# NACK Received when updating voxl esc Source: https://forum.modalai.com/topic/3551/nack-received-when-updating-voxl-esc Category: ESCs, Sensors and Accessories (https://forum.modalai.com/category/15/escs-sensors-and-accessories) Tags: esc Posted: 2024-06-14 01:38:43 UTC by wilkinsaf Replies: 5 · Views: 1171 ## wilkinsaf · 2024-06-14 01:38:43 UTC I am getting a "NACK Received" when I am trying to update the firmware on my voxl esc. I get to about 4% and then I get this error Here is a video explaining it in closer detail [https://www.loom.com/share/f016b3a706a242c2a2235107f2faabb0](https://www.loom.com/share/f016b3a706a242c2a2235107f2faabb0) ## Reply by Alex Kushleyev (ModalAI staff) · 2024-06-14 02:56:18 UTC @wilkinsaf , you have a M0117 ESC, this can be seen @ 0:32 of your video (and other parts), but you are trying to install firmware for M0138 ESC. Also, three of your ESC channels have ESC version 39 (ids 0,1,2) and id 3 has firmware version 36. In any case, you can use the following script to auto detect the ESC (and pick correct firmware) and install it : ``` cd /usr/share/modalai/voxl-esc-tools/ ./voxl-esc-upload-firmware-all.sh ``` This should update firmware for all all 4 ESCs. Then you will need to install the desired ESC params to your ESC. Please note that IDs 0 and 3 are missing params (that is why they are defaulting to 57600 baud rate), but the `voxl-esc-upload-params.py` script should take care of it. You can always force the update params script to use specific baud rate (such as 57600). Alex ## Reply by wilkinsaf · 2024-06-14 14:36:53 UTC (in reply to Alex Kushleyev) @Alex-Kushleyev Yes, whenever I try to have the auto-update for the firmware I get this ``` 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 Sending initialization request INFO: ESC(s) detected on port: /dev/slpi-uart-2, baud rate: 2000000 INFO: ESC(s) detected: [1, 2] WARNING: Specified ESC ID not detected; perform manual power cycle now Updated baud rate to 230400 INFO: Installing firmware to ESC ID 0 : /usr/share/modalai/voxl-esc-tools/firmware/modalai_esc_firmware_m0117_1_v0_39_RC10_eb6fb500.bin ERROR: An error occured during the write process. ``` ## Reply by wilkinsaf · 2024-06-14 14:41:41 UTC (in reply to wilkinsaf) When I try and update the parameters I get ``` voxl2:/usr/share/modalai/voxl-esc-tools$ ./voxl-esc-upload-params.py --params-file ../voxl-esc-params/D0012_Starling_MAX/esc_params_m0129_f2203_5_1500kv_7x3.7x3.xml Detected Python version : 3.6.9 (default, Mar 10 2023, 16:46:00) [GCC 8.4.0] dpkg-query: no packages found matching voxl-esc-board-detect.py dpkg-query: no packages found matching voxl-esc-calibrate.py dpkg-query: no packages found matching voxl-esc-led.py dpkg-query: no packages found matching voxl-esc-neopixel-test.py dpkg-query: no packages found matching voxl-esc-scan.py dpkg-query: no packages found matching voxl-esc-spin-helper.sh dpkg-query: no packages found matching voxl-esc-spin-sine.py dpkg-query: no packages found matching voxl-esc-spin-step.py dpkg-query: no packages found matching voxl-esc-spin.py dpkg-query: no packages found matching voxl-esc-tools-bin dpkg-query: no packages found matching voxl-esc-upload-firmware-all.sh dpkg-query: no packages found matching voxl-esc-upload-firmware.py dpkg-query: no packages found matching voxl-esc-upload-params.py dpkg-query: no packages found matching voxl-esc-verify-params.py dpkg-query: no packages found matching voxl_esc_setup_paths.py dpkg-query: no packages found matching voxl_serial.py Found voxl-esc tools bin version: 1.6 INFO: Params file name : ../voxl-esc-params/D0012_Starling_MAX/esc_params_m0129_f2203_5_1500kv_7x3.7x3.xml INFO: Params file size : 7507 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 Sending initialization request INFO: ESC(s) detected on port: /dev/slpi-uart-2, baud rate: 2000000 INFO: ESCs detected: INFO: --------------------- ID: 1, 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: ESC(s) detected on port: /dev/slpi-uart-2, baud rate: 57600 INFO: ESCs detected: INFO: --------------------- ID: 0, SW: 39, HW: 34: ModalAi 4-in-1 ESC (M0117-1) ID: 3, SW: 36, HW: 34: ModalAi 4-in-1 ESC (M0117-1) --------------------- ERROR: ESC firmware version 36 is incompatible with params supported by this utility Acceptable ESC firmware versions are: [38, 39] ``` I have tried a parameter set in the "old" parameter folder with similar results ## Reply by wilkinsaf · 2024-06-14 14:52:24 UTC (in reply to wilkinsaf) Ok, Here is how I solved it. 1. Installed old firmware: `./voxl-esc-upload-firmware.py --firmware-baud-rate 57600 -f firmware/old/modalai_esc_firmware_m0117_1_v0_36_f75f1fdb.bin --id 0` 2. Installed newer firmware: `./voxl-esc-upload-firmware.py --firmware-baud-rate 250000 -f firmware/modalai_esc_firmware_m0117_1_v0_39_RC10_eb6fb500.bin --id 0` I was loading a custom SDK on this vehicle so I am theorizing that there is somehting custom/funky going on with voxl-esc ## Reply by Alex Kushleyev (ModalAI staff) · 2024-06-14 17:45:19 UTC (in reply to wilkinsaf) @wilkinsaf , yes, you got it. By the way, you did not have to restore the old firmware, you could have just done this: ``` ./voxl-esc-upload-firmware.py --firmware-baud-rate 57600 -f firmware/modalai_esc_firmware_m0117_1_v0_39_RC10_eb6fb500.bin --id 0 ``` The following note does not really help, if you also have power connected to VOXL2.. ``` WARNING: Specified ESC ID not detected; perform manual power cycle now ``` However, if the ESC is connected to a PC, you can just power cycle the ESC and the the bootloader will start up and firmware update will being. Alex