# 4-1 ESC issue with idintify the ID Source: https://forum.modalai.com/topic/3015/4-1-esc-issue-with-idintify-the-id Category: General Questions (https://forum.modalai.com/category/2/general-questions) Posted: 2024-01-15 10:10:33 UTC by Abdullah01 Replies: 7 · Views: 1788 ## Abdullah01 · 2024-01-15 10:10:33 UTC Hello, I have an issue with running the ESC where it's not recognize all the ESC. It's recognize only 2 out of 4. When I run `voxl-esc` and select `scan` shows the below: ``` voxl-esc Starting Wizard What do you want to do? 1) scan 3) spin 5) upload_params 2) detect 4) upgrade_firmware #? 1 enabling bridge bridge enabled Detected Python version : 3.6.9 (default, Mar 10 2023, 16:46:00) [GCC 8.4.0] Found voxl-esc tools bin version: 1.4 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, protocol: firmware INFO: Verifying ESC Params.. INFO: ESC Information: INFO: --------------------- ID : 0 Board : version 34: ModalAi 4-in-1 ESC (M0117-1) UID : 0x2037343356435707003E001E Firmware : version 39, hash d4fe8e3d Bootloader : version 183, hash 25317f42 Params : ../voxl-esc-params/starling_1504_3000kv/starling_1504_3000kv.xml ID : 2 Board : version 34: ModalAi 4-in-1 ESC (M0117-1) UID : 0x2037343356435707003C0019 Firmware : version 39, hash d4fe8e3d Bootloader : version 183, hash 25317f42 Params : ../voxl-esc-params/starling_1504_3000kv/starling_1504_3000kv.xml --------------------- WARNING: not all params match! --------------------- successfully pinged ESCs disabling bridge bridge disabled DONE ``` and when I run `detect` shows: ``` voxl2:~$ voxl-esc Starting Wizard What do you want to do? 1) scan 3) spin 5) upload_params 2) detect 4) upgrade_firmware #? 2 enabling bridge bridge enabled Received standard error event 2 ESC detected: ModalAi 4-in-1 ESC (M0117-1) disabling bridge bridge disabled DONE ``` I tried to disable `voxl-px4` and run the test, but nothing changed using `systemctl disable voxl-px4` The issue is when I tried to `upload_params` the process has stopped and the files got corrupted . The issue is not with the wiring, the motors were running without issue before the `upload_params` . Also, I can't upgrade all `ESC`, it identify only 2 of them, and the other to can't be upgraded So, what do you recommend me? Thank you. ## Reply by Alex Kushleyev (ModalAI staff) · 2024-01-15 16:30:09 UTC @Abdullah01 , Sorry about that, please follow the recovery procedure outlined here : https://forum.modalai.com/topic/2897/voxl-mini-4in1-esc-and-voxl-2/8 (at the bottom) This upgrade issue should be fixed in the upcoming release. ## Reply by Alex Kushleyev (ModalAI staff) · 2024-01-15 16:39:48 UTC (in reply to Alex Kushleyev) Also, I just documented the recovery procedure here : https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/blob/dev/voxl-esc-tools/recovery.md ## Reply by Abdullah01 · 2024-01-16 06:45:04 UTC (in reply to Alex Kushleyev) @Alex-Kushleyev Thank you for your fast support. I tried the `./voxl-esc-scan.py` with the new `voxl-esc tool` and shows me the following ``` /usr/share/modalai/tool/voxl-esc/voxl-esc-tools(dev)$ ./voxl-esc-scan.py Detected Python version : 3.6.9 (default, Mar 10 2023, 16:46:00) [GCC 8.4.0] Found voxl-esc tools bin version: 1.5 VOXL Platform: M0054 Detected RB5 Flight, VOXL2 M0054 or M0104! INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 2000000 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, protocol: firmware INFO: ESC Information: INFO: --------------------- ID : 0 Board : version 34: ModalAi 4-in-1 ESC (M0117-1) UID : 0x2037343356435707003E001E Firmware : version 39, hash d4fe8e3d Bootloader : version 183, hash 25317f42 ID : 2 Board : version 34: ModalAi 4-in-1 ESC (M0117-1) UID : 0x2037343356435707003C0019 Firmware : version 39, hash d4fe8e3d Bootloader : version 183, hash 25317f42 --------------------- VOXL Platform: M0054 Detected RB5 Flight, VOXL2 M0054 or M0104! INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 250000 INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 230400 Updated baud rate to 230400 WARNING: No ESC(s) detected VOXL Platform: M0054 Detected RB5 Flight, VOXL2 M0054 or M0104! INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 921600 INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 230400 Updated baud rate to 230400 WARNING: No ESC(s) detected VOXL Platform: M0054 Detected RB5 Flight, VOXL2 M0054 or M0104! INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 230400 INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 230400 Updated baud rate to 230400 WARNING: No ESC(s) detected VOXL Platform: M0054 Detected RB5 Flight, VOXL2 M0054 or M0104! INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 57600 INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 230400 Updated baud rate to 230400 WARNING: No ESC(s) detected VOXL Platform: M0054 Detected RB5 Flight, VOXL2 M0054 or M0104! INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 115200 INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 230400 Updated baud rate to 230400 WARNING: No ESC(s) detected ERROR: not all ESC firmware hashes are the same ``` Also, tried to upload the ESC parameters using this command `./voxl-esc-upload-params.py --params-file /usr/share/modalai/tool/voxl-esc/voxl-esc-params/mavic_mini_2/mavic_mini_2.xml` it shows me errors for detecting the ESC as shown below ``` Detected Python version : 3.6.9 (default, Mar 10 2023, 16:46:00) [GCC 8.4.0] Found voxl-esc tools bin version: 1.5 INFO: Params file name : /usr/share/modalai/tool/voxl-esc/voxl-esc-params/mavic_mini_2/mavic_mini_2.xml INFO: Params file size : 7652 bytes VOXL Platform: M0054 Detected RB5 Flight, VOXL2 M0054 or M0104! INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 2000000 Sending library name request: libslpi_qrb5165_io.so Received standard error event 2 Sending initialization request INFO: ESC(s) detected on port: /dev/slpi-uart-2, baud rate: 2000000 INFO: ESCs detected: INFO: --------------------- ID: 0, SW: 39, HW: 34: ModalAi 4-in-1 ESC (M0117-1) ID: 2, SW: 39, HW: 34: ModalAi 4-in-1 ESC (M0117-1) --------------------- INFO: Loading XML config file... INFO: Uploading params for ESC ID 255... -- board config -- id config -- uart config -- tune config DONE INFO: Resetting ESCs... DONE VOXL Platform: M0054 Detected RB5 Flight, VOXL2 M0054 or M0104! INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 250000 INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 230400 Updated baud rate to 230400 ERROR: No ESC(s) detected VOXL Platform: M0054 Detected RB5 Flight, VOXL2 M0054 or M0104! INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 921600 INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 230400 Updated baud rate to 230400 ERROR: No ESC(s) detected VOXL Platform: M0054 Detected RB5 Flight, VOXL2 M0054 or M0104! INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 230400 INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 230400 Updated baud rate to 230400 ERROR: No ESC(s) detected VOXL Platform: M0054 Detected RB5 Flight, VOXL2 M0054 or M0104! INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 57600 INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 230400 Updated baud rate to 230400 ERROR: No ESC(s) detected VOXL Platform: M0054 Detected RB5 Flight, VOXL2 M0054 or M0104! INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 115200 INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 230400 Updated baud rate to 230400 ERROR: No ESC(s) detected ``` So, I can't recover the ESC, is there another way? thank you again for your support ## Reply by Alex Kushleyev (ModalAI staff) · 2024-01-16 13:48:54 UTC (in reply to Abdullah01) @Abdullah01 , this is odd! We can diagnose further.. Can you please look at the blue status LEDs on the ESC board and see what their behavior looks like after you turn on the power. The correct sequence should be: - turn on power - all 4 blue leds on ESC blink fast (10hz) for 1 second. The ESCs are in bootloader mode - after 1 second, bootloader times out, the firmware should start (if valid firmware is present) - if the fast blink continues indefinitely on any of the 4 ESCs, it means the firmware was corrupted on that particular ESC, needs to be re-installed (i can tell you how) - then firmware starts and verifies params - if params are correct, there should be a motor beep sequence (configurable via esc params) - after motor beep, the blue leds will blink twice and turn off - if there are any ESCs that blink slowly about 5-6 times, and have a "sad" loud motor tone, it means esc params are corrupt Can you describe what you see or if possible make a video of the ESC LEDs upon power up? Thank you ## Reply by Abdullah01 · 2024-01-17 06:00:44 UTC (in reply to Alex Kushleyev) @Alex-Kushleyev I just checked the blue lights, It starts with the 4 leds blinking **fast** then turn off after one second. Then, blinking **fast** for ESC (ID 1 & 3) - the one which not working Finally, Blinking **Slow** for ESC (ID 0 & 2) - the one which working For the motors beep, there are no beep from them. Here is the [video](https://drive.google.com/file/d/1ruY8TZTJAGynFspTBCzyQ0Cle2156cYd/view) sorry for the bad angle, I can't remove the ESC for its place, took me a while to install it :) Thank you very much ## Reply by Alex Kushleyev (ModalAI staff) · 2024-01-17 06:21:04 UTC (in reply to Abdullah01) @Abdullah01 , It looks like two of escs just dont have correct params. Please try the vommand ‘ voxl-esc-upload-params.py —baud-rate 57600 ‘ .. and add your params file to the command as you did before. This will force the script to only use 57600 baud rate. Please try a few times if that does not work on the first time. ## Reply by Abdullah01 · 2024-01-17 08:21:55 UTC (in reply to Alex Kushleyev) @Alex-Kushleyev Thaaaaaaaank you very much. It worked ``` INFO: ESC Information: INFO: --------------------- ID : 0 Board : version 34: ModalAi 4-in-1 ESC (M0117-1) UID : 0x2037343356435707003E001E Firmware : version 39, hash eb6fb500 Bootloader : version 183, hash 25317f42 Params : ../voxl-esc-params/mavic_mini_2/mavic_mini_2.xml ID : 1 Board : version 34: ModalAi 4-in-1 ESC (M0117-1) UID : 0x2037343356435707003B0022 Firmware : version 39, hash d4fe8e3d Bootloader : version 183, hash 25317f42 Params : ../voxl-esc-params/mavic_mini_2/mavic_mini_2.xml ID : 2 Board : version 34: ModalAi 4-in-1 ESC (M0117-1) UID : 0x2037343356435707003C0019 Firmware : version 39, hash eb6fb500 Bootloader : version 183, hash 25317f42 Params : ../voxl-esc-params/mavic_mini_2/mavic_mini_2.xml ID : 3 Board : version 34: ModalAi 4-in-1 ESC (M0117-1) UID : 0x2037343356435707003A0057 Firmware : version 39, hash d4fe8e3d Bootloader : version 183, hash 25317f42 Params : ../voxl-esc-params/mavic_mini_2/mavic_mini_2.xml --------------------- successfully pinged ESCs disabling bridge bridge disabled DONE ```