# S1000+ integration Source: https://forum.modalai.com/topic/3297/s1000-integration Category: General Questions (https://forum.modalai.com/category/2/general-questions) Posted: 2024-04-05 18:51:37 UTC by Denver Bennett Replies: 4 · Views: 1447 ## Denver Bennett · 2024-04-05 18:51:37 UTC Hello, I am trying to get the voxl 2 working with the DJI s1000+ frame but I am having difficulty with the 8 motors. voxl2 is 1.1.3 I have the voxl2 connected to the voxl io board which then has a all 8 pwm ports going to the 8 esc on the s1000+. I just recently got the voxl io output to show in qground but there are only 4 options for pwm outputs. Also, the esc's do not detect the input from the io board. How do i allow for 8 pwm values in qground and is there a reason that there wouldnt be a signal to the esc's or is that because of an issue elsewhere? thank you denver ## Reply by Alex Kushleyev (ModalAI staff) · 2024-04-05 20:05:33 UTC Hello, @Denver-Bennett, there was a similar post asking for more than 4x pwm outputs and i just replied, please see https://forum.modalai.com/topic/3295/voxl-2-io-8-pwm-channels-futaba-sbus-rx (which references older posts :) ). The latest firmware for M0065 and PX4 code is in beta testing, but it has been working well so far, and you are welcome to start testing it (with a little risk, since it's beta, but no issues have been found so far). Several forum users have been successfully using this update. If you want to wait for the official release, it will happen within a few weeks. Documentation will be updated as well. Alex ## Reply by Denver Bennett · 2024-04-09 19:44:37 UTC (in reply to Alex Kushleyev) Thank you so much for the help @Alex-Kushleyev. I have made it much farther but it is not working yet. A list of things I have done: Updated the VOXL IO through the voxl-esc tools on this post https://forum.modalai.com/topic/2446/connecting-i2c-device-on-voxl2/19. Got a flashing blue light during install. Updated px4 to the beta IO version through the deb file from this post: https://forum.modalai.com/topic/3265/additional-voxl-2-pwm-ouputs/6. It didnt work the first time because of being 1.0.4 instead of 1.0.5 so I updated it along with slpi with this post https://forum.modalai.com/topic/3022/voxl2-mini-build/5. Here is some of the outputs I am getting: ``` voxl2:/$ voxl-version dpkg-query: package 'voxl-suite' is not installed and no information is available Use dpkg --info (= dpkg-deb --info) to examine archive files, and dpkg --contents (= dpkg-deb --contents) to list their contents. -------------------------------------------------------------------------------- system-image: 1.7.4-M0054-14.1a-perf kernel: #1 SMP PREEMPT Fri Feb 9 21:59:24 UTC 2024 4.19.125 -------------------------------------------------------------------------------- hw platform: M0054 mach.var: 1.0 -------------------------------------------------------------------------------- voxl-suite: -------------------------------------------------------------------------------- Packages: Repo: http://voxl-packages.modalai.com/ ./dists/qrb5165/sdk-1.1/binary-arm64/ Last Updated: 2023-03-02 13:03:52 List: dpkg-query: no packages found matching modalai kernel-module-voxl-fsync-mod-4.19.125 1.0-r0 kernel-module-voxl-gpio-mod-4.19.125 1.0-r0 kernel-module-voxl-platform-mod-4.19.125 1.0-r0 libqrb5165-io 0.4.2 libvoxl-cci-direct 0.2.1 libvoxl-cutils 0.1.1 mv-voxl 0.1-r0 qrb5165-bind 0.1-r0 qrb5165-dfs-server 0.2.0 qrb5165-imu-server 1.0.1 qrb5165-rangefinder-server 0.1.1 qrb5165-slpi-test-sig 01-r0 qrb5165-system-tweaks 0.2.6 qrb5165-tflite 2.8.0-2 voxl-bind-spektrum 0.1.0 voxl-camera-calibration 0.5.3 voxl-camera-server 1.8.9 voxl-ceres-solver 2:1.14.0-10 voxl-configurator 0.5.2 voxl-cpu-monitor 0.4.7 voxl-docker-support 1.3.0 voxl-elrs 0.1.3 voxl-esc 1.4.0 voxl-feature-tracker 0.3.2 voxl-flow-server 0.3.3 voxl-fsync-mod 1.0-r0 voxl-gphoto2-server 0.0.10 voxl-gpio-mod 1.0-r0 voxl-jpeg-turbo 2.1.3-5 voxl-lepton-server 1.2.0 voxl-libgphoto2 0.0.4 voxl-libuvc 1.0.7 voxl-logger 0.3.5 voxl-mavcam-manager 0.5.3 voxl-mavlink 0.1.1 voxl-mavlink-server 1.3.2 voxl-modem 1.0.8 voxl-mongoose 7.7.0-1 voxl-mpa-to-ros 0.3.7 voxl-mpa-tools 1.1.3 voxl-neopixel-manager 0.0.3 voxl-open-vins 0.4.4 voxl-open-vins-server 0.2.18 voxl-opencv 4.5.5-2 voxl-platform-mod 1.0-r0 voxl-portal 0.6.3 voxl-px4 1.14.0-2.0.69-voxl2-io-cleanup voxl-px4-imu-server 0.1.2 voxl-px4-params 0.3.3 voxl-qvio-server 1.0.0 voxl-remote-id 0.0.9 voxl-streamer 0.7.4 voxl-tag-detector 0.0.4 voxl-tflite-server 0.3.1 voxl-utils 1.3.8 voxl-uvc-server 0.1.6 voxl-vision-hub 1.7.3 voxl2-system-image 1.7.4-r0 voxl2-wlan 1.0-r0 -------------------------------------------------------------------------------- ``` It does this after a fresh deb install: ``` voxl2:/$ voxl-px4 -d | grep VOXL2_IO ERROR [parameters] Timeout waiting for parameter_client_set_value_response for VOXL2_IO_FUNC1 ERROR [parameters] Timeout waiting for parameter_client_set_value_response for VOXL2_IO_FUNC2 ERROR [parameters] Timeout waiting for parameter_client_set_value_response for VOXL2_IO_FUNC3 ERROR [parameters] Timeout waiting for parameter_client_set_value_response for VOXL2_IO_FUNC4 ERROR [parameters] Timeout waiting for parameter_client_set_value_response for VOXL2_IO_MIN ``` and this every other time: ``` voxl2:/$ voxl-px4 -d | grep VOXL2_IO Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete ``` Do you know why VOXL_IO is not running? Thank you Denver ## Reply by Alex Kushleyev (ModalAI staff) · 2024-04-09 20:01:35 UTC (in reply to Denver Bennett) @Denver-Bennett, Please check /etc/modalai/voxl-px4.conf to make sure the modal io driver is enabled. https://docs.modalai.com/voxl-px4-config-and-startup/ https://docs.modalai.com/voxl2-io-user-guide/ Specifically, you need to set ESC=VOXL2_IO_PWM_ESC so that the voxl2 io driver is enabled in px4. Also, before you test px4 running in the foreground, please make sure it is not already running in background. You can stop it using systemctl stop voxl-px4 ## Reply by Denver Bennett · 2024-04-18 14:04:12 UTC (in reply to Alex Kushleyev) @Alex-Kushleyev Thank you! This worked perfectly, got all of the motors spinning :)