.py (just get the wholevoxl-escrepo from dev branch on your voxl2 and run the calibration procedure).Meanwhile, we will add additional checking of the calibration to catch the conditions that do not look like proper calibration (when propeller is not mounted, etc..).
