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    Can you power VOXL2 from the ModalAI 6s ESC?

    Ask your questions right here!
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    • V
      Vin @Matthew Wellner
      last edited by

      @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.

      Alex KushleyevA Matthew WellnerM 2 Replies Last reply Reply Quote 0
      • Alex KushleyevA
        Alex Kushleyev ModalAI Team @Vin
        last edited by

        @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.

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

          @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.

          Alex KushleyevA Matthew WellnerM 2 Replies Last reply Reply Quote 0
          • Alex KushleyevA
            Alex Kushleyev ModalAI Team @Alex Kushleyev
            last edited by 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

            esc_calibration_mn4006_15in_6s.png

            zoomed in:
            esc_calibration_mn4006_15in_6s_zoom.png

            1 Reply Last reply Reply Quote 0
            • Matthew WellnerM
              Matthew Wellner @Alex Kushleyev
              last edited by

              @Alex-Kushleyev

              Sorry for the delay - I am using SunnySky / TMotor 4004 @400kv with TMotor MS1101 props (11").

              Alex KushleyevA 1 Reply Last reply Reply Quote 0
              • Matthew WellnerM
                Matthew Wellner @Vin
                last edited by

                @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

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

                  @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

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

                    @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

                    Matthew WellnerM 1 Reply Last reply Reply Quote 0
                    • Matthew WellnerM
                      Matthew Wellner @Alex Kushleyev
                      last edited by

                      @Alex-Kushleyev Will do. Thanks!

                      Matthew WellnerM 1 Reply Last reply Reply Quote 0
                      • Matthew WellnerM
                        Matthew Wellner @Matthew Wellner
                        last edited by

                        @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

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

                          Yes, potentially. You should follow the steps to update your firmware and params specifically for low kv motors as I suggested and documented

                          Matthew WellnerM 1 Reply Last reply Reply Quote 0
                          • Matthew WellnerM
                            Matthew Wellner @Alex Kushleyev
                            last edited by

                            @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!

                            Matthew WellnerM Alex KushleyevA 2 Replies Last reply Reply Quote 0
                            • Matthew WellnerM
                              Matthew Wellner @Matthew Wellner
                              last edited by

                              @Alex-Kushleyev - Nevermind. I see you checked it in 2 days ago. I am updating the firmware now. Sorry!!

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

                                @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

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

                                  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

                                  Matthew WellnerM 1 Reply Last reply Reply Quote 0
                                  • Matthew WellnerM
                                    Matthew Wellner @Alex Kushleyev
                                    last edited by

                                    @Alex-Kushleyev

                                    The firmware update worked! Sorry again for not paying better attention 🤦

                                    Matthew WellnerM Alex KushleyevA 2 Replies Last reply Reply Quote 0
                                    • Matthew WellnerM
                                      Matthew Wellner @Matthew Wellner
                                      last edited by

                                      @Matthew-Wellner said in Can you power VOXL2 from the ModalAI 6s ESC?:

                                      @Alex-Kushleyev

                                      The firmware update worked! Sorry again for not paying better attention 🤦

                                      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!

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

                                        @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)

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

                                          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
                                          Alex KushleyevA Matthew WellnerM 3 Replies Last reply Reply Quote 0
                                          • Alex KushleyevA
                                            Alex Kushleyev ModalAI Team @Alex Kushleyev
                                            last edited by

                                            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

                                            1 Reply Last reply Reply Quote 0
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