# Can you power VOXL2 from the ModalAI 6s ESC?
Source: https://forum.modalai.com/topic/2979/can-you-power-voxl2-from-the-modalai-6s-esc
Category: General Questions (https://forum.modalai.com/category/2/general-questions)
Posted: 2023-12-21 21:06:24 UTC by Matthew Wellner
Replies: 50 · Views: 27433
## Matthew Wellner · 2023-12-21 21:06:24 UTC
Sorry if this is already noted somewhere else - Can you power VOXL2 from the ModalAI 6s ESC? I looked through the doc pages, but I didn't see anything that discusses powering the VOXL2 from the 4-in-1 ESC. Do I still need to use a power module even though there should be power readings coming from the ESC?
Thanks!
## Reply by Alex Kushleyev (ModalAI staff) · 2023-12-21 21:19:49 UTC
@Matthew-Wellner , the M0134-6 ESC cannot be used to power VOXL2 because the ESC only has a small aux 5V regulator (0.5A) but VOXL2 needs 5V @5A+. So you still need the power adapter https://www.modalai.com/products/mdk-m0041-1 .
However, the mini ESC (https://www.modalai.com/products/voxl-esc-mini) has a voltage regulator for VOXL2 mini (3.8V) or the optionally for VOXL2 (5.0V). The mini ESC is only rated up to 4S though.
We have an new 6S ESC in the works with integrated power adapter for VOXL2 / VOXL2 mini, but it is not yet available. We will hopefully announce it in several weeks.
Alex
## Reply by Matthew Wellner · 2023-12-22 14:31:42 UTC (in reply to Alex Kushleyev)
@Alex-Kushleyev
Any chance we can do some alpha / beta testing for you? We are working on our own prototype and it would be a huge help not to have to accommodate the power adapter into it if there is a better solution coming soon?
Thanks for the help!
Matt
## Reply by Alex Kushleyev (ModalAI staff) · 2023-12-22 19:52:12 UTC (in reply to Matthew Wellner)
@Matthew-Wellner , we are expecting the boards sometime next week, so depending on how initial testing goes, we can provide an update then. Feel free to ping me in early January if we do not follow up here.
## Reply by Matthew Wellner · 2024-01-10 21:19:52 UTC (in reply to Alex Kushleyev)
@Alex-Kushleyev - Hi Alex! I'm just checking in to see how you made out with the new ESC boards.
I had another quick question. I went to upgrade the firmware on the ESC I have and I am getting an "unknown board detected" error when I run voxl-esc. Any thoughts?
Thanks again for the help!
Matt
## Reply by Alex Kushleyev (ModalAI staff) · 2024-01-10 22:17:16 UTC (in reply to Matthew Wellner)
@Matthew-Wellner ,
You have an old version of `voxl-esc` tools (probably old SDK which includes the tools).
Board ID 41 is M0134-6, which should be the ESC board that you have.
Are you able to update the VOXL SDK to 1.1.1 or 1.1.2, so that you have the latest `voxl-esc` tools and the latest firmware.
Alternatively, you can manually get `voxl-esc` tools from gitlab (dev branch has latest): https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc . You could put that on VOXL2 and run the scripts from that location. the following script should auto detect your esc board and update the firmware automatically : https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/blob/dev/voxl-esc-tools/voxl-esc-upload-firmware-all.sh . However if your VOXL2 system image is too old, the latest `voxl-esc` tools will be incompatible with that (due to old version of UART bridge that is used to communicate to the ESC)..
Regarding the new 6S ESC, our tests have been going really well and we should have boards available to purchase for beta testing starting possibly some time next week. I am going to get the board specs ready within a few days. Would you be potentially interested in beta testing? if so, I can share the link once it's available.
I'll try to share some more details on the new ESC shortly.
## Reply by Matthew Wellner · 2024-01-10 22:24:27 UTC (in reply to Alex Kushleyev)
@Alex-Kushleyev - We'd love to beta test! Just let me know.
I updated the SDK to v1.1.2, but for some reason I don't see the ESC channels in the QGC params anymore. What sku should I set for myself if I am running a custom quadcoptor frame? I am currently setup as a test bench and I'm wondering if that's why I don't see the motor/actuator params.
Thanks!
Matt
## Reply by Matthew Wellner · 2024-01-10 22:34:05 UTC (in reply to Matthew Wellner)
@Alex-Kushleyev
Sorry to bother you again - I tried to do an update / upgrade from the command line using the voxl-esc in the new SDK and I get an error. There really isn't any info as to why, but I was hoping you can help me figure it out.
I also am unable to set the ESC and battery monitor to anything. I am using the 4 in 1 ESC and the current sensor that came with the VOXL2.
Thanks!
Matt
## Reply by Alex Kushleyev (ModalAI staff) · 2024-01-10 22:36:12 UTC (in reply to Matthew Wellner)
@Matthew-Wellner
I am not sure about the px4 params. Need to ask someone else (will check).
## Reply by Alex Kushleyev (ModalAI staff) · 2024-01-10 22:40:46 UTC (in reply to Matthew Wellner)
@Matthew-Wellner
Voxl-esc script errors out because the board is not recognized. Strange, i thought sdk 1.1.2 had the m0134-6 board supported. I will need to check or you can get latest voxl-esc from the repo like i mentioned (dev branch). Make sure to stop px4 before you use the esc tools directly (not using voxl-esc wrapper). To stop px4, run systemctl stop voxl-px4
## Reply by Alex Kushleyev (ModalAI staff) · 2024-01-11 14:51:51 UTC (in reply to Alex Kushleyev)
@Matthew-Wellner ,
Here is a preview of our new 6S ESC. Some preliminary Specs. Please treat them as unofficial specs and results, we will be publishing official specs in our document very soon.
- Power input : 3S-6S
- Power Output
- 5V @6A for VOXL2 (or 3.8V @6A for VOXL2 mini, as a variant)
- 16.8V regulated @500mA (targetted for optional VTX or other accessories)
- AUX 3.3V / 5.0V @ 500mA
- always ON payload power connector (4A rated connector, battery voltage)
- Current measurement : Total up to 200A
- Maximum sustained current per channel: TBD, around 40-50A, dependent on air flow cooling
- dedicated onboard temperature sensors (top and bottom)
Some preview of test results:
- using Xing2 2207 1855kV motors with 5.1x4.1x3 blades
- 6S 1350mAh Lumenier Extreme battery
- step all 4 motors from 20% power to 100% power and hold for 2 seconds
- Transient current spike saturates 200A sensor, estimated 300A+
- steady state current 140-110A (gets lower as battery votlage drops)
- this is a very extreme use case which even the battery could not sustain very long. A 1350mAh battery will completely discharge in about 50 seconds at 100A constant load (in theory). In practice much sooner
Some RPM step tests using the same set up, single motor:
- step test between 12k and 25k rpm
- 20 runs plotted on top of each other to check for consistent performance
- RPM tracking works well under dropping voltage conditions
## Reply by Alex Kushleyev (ModalAI staff) · 2024-01-11 15:11:05 UTC (in reply to Matthew Wellner)
@Matthew-Wellner , i figured out why your voxl-esc script was not working. The wrapper script was missing support for M0134-6, so even though the underlying python scripts were able to recognize the board, the wrapper script did not. I made a fix here:
https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/commit/982fd25d0f1629d99e1f3b301a129735765e4d2c
You could just make that change manually in your `/usr/bin/voxl-esc` wrapper and get the firmware upgraded.
In order to get battery voltage and current, you need to enable the voxl power monitor driver (voxlpm), it should be present in all the voxl-based px4 configs except for the one that is using the mini ESC (which has the VOXL power regulator built into the ESC)
## Reply by Matthew Wellner · 2024-01-11 22:24:39 UTC (in reply to Alex Kushleyev)
@Alex-Kushleyev
This looks great! Our flights will be much longer at a much lower current draw with larger props.
## Reply by Matthew Wellner · 2024-01-11 22:26:41 UTC (in reply to Alex Kushleyev)
@Alex-Kushleyev
I think I got it working. One other question - Do I need to set anything in the params if I am using a TBS crossfire nano receiver? The docs seem to suggest that I just need to hook it up and put it in Mavlink mode for it to work, but I don't see any activity through px4-listener.
Thanks again!
## Reply by Matthew Wellner · 2024-01-11 22:29:28 UTC (in reply to Matthew Wellner)
@Alex-Kushleyev
Just to double check... I wired the connector: Rx (VOXL)<->Tx (XFire) and Tx (VOXL) <->Rx (XFire) like you'd normally hookup a UART. This is expected, right?
## Reply by Alex Kushleyev (ModalAI staff) · 2024-01-11 22:43:37 UTC (in reply to Matthew Wellner)
@Matthew-Wellner , does this help regarding hooking up the receiver? https://docs.modalai.com/voxl2-rc-configs/ (voxl2) and https://docs.modalai.com/voxl2-mini-rc-configs/#crsf (voxl2 mini)
Regarding PX4 config, if you look at voxl-px4.conf, it should have something like this:
```
# RC:
# Tell PX4 which RC transmitter to use.
# Use EXTERNAL when getting RC control from external Mavlink messages (e.g Via QGC)
# Options include: [SPEKTRUM, CRSF_MAV, CRSF_RAW, M0065_SBUS, EXTERNAL, FAKE_RC_INPUT]
RC=CRSF_RAW
```
## Reply by Matthew Wellner · 2024-01-12 20:32:22 UTC (in reply to Alex Kushleyev)
@Alex-Kushleyev
I seem to have everything configured correctly at this point. Is there anything special that I need to configure the ESC? The ESC spin check works from the command line, but when I try and arm from QGC I get an error that says "ESC failure detected".
Thanks again for the help!
Matt
## Reply by Alex Kushleyev (ModalAI staff) · 2024-01-12 20:34:18 UTC (in reply to Matthew Wellner)
@Matthew-Wellner
Double check baud rate in esc params and px4 param for modalai esc baud rate - they have to match
## Reply by Matthew Wellner · 2024-01-12 20:42:57 UTC (in reply to Alex Kushleyev)
@Alex-Kushleyev
Both are set at 25000 I think, but I still have the same error.
## Reply by Alex Kushleyev (ModalAI staff) · 2024-01-12 21:15:19 UTC (in reply to Matthew Wellner)
@Matthew-Wellner
Yeah hmm.
Please double check voxl-px4.conf should have:
```
ESC=VOXL_ESC
POWER_MANAGER=VOXLPM
```
also check output of:
```
px4-listener esc_status
```
Is the ESC blinking blue LEDs while PX4 is running? it should.
You can try stop / start voxl-esc driver:
```
px4-qshell voxl_esc stop
px4-qshell voxl_esc start
```
P.S. the baud rate is 250000 (250K)
## Reply by Matthew Wellner · 2024-01-14 16:52:10 UTC (in reply to Alex Kushleyev)
@Alex-Kushleyev
I got it working!
Two quick additional questions:
* I'm not getting RC RSSI data in QGC even though I am getting it via px4-listener input_rc. Do I need to configure any parameters in QGC to enable this?
* I tried to do an ESC calibration via the scripts in /usr/share/modalai/voxl-esc-tools/ and I just get a bunch of errors. I disabled the bridge via voxl-esc disable_bridge, but I still get errors running the python scripts directly.
## Reply by Vin · 2024-01-14 21:07:17 UTC (in reply to Matthew Wellner)
@Matthew-Wellner
It probably due to voxl-px4, if you just run the voxl-esc, it will stop voxl-px4 however if you are running python scripts directly it does not.
I would try stopping voxl-px4 as below, check and then run voxl-esc scripts and see if I still get the same issue
You can check if px4 is running:
```
systemctl is-active voxl-px4
```
stop px4:
```
systemctl stop voxl-px4
```
Just in case if this is of any help as I had similar issue and above resolved it.
## Reply by Alex Kushleyev (ModalAI staff) · 2024-01-14 21:13:48 UTC (in reply to Vin)
@Vin , you are correct.
"enabling" the bridge via `voxl-esc` wrapper script simply stops px4, effectively doing `systemctl stop voxl-px4` and "disabling" the bridge will re-enable px4. So @Matthew-Wellner got it backwards.
However, it is sufficient to just use `systemctl stop voxl-px4` before using `voxl-esc python scripts` directly. then re-start px4 with `systemctl start voxl-px4`. Note that there is a difference between `systemctl disable` and `systemctl stop` - the `disable` option disables auto start on boot, but does not stop it right away. `stop` will actually stop it right now but will not affect autostart.
I am not sure about RC RSSI data, it's beyond my area of expertise. Perhaps open another question on the forum regarding RC, so other devs can pick it up.
## Reply by Alex Kushleyev (ModalAI staff) · 2024-01-14 21:17:13 UTC (in reply to Alex Kushleyev)
@Matthew-Wellner , just for a quick sanity check, can you share what motor / props you are using with M0134-6? i just want to confirm that the ESC will be able to support the motor/prop combination.
## Reply by Alex Kushleyev (ModalAI staff) · 2024-01-14 22:12:41 UTC (in reply to Alex Kushleyev)
Just FYI, if you are running the esc calibration on VOXL2, which does not have a display attached, you cannot view the calibration plot right away. If you run the calibration procedure on a linux pc (while attached to ESC using serial to usb adapter), the plot will show up in browser. However, I recently added automatic saving of the figure to disk, it is done here : https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/blob/dev/voxl-esc-tools/voxl-esc-calibrate.py?ref_type=heads#L275 , so after the calibration procedure is finished, you should be able to see `calibration_results.html` which you can pull from voxl2 and view in any browser (internet connection is needed because it will download the javascript library for plotting).
Also, don't forget if you are using M0134-6 with 6S battery, install the additional capacitor that was provided with the ESC, without it 6S voltage may cause excessive noise in the ESC and poor performance.
For example, I recently calibrated a motor and here is what the results should look like. I am writing up some better instructions for calibration (with examples, so here is a quick preview).
- first plot (top left) is the commaded voltage vs RPM, that is the average voltage supplied to the motor in order to achieve each RPM. You can see that curve has a nice smooth shape with slight quadratic (non-linear) upward trend
- plot on top right shows current draw vs time, it should be roughly quadratic because as the average voltage applied to the (loaded) motor increases, the current will increase quadratically.
- Bottom right plot shows the rpm response vs time. The green samples are the samples that were used for calibration (as opposed to red samples showing all the data). This is showing that the samples were used were taken after the RPM has settled after a transition.
- you can also use the plot of `current` and `rpm vs time` to check if the ESC is behaving normally (plots look similar to the examples) or there are some sudden jumps up or down
zoomed in:
## Reply by Matthew Wellner · 2024-01-17 17:51:33 UTC (in reply to Alex Kushleyev)
@Alex-Kushleyev
Sorry for the delay - I am using SunnySky / TMotor 4004 @400kv with TMotor MS1101 props (11").
## Reply by Matthew Wellner · 2024-01-17 17:55:38 UTC (in reply to Vin)
@Vin
Thanks, but voxl-px4 is running. I am getting GPS, battery voltage and the rest of the telemetry in QGC as expected. I'm just not getting anything for the receiver even though I can read it from the command line.
Matt
## Reply by Alex Kushleyev (ModalAI staff) · 2024-01-17 17:58:29 UTC (in reply to Matthew Wellner)
@Matthew-Wellner , you probably want to take a look at this post. I recently posted new firmware, params example and instructions how to make sure your low kv motor operates properly:
https://forum.modalai.com/topic/2902/kde-4012xf-motors-with-16-in-props/10#
I will tag you there
I did an example tuning / testing of Tmotor MN4006 380kV with 15in prop which could be similar to your application, so it should definitely be relevant and going through the testing you will ensure that there will be no de-syncs
## Reply by Alex Kushleyev (ModalAI staff) · 2024-01-17 18:01:23 UTC (in reply to Matthew Wellner)
@Matthew-Wellner, if you still cannot figure out the RC receiver you should make another post in the forum regarding the receiver, so that this thread does not get too confusing :)
I can't help you there, but other devs should be able to
## Reply by Matthew Wellner · 2024-01-17 18:31:22 UTC (in reply to Alex Kushleyev)
@Alex-Kushleyev Will do. Thanks!
## Reply by Matthew Wellner · 2024-01-17 19:07:31 UTC (in reply to Matthew Wellner)
@Alex-Kushleyev
Hi Alex - I performed some testing with the ESC with the low kv esc params file referenced in the thread you pointed me to and when I go from 30% power to 40% and greater, my motor / prop reverses directions. Am I desyncing at that point?
voxl2:/usr/share/modalai/voxl-esc-tools$ ./voxl-esc-spin.py --id 1 --power 40 --timeout 3.5 --enable-plot 1
Detected Python version : 3.6.9 (default, Mar 10 2023, 16:46:00)
[GCC 8.4.0]
Found voxl-esc tools bin version: 1.4
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
ID : 0
Board : version 41: ModalAi 4-in-1 ESC (M0134-6)
UID : 0x203330385246571900480020
Firmware : version 39, hash d4fe8e3d
Bootloader : version 184, hash 10b1286a
ID : 1
Board : version 41: ModalAi 4-in-1 ESC (M0134-6)
UID : 0x2033303852465717003C002A
Firmware : version 39, hash d4fe8e3d
Bootloader : version 184, hash 10b1286a
ID : 2
Board : version 41: ModalAi 4-in-1 ESC (M0134-6)
UID : 0x203330385246571500420047
Firmware : version 39, hash d4fe8e3d
Bootloader : version 184, hash 10b1286a
ID : 3
Board : version 41: ModalAi 4-in-1 ESC (M0134-6)
UID : 0x20333038524657190034001D
Firmware : version 39, hash d4fe8e3d
Bootloader : version 184, hash 10b1286a
---------------------
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
[0.000] (1) RPM: 0, PWR: 0, VOLTAGE: 0.000V, TEMPERATURE: 0.00C, CURRENT: 0.000A
[0.013] (1) RPM: 0, PWR: 0, VOLTAGE: 24.946V, TEMPERATURE: 46.80C, CURRENT: 0.000A
[0.022] (1) RPM: 7, PWR: 0, VOLTAGE: 24.941V, TEMPERATURE: 46.79C, CURRENT: 0.000A
[0.032] (1) RPM: 15, PWR: 0, VOLTAGE: 24.941V, TEMPERATURE: 46.80C, CURRENT: 0.056A
[0.042] (1) RPM: 23, PWR: 0, VOLTAGE: 24.950V, TEMPERATURE: 46.79C, CURRENT: 0.128A
[0.052] (1) RPM: 31, PWR: 0, VOLTAGE: 24.937V, TEMPERATURE: 46.82C, CURRENT: 0.264A
[0.062] (1) RPM: 39, PWR: 0, VOLTAGE: 24.932V, TEMPERATURE: 46.85C, CURRENT: 0.440A
[0.072] (1) RPM: 47, PWR: 0, VOLTAGE: 24.930V, TEMPERATURE: 46.83C, CURRENT: 0.520A
[0.082] (1) RPM: 55, PWR: 0, VOLTAGE: 24.930V, TEMPERATURE: 46.78C, CURRENT: 0.680A
[0.092] (1) RPM: 63, PWR: 0, VOLTAGE: 24.929V, TEMPERATURE: 46.79C, CURRENT: 0.648A
[0.103] (1) RPM: 63, PWR: 0, VOLTAGE: 24.929V, TEMPERATURE: 46.79C, CURRENT: 0.648A
[0.112] (1) RPM: 79, PWR: 0, VOLTAGE: 24.927V, TEMPERATURE: 46.79C, CURRENT: 0.632A
[0.122] (1) RPM: 87, PWR: 0, VOLTAGE: 24.937V, TEMPERATURE: 46.79C, CURRENT: 0.680A
[0.132] (1) RPM: 95, PWR: 0, VOLTAGE: 24.946V, TEMPERATURE: 46.79C, CURRENT: 0.664A
[0.142] (1) RPM: 103, PWR: 0, VOLTAGE: 24.939V, TEMPERATURE: 46.79C, CURRENT: 0.608A
[0.152] (1) RPM: 111, PWR: 0, VOLTAGE: 24.928V, TEMPERATURE: 46.80C, CURRENT: 0.776A
[0.162] (1) RPM: 119, PWR: 0, VOLTAGE: 24.934V, TEMPERATURE: 46.80C, CURRENT: 0.528A
[0.172] (1) RPM: 127, PWR: 0, VOLTAGE: 24.929V, TEMPERATURE: 46.81C, CURRENT: 0.464A
[0.182] (1) RPM: 135, PWR: 0, VOLTAGE: 24.931V, TEMPERATURE: 46.85C, CURRENT: 0.688A
[0.193] (1) RPM: 144, PWR: 0, VOLTAGE: 24.928V, TEMPERATURE: 46.82C, CURRENT: 0.648A
[0.203] (1) RPM: 144, PWR: 0, VOLTAGE: 24.928V, TEMPERATURE: 46.82C, CURRENT: 0.648A
[0.212] (1) RPM: 159, PWR: 0, VOLTAGE: 24.932V, TEMPERATURE: 46.86C, CURRENT: 0.688A
[0.222] (1) RPM: 167, PWR: 0, VOLTAGE: 24.928V, TEMPERATURE: 46.89C, CURRENT: 0.696A
[0.232] (1) RPM: 175, PWR: 0, VOLTAGE: 24.921V, TEMPERATURE: 46.85C, CURRENT: 0.688A
[0.242] (1) RPM: 183, PWR: 0, VOLTAGE: 24.922V, TEMPERATURE: 46.87C, CURRENT: 0.736A
[0.252] (1) RPM: 191, PWR: 0, VOLTAGE: 24.941V, TEMPERATURE: 46.81C, CURRENT: 0.856A
[0.262] (1) RPM: 199, PWR: 0, VOLTAGE: 24.929V, TEMPERATURE: 46.78C, CURRENT: 0.672A
[0.272] (1) RPM: 207, PWR: 0, VOLTAGE: 24.931V, TEMPERATURE: 46.76C, CURRENT: 0.696A
[0.282] (1) RPM: 215, PWR: 0, VOLTAGE: 24.921V, TEMPERATURE: 46.83C, CURRENT: 0.736A
[0.293] (1) RPM: 224, PWR: 0, VOLTAGE: 24.932V, TEMPERATURE: 46.81C, CURRENT: 0.736A
[0.302] (1) RPM: 224, PWR: 0, VOLTAGE: 24.932V, TEMPERATURE: 46.81C, CURRENT: 0.736A
[0.312] (1) RPM: 231, PWR: 0, VOLTAGE: 24.930V, TEMPERATURE: 46.83C, CURRENT: 0.640A
[0.322] (1) RPM: 247, PWR: 0, VOLTAGE: 24.925V, TEMPERATURE: 46.77C, CURRENT: 0.720A
[0.332] (1) RPM: 255, PWR: 0, VOLTAGE: 24.930V, TEMPERATURE: 46.78C, CURRENT: 0.656A
[0.342] (1) RPM: 263, PWR: 0, VOLTAGE: 24.924V, TEMPERATURE: 46.83C, CURRENT: 0.784A
[0.352] (1) RPM: 271, PWR: 0, VOLTAGE: 24.921V, TEMPERATURE: 46.83C, CURRENT: 0.696A
[0.362] (1) RPM: 279, PWR: 0, VOLTAGE: 24.930V, TEMPERATURE: 46.85C, CURRENT: 0.784A
[0.372] (1) RPM: 287, PWR: 0, VOLTAGE: 24.923V, TEMPERATURE: 46.84C, CURRENT: 0.992A
[0.382] (1) RPM: 295, PWR: 0, VOLTAGE: 24.923V, TEMPERATURE: 46.89C, CURRENT: 0.920A
[0.392] (1) RPM: 303, PWR: 0, VOLTAGE: 24.940V, TEMPERATURE: 46.83C, CURRENT: 0.808A
[0.402] (1) RPM: 303, PWR: 0, VOLTAGE: 24.940V, TEMPERATURE: 46.83C, CURRENT: 0.808A
[0.412] (1) RPM: 311, PWR: 0, VOLTAGE: 24.926V, TEMPERATURE: 46.79C, CURRENT: 0.832A
[0.422] (1) RPM: 327, PWR: 0, VOLTAGE: 24.932V, TEMPERATURE: 46.81C, CURRENT: 0.752A
[0.432] (1) RPM: 335, PWR: 0, VOLTAGE: 24.922V, TEMPERATURE: 46.84C, CURRENT: 0.816A
[0.442] (1) RPM: 343, PWR: 0, VOLTAGE: 24.914V, TEMPERATURE: 46.84C, CURRENT: 0.896A
[0.452] (1) RPM: 351, PWR: 0, VOLTAGE: 24.934V, TEMPERATURE: 46.77C, CURRENT: 0.808A
[0.462] (1) RPM: 359, PWR: 0, VOLTAGE: 24.940V, TEMPERATURE: 46.79C, CURRENT: 0.744A
[0.472] (1) RPM: 367, PWR: 0, VOLTAGE: 24.932V, TEMPERATURE: 46.84C, CURRENT: 0.920A
[0.482] (1) RPM: 375, PWR: 0, VOLTAGE: 24.927V, TEMPERATURE: 46.82C, CURRENT: 0.904A
[0.493] (1) RPM: 384, PWR: 0, VOLTAGE: 24.921V, TEMPERATURE: 46.85C, CURRENT: 0.768A
[0.503] (1) RPM: 384, PWR: 0, VOLTAGE: 24.921V, TEMPERATURE: 46.85C, CURRENT: 0.768A
[0.512] (1) RPM: 399, PWR: 0, VOLTAGE: 24.934V, TEMPERATURE: 46.82C, CURRENT: 0.536A
[0.522] (1) RPM: 407, PWR: 0, VOLTAGE: 24.939V, TEMPERATURE: 46.82C, CURRENT: 0.808A
[0.533] (1) RPM: 416, PWR: 0, VOLTAGE: 24.931V, TEMPERATURE: 46.84C, CURRENT: 0.896A
[0.542] (1) RPM: 423, PWR: 0, VOLTAGE: 24.940V, TEMPERATURE: 46.81C, CURRENT: 0.928A
[0.552] (1) RPM: 431, PWR: 0, VOLTAGE: 24.918V, TEMPERATURE: 46.83C, CURRENT: 0.760A
[0.562] (1) RPM: 439, PWR: 0, VOLTAGE: 24.922V, TEMPERATURE: 46.82C, CURRENT: 0.832A
[0.572] (1) RPM: 447, PWR: 0, VOLTAGE: 24.925V, TEMPERATURE: 46.83C, CURRENT: 0.832A
[0.582] (1) RPM: 455, PWR: 0, VOLTAGE: 24.924V, TEMPERATURE: 46.84C, CURRENT: 0.792A
[0.592] (1) RPM: 463, PWR: 0, VOLTAGE: 24.922V, TEMPERATURE: 46.87C, CURRENT: 0.888A
[0.602] (1) RPM: 463, PWR: 0, VOLTAGE: 24.922V, TEMPERATURE: 46.87C, CURRENT: 0.888A
[0.612] (1) RPM: 471, PWR: 0, VOLTAGE: 24.915V, TEMPERATURE: 46.88C, CURRENT: 0.952A
[0.622] (1) RPM: 487, PWR: 0, VOLTAGE: 24.919V, TEMPERATURE: 46.88C, CURRENT: 0.872A
[0.632] (1) RPM: 495, PWR: 0, VOLTAGE: 24.930V, TEMPERATURE: 46.86C, CURRENT: 0.856A
[0.642] (1) RPM: 503, PWR: 0, VOLTAGE: 24.921V, TEMPERATURE: 46.87C, CURRENT: 0.840A
[0.652] (1) RPM: 512, PWR: 0, VOLTAGE: 24.918V, TEMPERATURE: 46.89C, CURRENT: 0.936A
[0.662] (1) RPM: 519, PWR: 0, VOLTAGE: 24.927V, TEMPERATURE: 46.86C, CURRENT: 0.920A
[0.672] (1) RPM: 527, PWR: 0, VOLTAGE: 24.929V, TEMPERATURE: 46.86C, CURRENT: 0.920A
[0.682] (1) RPM: 535, PWR: 0, VOLTAGE: 24.940V, TEMPERATURE: 46.89C, CURRENT: 0.952A
[0.692] (1) RPM: 543, PWR: 0, VOLTAGE: 24.931V, TEMPERATURE: 46.96C, CURRENT: 0.856A
[0.703] (1) RPM: 543, PWR: 0, VOLTAGE: 24.931V, TEMPERATURE: 46.96C, CURRENT: 0.856A
[0.712] (1) RPM: 559, PWR: 0, VOLTAGE: 24.923V, TEMPERATURE: 46.93C, CURRENT: 0.944A
[0.722] (1) RPM: 567, PWR: 0, VOLTAGE: 24.925V, TEMPERATURE: 46.94C, CURRENT: 0.824A
[0.732] (1) RPM: 575, PWR: 0, VOLTAGE: 24.928V, TEMPERATURE: 46.89C, CURRENT: 0.928A
[0.742] (1) RPM: 583, PWR: 0, VOLTAGE: 24.926V, TEMPERATURE: 46.90C, CURRENT: 0.888A
[0.752] (1) RPM: 591, PWR: 0, VOLTAGE: 24.923V, TEMPERATURE: 46.92C, CURRENT: 0.848A
[0.762] (1) RPM: 599, PWR: 0, VOLTAGE: 24.921V, TEMPERATURE: 46.89C, CURRENT: 0.880A
[0.772] (1) RPM: 607, PWR: 0, VOLTAGE: 24.924V, TEMPERATURE: 46.87C, CURRENT: 0.840A
[0.782] (1) RPM: 615, PWR: 0, VOLTAGE: 24.920V, TEMPERATURE: 46.91C, CURRENT: 0.880A
[0.792] (1) RPM: 624, PWR: 0, VOLTAGE: 24.922V, TEMPERATURE: 46.91C, CURRENT: 1.056A
[0.802] (1) RPM: 624, PWR: 0, VOLTAGE: 24.922V, TEMPERATURE: 46.91C, CURRENT: 1.056A
[0.812] (1) RPM: 639, PWR: 0, VOLTAGE: 24.915V, TEMPERATURE: 46.92C, CURRENT: 0.968A
[0.822] (1) RPM: 647, PWR: 0, VOLTAGE: 24.916V, TEMPERATURE: 46.95C, CURRENT: 0.896A
[0.832] (1) RPM: 655, PWR: 0, VOLTAGE: 24.931V, TEMPERATURE: 46.95C, CURRENT: 0.912A
[0.842] (1) RPM: 663, PWR: 0, VOLTAGE: 24.925V, TEMPERATURE: 46.97C, CURRENT: 0.864A
[0.852] (1) RPM: 671, PWR: 0, VOLTAGE: 24.928V, TEMPERATURE: 46.93C, CURRENT: 0.984A
[0.862] (1) RPM: 679, PWR: 0, VOLTAGE: 24.936V, TEMPERATURE: 46.86C, CURRENT: 0.936A
[0.872] (1) RPM: 687, PWR: 0, VOLTAGE: 24.931V, TEMPERATURE: 46.86C, CURRENT: 0.856A
[0.882] (1) RPM: 695, PWR: 0, VOLTAGE: 24.922V, TEMPERATURE: 46.92C, CURRENT: 1.040A
[0.892] (1) RPM: 703, PWR: 0, VOLTAGE: 24.913V, TEMPERATURE: 46.97C, CURRENT: 0.872A
[0.903] (1) RPM: 703, PWR: 0, VOLTAGE: 24.913V, TEMPERATURE: 46.97C, CURRENT: 0.872A
[0.912] (1) RPM: 719, PWR: 0, VOLTAGE: 24.924V, TEMPERATURE: 46.98C, CURRENT: 0.952A
[0.922] (1) RPM: 727, PWR: 0, VOLTAGE: 24.926V, TEMPERATURE: 46.98C, CURRENT: 0.864A
[0.932] (1) RPM: 735, PWR: 0, VOLTAGE: 24.921V, TEMPERATURE: 46.94C, CURRENT: 1.096A
[0.942] (1) RPM: 743, PWR: 0, VOLTAGE: 24.929V, TEMPERATURE: 46.94C, CURRENT: 1.016A
[0.952] (1) RPM: 751, PWR: 0, VOLTAGE: 24.925V, TEMPERATURE: 46.94C, CURRENT: 0.936A
[0.962] (1) RPM: 759, PWR: 0, VOLTAGE: 24.929V, TEMPERATURE: 46.95C, CURRENT: 0.864A
[0.972] (1) RPM: 767, PWR: 0, VOLTAGE: 24.925V, TEMPERATURE: 46.93C, CURRENT: 0.864A
[0.982] (1) RPM: 775, PWR: 0, VOLTAGE: 24.917V, TEMPERATURE: 46.96C, CURRENT: 0.936A
[0.992] (1) RPM: 784, PWR: 0, VOLTAGE: 24.926V, TEMPERATURE: 46.97C, CURRENT: 0.888A
[1.003] (1) RPM: 784, PWR: 0, VOLTAGE: 24.926V, TEMPERATURE: 46.97C, CURRENT: 0.888A
[1.012] (1) RPM: 799, PWR: 0, VOLTAGE: 24.931V, TEMPERATURE: 46.96C, CURRENT: 1.128A
[1.022] (1) RPM: 799, PWR: 0, VOLTAGE: 24.932V, TEMPERATURE: 46.94C, CURRENT: 0.064A
[1.032] (1) RPM: 993, PWR: 10, VOLTAGE: 24.939V, TEMPERATURE: 46.92C, CURRENT: 0.112A
[1.042] (1) RPM: 848, PWR: 10, VOLTAGE: 24.939V, TEMPERATURE: 46.92C, CURRENT: 0.088A
[1.052] (1) RPM: 933, PWR: 10, VOLTAGE: 24.941V, TEMPERATURE: 46.93C, CURRENT: 0.096A
[1.062] (1) RPM: 949, PWR: 10, VOLTAGE: 24.935V, TEMPERATURE: 46.96C, CURRENT: 0.032A
[1.072] (1) RPM: 980, PWR: 10, VOLTAGE: 24.932V, TEMPERATURE: 46.96C, CURRENT: 0.032A
[1.082] (1) RPM: 1144, PWR: 40, VOLTAGE: 24.881V, TEMPERATURE: 47.00C, CURRENT: 6.288A
[1.092] (1) RPM: 1016, PWR: 40, VOLTAGE: 24.846V, TEMPERATURE: 46.97C, CURRENT: 7.072A
[1.102] (1) RPM: 1016, PWR: 40, VOLTAGE: 24.846V, TEMPERATURE: 46.97C, CURRENT: 7.072A
[1.112] (1) RPM: 946, PWR: 40, VOLTAGE: 24.824V, TEMPERATURE: 47.01C, CURRENT: 7.552A
[1.122] (1) RPM: 911, PWR: 40, VOLTAGE: 24.844V, TEMPERATURE: 47.09C, CURRENT: 7.384A
[1.132] (1) RPM: 863, PWR: 40, VOLTAGE: 24.823V, TEMPERATURE: 47.10C, CURRENT: 7.032A
[1.142] (1) RPM: 808, PWR: 40, VOLTAGE: 24.825V, TEMPERATURE: 47.05C, CURRENT: 6.848A
[1.152] (1) RPM: 741, PWR: 40, VOLTAGE: 24.799V, TEMPERATURE: 47.08C, CURRENT: 6.824A
[1.162] (1) RPM: 655, PWR: 40, VOLTAGE: 24.811V, TEMPERATURE: 47.21C, CURRENT: 7.344A
[1.172] (1) RPM: 563, PWR: 40, VOLTAGE: 24.812V, TEMPERATURE: 47.24C, CURRENT: 7.704A
[1.182] (1) RPM: 449, PWR: 40, VOLTAGE: 24.795V, TEMPERATURE: 47.17C, CURRENT: 7.696A
[1.192] (1) RPM: 382, PWR: 40, VOLTAGE: 24.774V, TEMPERATURE: 47.13C, CURRENT: 8.416A
[1.202] (1) RPM: 382, PWR: 40, VOLTAGE: 24.774V, TEMPERATURE: 47.13C, CURRENT: 8.416A
[1.212] (1) RPM: 398, PWR: 40, VOLTAGE: 24.779V, TEMPERATURE: 47.29C, CURRENT: 8.528A
[1.222] (1) RPM: 439, PWR: 40, VOLTAGE: 24.768V, TEMPERATURE: 47.29C, CURRENT: 8.480A
[1.232] (1) RPM: 467, PWR: 40, VOLTAGE: 24.776V, TEMPERATURE: 47.29C, CURRENT: 8.304A
[1.242] (1) RPM: 484, PWR: 40, VOLTAGE: 24.800V, TEMPERATURE: 47.34C, CURRENT: 9.032A
[1.252] (1) RPM: 504, PWR: 40, VOLTAGE: 24.793V, TEMPERATURE: 47.36C, CURRENT: 8.576A
[1.262] (1) RPM: 519, PWR: 40, VOLTAGE: 24.805V, TEMPERATURE: 47.36C, CURRENT: 9.160A
[1.272] (1) RPM: 548, PWR: 40, VOLTAGE: 24.788V, TEMPERATURE: 47.24C, CURRENT: 8.640A
[1.282] (1) RPM: 589, PWR: 40, VOLTAGE: 24.804V, TEMPERATURE: 47.28C, CURRENT: 6.840A
[1.293] (1) RPM: 628, PWR: 40, VOLTAGE: 24.811V, TEMPERATURE: 47.33C, CURRENT: 6.976A
[1.303] (1) RPM: 628, PWR: 40, VOLTAGE: 24.811V, TEMPERATURE: 47.33C, CURRENT: 6.976A
[1.312] (1) RPM: 674, PWR: 40, VOLTAGE: 24.788V, TEMPERATURE: 47.24C, CURRENT: 7.192A
[1.322] (1) RPM: 708, PWR: 40, VOLTAGE: 24.823V, TEMPERATURE: 47.30C, CURRENT: 7.360A
[1.332] (1) RPM: 742, PWR: 40, VOLTAGE: 24.818V, TEMPERATURE: 47.38C, CURRENT: 6.752A
[1.342] (1) RPM: 742, PWR: 40, VOLTAGE: 24.797V, TEMPERATURE: 47.45C, CURRENT: 7.304A
[1.352] (1) RPM: 785, PWR: 40, VOLTAGE: 24.792V, TEMPERATURE: 47.36C, CURRENT: 6.816A
[1.362] (1) RPM: 802, PWR: 40, VOLTAGE: 24.806V, TEMPERATURE: 47.35C, CURRENT: 6.280A
[1.372] (1) RPM: 810, PWR: 40, VOLTAGE: 24.823V, TEMPERATURE: 47.32C, CURRENT: 6.424A
[1.382] (1) RPM: 1110, PWR: 40, VOLTAGE: 24.805V, TEMPERATURE: 47.33C, CURRENT: 5.832A
[1.393] (1) RPM: 858, PWR: 40, VOLTAGE: 24.823V, TEMPERATURE: 47.33C, CURRENT: 6.808A
[1.403] (1) RPM: 858, PWR: 40, VOLTAGE: 24.823V, TEMPERATURE: 47.33C, CURRENT: 6.808A
[1.412] (1) RPM: 899, PWR: 40, VOLTAGE: 24.830V, TEMPERATURE: 47.40C, CURRENT: 6.456A
[1.422] (1) RPM: 926, PWR: 40, VOLTAGE: 24.813V, TEMPERATURE: 47.39C, CURRENT: 6.008A
[1.432] (1) RPM: 925, PWR: 40, VOLTAGE: 24.795V, TEMPERATURE: 47.32C, CURRENT: 6.232A
[1.442] (1) RPM: 969, PWR: 40, VOLTAGE: 24.841V, TEMPERATURE: 47.31C, CURRENT: 6.120A
[1.452] (1) RPM: 970, PWR: 40, VOLTAGE: 24.812V, TEMPERATURE: 47.37C, CURRENT: 5.704A
[1.462] (1) RPM: 980, PWR: 40, VOLTAGE: 24.823V, TEMPERATURE: 47.43C, CURRENT: 6.352A
[1.472] (1) RPM: 1004, PWR: 40, VOLTAGE: 24.830V, TEMPERATURE: 47.36C, CURRENT: 6.392A
[1.482] (1) RPM: 1003, PWR: 40, VOLTAGE: 24.814V, TEMPERATURE: 47.36C, CURRENT: 6.384A
[1.493] (1) RPM: 1030, PWR: 40, VOLTAGE: 24.826V, TEMPERATURE: 47.28C, CURRENT: 6.376A
[1.503] (1) RPM: 1030, PWR: 40, VOLTAGE: 24.826V, TEMPERATURE: 47.28C, CURRENT: 6.376A
[1.512] (1) RPM: 10024, PWR: 40, VOLTAGE: 24.878V, TEMPERATURE: 47.28C, CURRENT: 1.096A
[1.522] (1) RPM: 9988, PWR: 40, VOLTAGE: 24.904V, TEMPERATURE: 47.30C, CURRENT: 1.480A
[1.532] (1) RPM: 9480, PWR: 40, VOLTAGE: 24.909V, TEMPERATURE: 47.32C, CURRENT: 1.824A
[1.542] (1) RPM: 9350, PWR: 40, VOLTAGE: 24.868V, TEMPERATURE: 47.37C, CURRENT: 1.496A
[1.552] (1) RPM: 8336, PWR: 40, VOLTAGE: 24.886V, TEMPERATURE: 47.32C, CURRENT: 2.832A
[1.562] (1) RPM: 3674, PWR: 40, VOLTAGE: 24.857V, TEMPERATURE: 47.40C, CURRENT: 4.008A
[1.572] (1) RPM: 2932, PWR: 40, VOLTAGE: 24.848V, TEMPERATURE: 47.38C, CURRENT: 4.096A
[1.582] (1) RPM: 2825, PWR: 40, VOLTAGE: 24.842V, TEMPERATURE: 47.52C, CURRENT: 4.416A
[1.592] (1) RPM: 2825, PWR: 40, VOLTAGE: 24.842V, TEMPERATURE: 47.52C, CURRENT: 4.416A
[1.602] (1) RPM: 2734, PWR: 40, VOLTAGE: 24.865V, TEMPERATURE: 47.52C, CURRENT: 5.152A
[1.612] (1) RPM: 2627, PWR: 40, VOLTAGE: 24.865V, TEMPERATURE: 47.59C, CURRENT: 5.080A
[1.622] (1) RPM: 2619, PWR: 40, VOLTAGE: 24.853V, TEMPERATURE: 47.52C, CURRENT: 4.560A
[1.632] (1) RPM: 2586, PWR: 40, VOLTAGE: 24.849V, TEMPERATURE: 47.52C, CURRENT: 4.048A
[1.642] (1) RPM: 2532, PWR: 40, VOLTAGE: 24.845V, TEMPERATURE: 47.57C, CURRENT: 4.008A
[1.652] (1) RPM: 2431, PWR: 40, VOLTAGE: 24.812V, TEMPERATURE: 47.55C, CURRENT: 5.528A
[1.663] (1) RPM: 2411, PWR: 40, VOLTAGE: 24.830V, TEMPERATURE: 47.63C, CURRENT: 4.760A
[1.672] (1) RPM: 2505, PWR: 40, VOLTAGE: 24.843V, TEMPERATURE: 47.47C, CURRENT: 5.264A
[1.683] (1) RPM: 2485, PWR: 40, VOLTAGE: 24.827V, TEMPERATURE: 47.53C, CURRENT: 4.856A
[1.693] (1) RPM: 2485, PWR: 40, VOLTAGE: 24.827V, TEMPERATURE: 47.53C, CURRENT: 4.856A
[1.702] (1) RPM: 1949, PWR: 40, VOLTAGE: 24.843V, TEMPERATURE: 47.51C, CURRENT: 4.344A
[1.712] (1) RPM: 2392, PWR: 40, VOLTAGE: 24.828V, TEMPERATURE: 47.63C, CURRENT: 4.640A
[1.722] (1) RPM: 2457, PWR: 40, VOLTAGE: 24.850V, TEMPERATURE: 47.60C, CURRENT: 5.160A
[1.732] (1) RPM: 2359, PWR: 40, VOLTAGE: 24.839V, TEMPERATURE: 47.56C, CURRENT: 6.328A
[1.742] (1) RPM: 1800, PWR: 40, VOLTAGE: 24.821V, TEMPERATURE: 47.55C, CURRENT: 5.336A
[1.752] (1) RPM: 2452, PWR: 40, VOLTAGE: 24.846V, TEMPERATURE: 47.54C, CURRENT: 4.216A
[1.762] (1) RPM: 2370, PWR: 40, VOLTAGE: 24.840V, TEMPERATURE: 47.58C, CURRENT: 5.360A
[1.772] (1) RPM: 2420, PWR: 40, VOLTAGE: 24.861V, TEMPERATURE: 47.59C, CURRENT: 4.320A
[1.783] (1) RPM: 2365, PWR: 40, VOLTAGE: 24.846V, TEMPERATURE: 47.61C, CURRENT: 4.824A
[1.793] (1) RPM: 2365, PWR: 40, VOLTAGE: 24.846V, TEMPERATURE: 47.61C, CURRENT: 4.824A
[1.802] (1) RPM: 2361, PWR: 40, VOLTAGE: 24.837V, TEMPERATURE: 47.63C, CURRENT: 4.472A
[1.812] (1) RPM: 2338, PWR: 40, VOLTAGE: 24.853V, TEMPERATURE: 47.65C, CURRENT: 4.920A
[1.822] (1) RPM: 2360, PWR: 40, VOLTAGE: 24.852V, TEMPERATURE: 47.68C, CURRENT: 4.824A
[1.832] (1) RPM: 2326, PWR: 40, VOLTAGE: 24.829V, TEMPERATURE: 47.73C, CURRENT: 4.696A
[1.842] (1) RPM: 2276, PWR: 40, VOLTAGE: 24.818V, TEMPERATURE: 47.78C, CURRENT: 4.968A
[1.852] (1) RPM: 2367, PWR: 40, VOLTAGE: 24.829V, TEMPERATURE: 47.75C, CURRENT: 4.016A
[1.862] (1) RPM: 2333, PWR: 40, VOLTAGE: 24.864V, TEMPERATURE: 47.74C, CURRENT: 5.440A
[1.872] (1) RPM: 2284, PWR: 40, VOLTAGE: 24.842V, TEMPERATURE: 47.77C, CURRENT: 5.088A
[1.882] (1) RPM: 2373, PWR: 40, VOLTAGE: 24.850V, TEMPERATURE: 47.81C, CURRENT: 5.640A
[1.892] (1) RPM: 2373, PWR: 40, VOLTAGE: 24.850V, TEMPERATURE: 47.81C, CURRENT: 5.640A
[1.902] (1) RPM: 2299, PWR: 40, VOLTAGE: 24.839V, TEMPERATURE: 47.77C, CURRENT: 5.344A
[1.912] (1) RPM: 2316, PWR: 40, VOLTAGE: 24.847V, TEMPERATURE: 47.75C, CURRENT: 4.304A
[1.922] (1) RPM: 2352, PWR: 40, VOLTAGE: 24.847V, TEMPERATURE: 47.79C, CURRENT: 5.160A
[1.932] (1) RPM: 2271, PWR: 40, VOLTAGE: 24.832V, TEMPERATURE: 47.83C, CURRENT: 4.984A
[1.942] (1) RPM: 2346, PWR: 40, VOLTAGE: 24.856V, TEMPERATURE: 47.92C, CURRENT: 4.248A
[1.952] (1) RPM: 2354, PWR: 40, VOLTAGE: 24.833V, TEMPERATURE: 47.94C, CURRENT: 4.904A
[1.962] (1) RPM: 2262, PWR: 40, VOLTAGE: 24.843V, TEMPERATURE: 47.88C, CURRENT: 5.928A
[1.972] (1) RPM: 2355, PWR: 40, VOLTAGE: 24.844V, TEMPERATURE: 47.94C, CURRENT: 4.584A
[1.983] (1) RPM: 2241, PWR: 40, VOLTAGE: 24.820V, TEMPERATURE: 47.89C, CURRENT: 4.936A
[1.992] (1) RPM: 2241, PWR: 40, VOLTAGE: 24.820V, TEMPERATURE: 47.89C, CURRENT: 4.936A
[2.002] (1) RPM: 2316, PWR: 40, VOLTAGE: 24.834V, TEMPERATURE: 47.85C, CURRENT: 4.360A
[2.012] (1) RPM: 2369, PWR: 40, VOLTAGE: 24.878V, TEMPERATURE: 47.86C, CURRENT: 5.240A
[2.022] (1) RPM: 2254, PWR: 40, VOLTAGE: 24.840V, TEMPERATURE: 47.93C, CURRENT: 5.232A
[2.032] (1) RPM: 2327, PWR: 40, VOLTAGE: 24.844V, TEMPERATURE: 47.97C, CURRENT: 4.176A
[2.042] (1) RPM: 2331, PWR: 40, VOLTAGE: 24.835V, TEMPERATURE: 47.97C, CURRENT: 4.464A
[2.052] (1) RPM: 2270, PWR: 40, VOLTAGE: 24.855V, TEMPERATURE: 47.97C, CURRENT: 4.712A
[2.062] (1) RPM: 2360, PWR: 40, VOLTAGE: 24.853V, TEMPERATURE: 48.00C, CURRENT: 5.256A
[2.072] (1) RPM: 2375, PWR: 40, VOLTAGE: 24.839V, TEMPERATURE: 47.98C, CURRENT: 4.512A
[2.082] (1) RPM: 2274, PWR: 40, VOLTAGE: 24.833V, TEMPERATURE: 47.92C, CURRENT: 5.352A
[2.093] (1) RPM: 2274, PWR: 40, VOLTAGE: 24.833V, TEMPERATURE: 47.92C, CURRENT: 5.352A
[2.102] (1) RPM: 2320, PWR: 40, VOLTAGE: 24.816V, TEMPERATURE: 47.98C, CURRENT: 5.000A
[2.112] (1) RPM: 2318, PWR: 40, VOLTAGE: 24.823V, TEMPERATURE: 48.03C, CURRENT: 4.096A
[2.122] (1) RPM: 2385, PWR: 40, VOLTAGE: 24.832V, TEMPERATURE: 48.09C, CURRENT: 4.136A
[2.132] (1) RPM: 2279, PWR: 40, VOLTAGE: 24.852V, TEMPERATURE: 48.11C, CURRENT: 5.520A
[2.142] (1) RPM: 2315, PWR: 40, VOLTAGE: 24.830V, TEMPERATURE: 48.18C, CURRENT: 4.816A
[2.152] (1) RPM: 2398, PWR: 40, VOLTAGE: 24.852V, TEMPERATURE: 48.13C, CURRENT: 4.944A
[2.162] (1) RPM: 2284, PWR: 40, VOLTAGE: 24.823V, TEMPERATURE: 48.11C, CURRENT: 5.312A
[2.172] (1) RPM: 2302, PWR: 40, VOLTAGE: 24.839V, TEMPERATURE: 48.16C, CURRENT: 5.216A
[2.183] (1) RPM: 2276, PWR: 40, VOLTAGE: 24.839V, TEMPERATURE: 48.13C, CURRENT: 5.200A
[2.192] (1) RPM: 2276, PWR: 40, VOLTAGE: 24.839V, TEMPERATURE: 48.13C, CURRENT: 5.200A
[2.202] (1) RPM: 2328, PWR: 40, VOLTAGE: 24.842V, TEMPERATURE: 48.19C, CURRENT: 4.208A
[2.212] (1) RPM: 2388, PWR: 40, VOLTAGE: 24.863V, TEMPERATURE: 48.15C, CURRENT: 5.048A
[2.222] (1) RPM: 2259, PWR: 40, VOLTAGE: 24.806V, TEMPERATURE: 48.16C, CURRENT: 5.048A
[2.232] (1) RPM: 2328, PWR: 40, VOLTAGE: 24.833V, TEMPERATURE: 48.19C, CURRENT: 4.544A
[2.242] (1) RPM: 2348, PWR: 40, VOLTAGE: 24.834V, TEMPERATURE: 48.23C, CURRENT: 4.984A
[2.252] (1) RPM: 2277, PWR: 40, VOLTAGE: 24.830V, TEMPERATURE: 48.21C, CURRENT: 4.984A
[2.262] (1) RPM: 2332, PWR: 40, VOLTAGE: 24.831V, TEMPERATURE: 48.18C, CURRENT: 5.144A
[2.272] (1) RPM: 2315, PWR: 40, VOLTAGE: 24.833V, TEMPERATURE: 48.20C, CURRENT: 5.000A
[2.283] (1) RPM: 2354, PWR: 40, VOLTAGE: 24.838V, TEMPERATURE: 48.23C, CURRENT: 5.448A
[2.292] (1) RPM: 2354, PWR: 40, VOLTAGE: 24.838V, TEMPERATURE: 48.23C, CURRENT: 5.448A
[2.302] (1) RPM: 2279, PWR: 40, VOLTAGE: 24.832V, TEMPERATURE: 48.25C, CURRENT: 5.000A
[2.312] (1) RPM: 2307, PWR: 40, VOLTAGE: 24.831V, TEMPERATURE: 48.33C, CURRENT: 5.096A
[2.322] (1) RPM: 5555, PWR: 40, VOLTAGE: 24.847V, TEMPERATURE: 48.38C, CURRENT: 3.064A
[2.332] (1) RPM: 5683, PWR: 40, VOLTAGE: 24.848V, TEMPERATURE: 48.40C, CURRENT: 3.456A
[2.342] (1) RPM: 2258, PWR: 40, VOLTAGE: 24.841V, TEMPERATURE: 48.44C, CURRENT: 5.168A
[2.352] (1) RPM: 2254, PWR: 40, VOLTAGE: 24.820V, TEMPERATURE: 48.43C, CURRENT: 4.016A
[2.362] (1) RPM: 2282, PWR: 40, VOLTAGE: 24.847V, TEMPERATURE: 48.47C, CURRENT: 5.288A
[2.372] (1) RPM: 2286, PWR: 40, VOLTAGE: 24.826V, TEMPERATURE: 48.44C, CURRENT: 5.368A
[2.382] (1) RPM: 2203, PWR: 40, VOLTAGE: 24.871V, TEMPERATURE: 48.48C, CURRENT: 4.912A
[2.392] (1) RPM: 2203, PWR: 40, VOLTAGE: 24.871V, TEMPERATURE: 48.48C, CURRENT: 4.912A
[2.402] (1) RPM: 2179, PWR: 40, VOLTAGE: 24.835V, TEMPERATURE: 48.53C, CURRENT: 5.352A
[2.412] (1) RPM: 2267, PWR: 40, VOLTAGE: 24.834V, TEMPERATURE: 48.54C, CURRENT: 4.256A
[2.422] (1) RPM: 2353, PWR: 40, VOLTAGE: 24.833V, TEMPERATURE: 48.51C, CURRENT: 4.728A
[2.432] (1) RPM: 2308, PWR: 40, VOLTAGE: 24.834V, TEMPERATURE: 48.53C, CURRENT: 4.592A
[2.443] (1) RPM: 2206, PWR: 40, VOLTAGE: 24.829V, TEMPERATURE: 48.54C, CURRENT: 4.744A
[2.452] (1) RPM: 2302, PWR: 40, VOLTAGE: 24.823V, TEMPERATURE: 48.57C, CURRENT: 4.256A
[2.462] (1) RPM: 2349, PWR: 40, VOLTAGE: 24.831V, TEMPERATURE: 48.62C, CURRENT: 5.248A
[2.472] (1) RPM: 2297, PWR: 40, VOLTAGE: 24.843V, TEMPERATURE: 48.60C, CURRENT: 5.008A
[2.482] (1) RPM: 2368, PWR: 40, VOLTAGE: 24.827V, TEMPERATURE: 48.58C, CURRENT: 4.328A
[2.493] (1) RPM: 2368, PWR: 40, VOLTAGE: 24.827V, TEMPERATURE: 48.58C, CURRENT: 4.328A
[2.502] (1) RPM: 2734, PWR: 40, VOLTAGE: 24.846V, TEMPERATURE: 48.63C, CURRENT: 5.496A
[2.512] (1) RPM: 2251, PWR: 40, VOLTAGE: 24.813V, TEMPERATURE: 48.62C, CURRENT: 4.440A
[2.522] (1) RPM: 2268, PWR: 40, VOLTAGE: 24.813V, TEMPERATURE: 48.59C, CURRENT: 4.640A
[2.532] (1) RPM: 2235, PWR: 40, VOLTAGE: 24.845V, TEMPERATURE: 48.56C, CURRENT: 4.376A
[2.542] (1) RPM: 2224, PWR: 40, VOLTAGE: 24.839V, TEMPERATURE: 48.56C, CURRENT: 4.960A
[2.552] (1) RPM: 2187, PWR: 40, VOLTAGE: 24.796V, TEMPERATURE: 48.65C, CURRENT: 6.192A
[2.562] (1) RPM: 2275, PWR: 40, VOLTAGE: 24.828V, TEMPERATURE: 48.75C, CURRENT: 4.008A
[2.572] (1) RPM: 2318, PWR: 40, VOLTAGE: 24.820V, TEMPERATURE: 48.76C, CURRENT: 4.240A
[2.583] (1) RPM: 2323, PWR: 40, VOLTAGE: 24.836V, TEMPERATURE: 48.75C, CURRENT: 4.600A
[2.593] (1) RPM: 2323, PWR: 40, VOLTAGE: 24.836V, TEMPERATURE: 48.75C, CURRENT: 4.600A
[2.602] (1) RPM: 2375, PWR: 40, VOLTAGE: 24.834V, TEMPERATURE: 48.82C, CURRENT: 5.176A
[2.612] (1) RPM: 2367, PWR: 40, VOLTAGE: 24.866V, TEMPERATURE: 48.79C, CURRENT: 4.864A
[2.622] (1) RPM: 2278, PWR: 40, VOLTAGE: 24.834V, TEMPERATURE: 48.83C, CURRENT: 4.376A
[2.632] (1) RPM: 2369, PWR: 40, VOLTAGE: 24.837V, TEMPERATURE: 48.80C, CURRENT: 4.312A
[2.642] (1) RPM: 2292, PWR: 40, VOLTAGE: 24.835V, TEMPERATURE: 48.94C, CURRENT: 5.296A
[2.652] (1) RPM: 2318, PWR: 40, VOLTAGE: 24.815V, TEMPERATURE: 48.92C, CURRENT: 4.992A
[2.662] (1) RPM: 2388, PWR: 40, VOLTAGE: 24.844V, TEMPERATURE: 48.96C, CURRENT: 4.488A
[2.672] (1) RPM: 2276, PWR: 40, VOLTAGE: 24.834V, TEMPERATURE: 48.92C, CURRENT: 4.672A
[2.682] (1) RPM: 2399, PWR: 40, VOLTAGE: 24.824V, TEMPERATURE: 48.91C, CURRENT: 3.904A
[2.693] (1) RPM: 2341, PWR: 40, VOLTAGE: 24.831V, TEMPERATURE: 48.89C, CURRENT: 3.880A
[2.703] (1) RPM: 2341, PWR: 40, VOLTAGE: 24.831V, TEMPERATURE: 48.89C, CURRENT: 3.880A
[2.712] (1) RPM: 2322, PWR: 40, VOLTAGE: 24.829V, TEMPERATURE: 49.01C, CURRENT: 4.560A
[2.722] (1) RPM: 2255, PWR: 40, VOLTAGE: 24.810V, TEMPERATURE: 49.03C, CURRENT: 5.424A
[2.732] (1) RPM: 2299, PWR: 40, VOLTAGE: 24.828V, TEMPERATURE: 49.07C, CURRENT: 5.160A
[2.742] (1) RPM: 2401, PWR: 40, VOLTAGE: 24.827V, TEMPERATURE: 49.02C, CURRENT: 5.952A
[2.752] (1) RPM: 2311, PWR: 40, VOLTAGE: 24.832V, TEMPERATURE: 49.00C, CURRENT: 5.176A
[2.762] (1) RPM: 2343, PWR: 40, VOLTAGE: 24.859V, TEMPERATURE: 49.06C, CURRENT: 4.632A
[2.772] (1) RPM: 2409, PWR: 40, VOLTAGE: 24.841V, TEMPERATURE: 49.07C, CURRENT: 5.408A
[2.782] (1) RPM: 2265, PWR: 40, VOLTAGE: 24.819V, TEMPERATURE: 48.99C, CURRENT: 4.896A
[2.792] (1) RPM: 2265, PWR: 40, VOLTAGE: 24.819V, TEMPERATURE: 48.99C, CURRENT: 4.896A
[2.804] (1) RPM: 2296, PWR: 40, VOLTAGE: 24.830V, TEMPERATURE: 49.09C, CURRENT: 4.616A
[2.812] (1) RPM: 2274, PWR: 40, VOLTAGE: 24.806V, TEMPERATURE: 49.21C, CURRENT: 4.464A
[2.822] (1) RPM: 2376, PWR: 40, VOLTAGE: 24.819V, TEMPERATURE: 49.24C, CURRENT: 3.952A
[2.832] (1) RPM: 2269, PWR: 40, VOLTAGE: 24.824V, TEMPERATURE: 49.24C, CURRENT: 4.376A
[2.842] (1) RPM: 2337, PWR: 40, VOLTAGE: 24.827V, TEMPERATURE: 49.23C, CURRENT: 3.944A
[2.852] (1) RPM: 2392, PWR: 40, VOLTAGE: 24.846V, TEMPERATURE: 49.16C, CURRENT: 4.016A
[2.862] (1) RPM: 2253, PWR: 40, VOLTAGE: 24.832V, TEMPERATURE: 49.12C, CURRENT: 4.880A
[2.872] (1) RPM: 2383, PWR: 40, VOLTAGE: 24.844V, TEMPERATURE: 49.17C, CURRENT: 4.488A
[2.882] (1) RPM: 2265, PWR: 40, VOLTAGE: 24.826V, TEMPERATURE: 49.20C, CURRENT: 4.824A
[2.893] (1) RPM: 2265, PWR: 40, VOLTAGE: 24.826V, TEMPERATURE: 49.20C, CURRENT: 4.824A
[2.902] (1) RPM: 2400, PWR: 40, VOLTAGE: 24.841V, TEMPERATURE: 49.27C, CURRENT: 4.264A
[2.912] (1) RPM: 2325, PWR: 40, VOLTAGE: 24.836V, TEMPERATURE: 49.28C, CURRENT: 5.072A
[2.922] (1) RPM: 2352, PWR: 40, VOLTAGE: 24.810V, TEMPERATURE: 49.31C, CURRENT: 3.928A
[2.932] (1) RPM: 2393, PWR: 40, VOLTAGE: 24.838V, TEMPERATURE: 49.35C, CURRENT: 4.328A
[2.942] (1) RPM: 2289, PWR: 40, VOLTAGE: 24.822V, TEMPERATURE: 49.40C, CURRENT: 4.432A
[2.952] (1) RPM: 2345, PWR: 40, VOLTAGE: 24.832V, TEMPERATURE: 49.43C, CURRENT: 3.824A
[2.962] (1) RPM: 2346, PWR: 40, VOLTAGE: 24.858V, TEMPERATURE: 49.43C, CURRENT: 3.944A
[2.972] (1) RPM: 2259, PWR: 40, VOLTAGE: 24.833V, TEMPERATURE: 49.39C, CURRENT: 4.800A
[2.983] (1) RPM: 2262, PWR: 40, VOLTAGE: 24.828V, TEMPERATURE: 49.49C, CURRENT: 4.328A
[2.993] (1) RPM: 2262, PWR: 40, VOLTAGE: 24.828V, TEMPERATURE: 49.49C, CURRENT: 4.328A
[3.002] (1) RPM: 2314, PWR: 40, VOLTAGE: 24.805V, TEMPERATURE: 49.49C, CURRENT: 4.456A
[3.013] (1) RPM: 2325, PWR: 40, VOLTAGE: 24.822V, TEMPERATURE: 49.51C, CURRENT: 4.176A
[3.022] (1) RPM: 2295, PWR: 40, VOLTAGE: 24.828V, TEMPERATURE: 49.52C, CURRENT: 5.632A
[3.032] (1) RPM: 2343, PWR: 40, VOLTAGE: 24.829V, TEMPERATURE: 49.49C, CURRENT: 4.016A
[3.042] (1) RPM: 2303, PWR: 40, VOLTAGE: 24.830V, TEMPERATURE: 49.49C, CURRENT: 5.184A
[3.052] (1) RPM: 2287, PWR: 40, VOLTAGE: 24.826V, TEMPERATURE: 49.48C, CURRENT: 4.776A
[3.062] (1) RPM: 5707, PWR: 40, VOLTAGE: 24.841V, TEMPERATURE: 49.49C, CURRENT: 3.056A
[3.072] (1) RPM: 5671, PWR: 40, VOLTAGE: 24.847V, TEMPERATURE: 49.54C, CURRENT: 2.984A
[3.082] (1) RPM: 2334, PWR: 40, VOLTAGE: 24.829V, TEMPERATURE: 49.49C, CURRENT: 4.792A
[3.092] (1) RPM: 2334, PWR: 40, VOLTAGE: 24.829V, TEMPERATURE: 49.49C, CURRENT: 4.792A
[3.102] (1) RPM: 2230, PWR: 40, VOLTAGE: 24.821V, TEMPERATURE: 49.55C, CURRENT: 4.880A
[3.112] (1) RPM: 2282, PWR: 40, VOLTAGE: 24.823V, TEMPERATURE: 49.62C, CURRENT: 4.608A
[3.122] (1) RPM: 2297, PWR: 40, VOLTAGE: 24.837V, TEMPERATURE: 49.58C, CURRENT: 5.192A
[3.132] (1) RPM: 2213, PWR: 40, VOLTAGE: 24.814V, TEMPERATURE: 49.64C, CURRENT: 5.616A
[3.142] (1) RPM: 2203, PWR: 40, VOLTAGE: 24.830V, TEMPERATURE: 49.56C, CURRENT: 5.056A
[3.152] (1) RPM: 2228, PWR: 40, VOLTAGE: 24.815V, TEMPERATURE: 49.63C, CURRENT: 3.672A
[3.162] (1) RPM: 2338, PWR: 40, VOLTAGE: 24.815V, TEMPERATURE: 49.58C, CURRENT: 4.312A
[3.172] (1) RPM: 2361, PWR: 40, VOLTAGE: 24.843V, TEMPERATURE: 49.61C, CURRENT: 5.288A
[3.182] (1) RPM: 2294, PWR: 40, VOLTAGE: 24.829V, TEMPERATURE: 49.68C, CURRENT: 5.320A
[3.192] (1) RPM: 2294, PWR: 40, VOLTAGE: 24.829V, TEMPERATURE: 49.68C, CURRENT: 5.320A
[3.202] (1) RPM: 2310, PWR: 40, VOLTAGE: 24.821V, TEMPERATURE: 49.73C, CURRENT: 4.792A
[3.212] (1) RPM: 2279, PWR: 40, VOLTAGE: 24.823V, TEMPERATURE: 49.74C, CURRENT: 4.432A
[3.222] (1) RPM: 2418, PWR: 40, VOLTAGE: 24.830V, TEMPERATURE: 49.74C, CURRENT: 4.600A
[3.232] (1) RPM: 2275, PWR: 40, VOLTAGE: 24.815V, TEMPERATURE: 49.86C, CURRENT: 4.640A
[3.242] (1) RPM: 2356, PWR: 40, VOLTAGE: 24.830V, TEMPERATURE: 49.83C, CURRENT: 4.224A
[3.252] (1) RPM: 2325, PWR: 40, VOLTAGE: 24.831V, TEMPERATURE: 49.82C, CURRENT: 4.280A
[3.262] (1) RPM: 2300, PWR: 40, VOLTAGE: 24.823V, TEMPERATURE: 49.78C, CURRENT: 4.496A
[3.272] (1) RPM: 2418, PWR: 40, VOLTAGE: 24.817V, TEMPERATURE: 49.80C, CURRENT: 5.352A
[3.282] (1) RPM: 2370, PWR: 40, VOLTAGE: 24.828V, TEMPERATURE: 49.94C, CURRENT: 4.088A
[3.293] (1) RPM: 2370, PWR: 40, VOLTAGE: 24.828V, TEMPERATURE: 49.94C, CURRENT: 4.088A
[3.302] (1) RPM: 2316, PWR: 40, VOLTAGE: 24.828V, TEMPERATURE: 49.87C, CURRENT: 4.072A
[3.312] (1) RPM: 2344, PWR: 40, VOLTAGE: 24.839V, TEMPERATURE: 49.86C, CURRENT: 4.424A
[3.322] (1) RPM: 2428, PWR: 40, VOLTAGE: 24.824V, TEMPERATURE: 49.89C, CURRENT: 4.872A
[3.332] (1) RPM: 2271, PWR: 40, VOLTAGE: 24.847V, TEMPERATURE: 49.91C, CURRENT: 4.408A
[3.342] (1) RPM: 2391, PWR: 40, VOLTAGE: 24.828V, TEMPERATURE: 50.00C, CURRENT: 4.392A
[3.352] (1) RPM: 2283, PWR: 40, VOLTAGE: 24.829V, TEMPERATURE: 49.93C, CURRENT: 5.312A
[3.362] (1) RPM: 2343, PWR: 40, VOLTAGE: 24.833V, TEMPERATURE: 50.05C, CURRENT: 4.128A
[3.372] (1) RPM: 2295, PWR: 40, VOLTAGE: 24.820V, TEMPERATURE: 50.06C, CURRENT: 4.304A
[3.383] (1) RPM: 2382, PWR: 40, VOLTAGE: 24.828V, TEMPERATURE: 50.03C, CURRENT: 4.128A
[3.392] (1) RPM: 2382, PWR: 40, VOLTAGE: 24.828V, TEMPERATURE: 50.03C, CURRENT: 4.128A
[3.402] (1) RPM: 2280, PWR: 40, VOLTAGE: 24.834V, TEMPERATURE: 49.98C, CURRENT: 4.080A
[3.412] (1) RPM: 2393, PWR: 40, VOLTAGE: 24.822V, TEMPERATURE: 49.97C, CURRENT: 4.432A
[3.422] (1) RPM: 2318, PWR: 40, VOLTAGE: 24.831V, TEMPERATURE: 50.00C, CURRENT: 5.880A
[3.432] (1) RPM: 2337, PWR: 40, VOLTAGE: 24.839V, TEMPERATURE: 50.04C, CURRENT: 4.000A
[3.442] (1) RPM: 2371, PWR: 40, VOLTAGE: 24.816V, TEMPERATURE: 50.11C, CURRENT: 4.560A
[3.452] (1) RPM: 2323, PWR: 40, VOLTAGE: 24.835V, TEMPERATURE: 50.15C, CURRENT: 4.992A
[3.462] (1) RPM: 2356, PWR: 40, VOLTAGE: 24.846V, TEMPERATURE: 50.05C, CURRENT: 4.456A
[3.472] (1) RPM: 2286, PWR: 40, VOLTAGE: 24.837V, TEMPERATURE: 50.06C, CURRENT: 5.256A
[3.482] (1) RPM: 2420, PWR: 40, VOLTAGE: 24.856V, TEMPERATURE: 50.08C, CURRENT: 5.208A
[3.492] (1) RPM: 2420, PWR: 40, VOLTAGE: 24.856V, TEMPERATURE: 50.08C, CURRENT: 5.208A
Finished!
[1705518380.137016] TX=358, RX=356 packets, RX CRC ERRORS=0
Average RPMs: 0.00 2378.00 0.00 0.00
Average RPM deviation between ESCs : 2378.00
False
WARNING: In order to plot the results, install the Python "plotly" module: pip3 install plotly --upgrade
## Reply by Alex Kushleyev (ModalAI staff) · 2024-01-17 19:11:53 UTC
Yes, potentially. You should follow the steps to update your firmware and params specifically for low kv motors as I suggested and documented
## Reply by Matthew Wellner · 2024-01-17 19:33:37 UTC (in reply to Alex Kushleyev)
@Alex-Kushleyev
Just to confirm - I updated the params file (mn4006 low kv) according to the instructions and I am on this ESC firmware: version 39, hash d4fe8e3d. The firmware you list is 39 RC11, is the firmware I'm running good, or do I need to use the RC11 version? Everything else is the same as in your instructions.
Thanks!
## Reply by Matthew Wellner · 2024-01-17 19:41:25 UTC (in reply to Matthew Wellner)
@Alex-Kushleyev - Nevermind. I see you checked it in 2 days ago. I am updating the firmware now. Sorry!!
## Reply by Alex Kushleyev (ModalAI staff) · 2024-01-17 19:41:58 UTC (in reply to Matthew Wellner)
@Matthew-Wellner you need the firmware `modalai_esc_firmware_m0134_6_v0_39_RC11_17d64675.bin` - there is an update specifically to address the de-sync issue. as well as the params i mentioned, most importantly `timing_advance`, `sense_advance` and `demag_timing`
## Reply by Alex Kushleyev (ModalAI staff) · 2024-01-17 19:43:02 UTC (in reply to Alex Kushleyev)
also please review params that i used for a similar motor : https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/blob/dev/voxl-esc-params/low_kv/mn4006_m0134_6_low_kv.xml
## Reply by Matthew Wellner · 2024-01-17 19:46:41 UTC (in reply to Alex Kushleyev)
@Alex-Kushleyev
The firmware update worked! Sorry again for not paying better attention :face_palm:
## Reply by Matthew Wellner · 2024-01-17 19:51:06 UTC (in reply to Matthew Wellner)
@Matthew-Wellner said in [Can you power VOXL2 from the ModalAI 6s ESC?](/post/14026):
> @Alex-Kushleyev
>
> The firmware update worked! Sorry again for not paying better attention :face_palm:
Ugh - I spoke too soon... 50%+ is still having issues, but I am going to re-run through everything again to make sure I didn't miss anything else.
Thanks again!
## Reply by Alex Kushleyev (ModalAI staff) · 2024-01-17 19:51:50 UTC (in reply to Matthew Wellner)
@Matthew-Wellner - good! not de-syncing now? Are you looking at the plots that are being saved after the test? visual inspection of the data is always good, once you look at a few plots and become familiar with what to expect you can easily spot if there are any issues.
By the way, the test you are doing by commanding `--power 40` etc, will essentially step from initial power of around 10 to 40. This is fine. I have been doing my step testing starting at 20%, which is a more realistic condition (stop from 20 to 50, 20 to 70, 20 to 90, 20 to 100 -- gradually increasing to build confidence). Stepping from 10 should be ok, but will experience even more aggressive transition.. let me know if you run into any issues with that.
If you did not actually want an instant step when you are using `voxl-esc-spin.py` command, you can provide `--ramp-time 2.0` argument (which will gradually ramp up)
## Reply by Alex Kushleyev (ModalAI staff) · 2024-01-17 19:54:05 UTC (in reply to Alex Kushleyev)
can you try the ramp test
```
https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/blob/dev/voxl-esc-tools/doc/low_kv_motor_tuning.md?ref_type=heads#power-ramp-test
```
and the step tests
```
https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/blob/dev/voxl-esc-tools/doc/low_kv_motor_tuning.md?ref_type=heads#power-step-tests
```
## Reply by Alex Kushleyev (ModalAI staff) · 2024-01-17 19:57:04 UTC (in reply to Alex Kushleyev)
i think the issue may be happening because you are punching a lot of power right after spin-up.
You can try increasing the following parameter to make sure the motor is fully spun up :
https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/blob/dev/voxl-esc-params/low_kv/mn4006_m0134_6_low_kv.xml?ref_type=heads#L77 increase to 500
I may need to add some protection against applying high power from very low rpm, as it is a really tough case
## Reply by Matthew Wellner · 2024-01-17 19:57:15 UTC (in reply to Alex Kushleyev)
@Alex-Kushleyev
I was trying to avoid those tests before I had a proper setup to clamp the drone down, but I'll work on getting that together now and I'll give the ramp test a try.
Thanks!
## Reply by Alex Kushleyev (ModalAI staff) · 2024-01-17 19:58:17 UTC (in reply to Matthew Wellner)
@Matthew-Wellner , yes.. safety first!
## Reply by Alex Kushleyev (ModalAI staff) · 2024-01-17 20:32:18 UTC (in reply to Alex Kushleyev)
I tried your test on my set up (mn4006 380kv, 15" prop), i cannot reproduce the issue. Please make sure that the following params are set correctly:
```
```
If i set timing advance to something much lower, i can reproduce an issue, the motor makes a high pitch sound.
Also please check the spin-up params. you could increase the spin-up rpm target to make sure the motor spins a bit faster after spin-up.
Here is a plot of the following test (don't run at such high power until you make sure the lower power works fine :) :
```
./voxl-esc-spin.py --id 3 --power 100 --timeout 1.5 --enable-plot 1
```
You can see three phases of the motor spin-up
- smooth sinusoidal spinup (t=0..1s)
- short transition to 6-step commutation control (t=1.0..1.05s)
- apply desired power with a slight slew rate limit (rate limit happens internally to firmware). Motor accelerates to maximum RPM. t=1.05.. 1.5s
## Reply by Matthew Wellner · 2024-01-18 19:13:30 UTC (in reply to Alex Kushleyev)
@Alex-Kushleyev
The ramp tests seems to have worked. I think that I was jumping the power up too quickly like you suggested. I'll get into trying to calibrate now. Thanks!!
## Reply by Matthew Wellner · 2024-01-18 19:19:29 UTC (in reply to Alex Kushleyev)
@Alex-Kushleyev said in [Can you power VOXL2 from the ModalAI 6s ESC?](/post/14029):
> https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/blob/dev/voxl-esc-tools/doc/low_kv_motor_tuning.md?ref_type=heads#power-step-tests
When I run the step tests, I can get up to the step amplitude of 70 successfully. When I try 20-100, it looks like I start to desync.
## Reply by Matthew Wellner · 2024-01-18 20:10:46 UTC (in reply to Matthew Wellner)
@Alex-Kushleyev
One last question - How do I get new values for kp & ki, or do I just leave them at 0?
## Reply by Alex Kushleyev (ModalAI staff) · 2024-01-18 20:29:49 UTC (in reply to Matthew Wellner)
@Matthew-Wellner , ok the results are not too bad. I will keep working on improving the low kv performance, but i think what you have should be sufficient.
You can also push the commutation advance a bit higher from 60 to 70 or 75, that should improve even more at an expense of a bit of motor efficiency.
You should be ready for the rpm controller, please run the calibration procedure. You can set kp=50, ki=10 to give it a little bit feedback.
Another thing that will prevent de-sync is the max_rpm_delta, which is basically the maximum RPM error that is used in the RPM controller. You can start by capping it about 2/3 of the max rpm and after calibration you can see if RPM step tests result in any de-syncs.
By the way, if you leave kp=0 and ki=0, the performance (speed of response) should be similar to a traditional ESC, but still better because of the Feed Forward curve and battery voltage compensation. So you can experiment with this and even kp=0 and ki=0 will still result in good performance. But a little better should be the defaults that i have here :https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/blob/dev/voxl-esc-params/low_kv/mn4006_m0134_6_low_kv.xml#L62 including `max_kpe` and `max_kie` (and `max_rpm_delta` you can adjust if you see any de-syncs during rpm step tests)
## Reply by Alex Kushleyev (ModalAI staff) · 2024-01-18 20:32:10 UTC (in reply to Alex Kushleyev)
Also, keep in mind that the step tests are extremely aggressive, you will never experience this in practice, as it is practically impossible to have a step input like as output of a flight controller. Nevertheless we want to make sure that the ESC will perform well. At the end of the day, since the flight controller will use RPM control, the RPM (step) tests are the most important - the RPM controller can help avoid these extreme transitions.
## Reply by Alex Kushleyev (ModalAI staff) · 2024-01-24 15:57:24 UTC (in reply to Alex Kushleyev)
@Matthew-Wellner , i have acquired SunnySky 4004 400kV motor, waiting for Tmotor MS1101 props, so i will be able to test your exact configuration and make sure it works well and does not desync. It will take a few more days for props to come in, just wanted to let you know.
## Reply by Matthew Wellner · 2024-01-26 00:14:44 UTC (in reply to Alex Kushleyev)
@Alex-Kushleyev Awesome!! Thanks!