VOXL FPV Racing 4-in-1 ESC with flight core v2 and voxl2
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@Alex-Kushleyev
Yes it is running in the 250k baud rate.
I did not verify with the voxl-esc tools. I directly connected it to the FC.
I am using the voxl-fpv-dev version of px4 -
@Jetson-Nano , what do you mean
voxl-fpv-devversion of px4? can you provide the link to the exact release? -
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@Alex-Kushleyev here you had mentioned a version where the change has been made with respect to the delay.
https://forum.modalai.com/post/21951 -
@Jetson-Nano , from your above screen shot from QGC, it seems you are using TELEM2 for MAV0, so that is probably why the port is not able to open. You should probably set MAV_0_CONFIG to
Disabled...ERROR [px4_work_queue] wq:ttyS4 not available -
@Alex-Kushleyev Thank you for the help . I changed the parameter and now the ESC has been initialised. motor are able to rotate.
Also is there any other parameter i should be aware of -
@Jetson-Nano , since you are probably using a custom motor and propeller you should:
- first of all, update the ESC firmware to the latest
- calibrate the ESC for the motor/propeller and upload params
- update min and max rpm params in PX4 because they are used to scale the control output
- set the correct motor mapping and direction in px4 params
- i also recommend updating the baud rate to at least 921600 (or 1M). We are using 2Mbit for all latest ESC configs now. This reduces latency and ensures that you don't have ESC packet drops (depending on the update rate of your flight control loop)
In order to perform the updates and tuning, you will need to use
voxl-esctools. Please see the following page for more info: https://docs.modalai.com/voxl-escs/faq/Alex
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@Alex-Kushleyev Thank you for the support. I will make the changes you have mentioned.
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hey @Alex-Kushleyev
I am facing the same issue again, the ESC is not initialising when connected through fc v2 , i have followed all the suggestions you mentioned earlier. the FC as well as VOXL 2 is powered through ESC.nsh> voxl_esc start INFO [voxl_esc] VOXL_ESC: Starting VOXL ESC driver INFO [voxl_esc] Params: VOXL_ESC_CONFIG: 1 INFO [voxl_esc] Params: VOXL_ESC_MODE: 0 INFO [voxl_esc] Params: VOXL_ESC_BAUD: 2000000 INFO [voxl_esc] Params: VOXL_ESC_FUNC1: 101 INFO [voxl_esc] Params: VOXL_ESC_FUNC2: 104 INFO [voxl_esc] Params: VOXL_ESC_FUNC3: 102 INFO [voxl_esc] Params: VOXL_ESC_FUNC4: 103 INFO [voxl_esc] Params: VOXL_ESC_SDIR1: 0 INFO [voxl_esc] Params: VOXL_ESC_SDIR2: 0 INFO [voxl_esc] Params: VOXL_ESC_SDIR3: 0 INFO [voxl_esc] Params: VOXL_ESC_SDIR4: 0 INFO [voxl_esc] Params: VOXL_ESC_RPM_MIN: 5500 INFO [voxl_esc] Params: VOXL_ESC_RPM_MAX: 15000 INFO [voxl_esc] Params: VOXL_ESC_T_PERC: 90 INFO [voxl_esc] Params: VOXL_ESC_T_DEAD: 20 INFO [voxl_esc] Params: VOXL_ESC_T_EXPO: 35 INFO [voxl_esc] Params: VOXL_ESC_T_MINF: 0.150000 INFO [voxl_esc] Params: VOXL_ESC_T_COSP: 0.990000 INFO [voxl_esc] Params: VOXL_ESC_VLOG: 0 INFO [voxl_esc] Params: VOXL_ESC_PUB_BST: 1 INFO [voxl_esc] Params: VOXL_ESC_T_WARN: 0 INFO [voxl_esc] Params: VOXL_ESC_T_OVER: 0 INFO [voxl_esc] Params: GPIO_CTL_CH: 0 nsh> voxl_esc status INFO [voxl_esc] not running nsh> voxl_esc start INFO [voxl_esc] VOXL_ESC: Starting VOXL ESC driver INFO [voxl_esc] Params: VOXL_ESC_CONFIG: 1 INFO [voxl_esc] Params: VOXL_ESC_MODE: 0 INFO [voxl_esc] Params: VOXL_ESC_BAUD: 2000000 INFO [voxl_esc] Params: VOXL_ESC_FUNC1: 101 INFO [voxl_esc] Params: VOXL_ESC_FUNC2: 104 INFO [voxl_esc] Params: VOXL_ESC_FUNC3: 102 INFO [voxl_esc] Params: VOXL_ESC_FUNC4: 103 INFO [voxl_esc] Params: VOXL_ESC_SDIR1: 0 INFO [voxl_esc] Params: VOXL_ESC_SDIR2: 0 INFO [voxl_esc] Params: VOXL_ESC_SDIR3: 0 INFO [voxl_esc] Params: VOXL_ESC_SDIR4: 0 INFO [voxl_esc] Params: VOXL_ESC_RPM_MIN: 5500 INFO [voxl_esc] Params: VOXL_ESC_RPM_MAX: 15000 INFO [voxl_esc] Params: VOXL_ESC_T_PERC: 90 INFO [voxl_esc] Params: VOXL_ESC_T_DEAD: 20 INFO [voxl_esc] Params: VOXL_ESC_T_EXPO: 35 INFO [voxl_esc] Params: VOXL_ESC_T_MINF: 0.150000 INFO [voxl_esc] Params: VOXL_ESC_T_COSP: 0.990000 INFO [voxl_esc] Params: VOXL_ESC_VLOG: 0 INFO [voxl_esc] Params: VOXL_ESC_PUB_BST: 1 INFO [voxl_esc] Params: VOXL_ESC_T_WARN: 0 INFO [voxl_esc] Params: VOXL_ESC_T_OVER: 0 INFO [voxl_esc] Params: GPIO_CTL_CH: 0 nsh> -
The primary causes of ESC not being detected by the FC (aside from hardware / wiring issues) is using incorrect UART port or incorrect baud rate. So you should make sure the ESC is running the latest firmware, double check the params that you want to use on the ESC (for your motor / prop) and you can also set the ESC baud rate in the ESC params. You should set up your ESC (using
voxl-esctools) before plugging it into your FC, so that you know exactly what your ESC is set up to do and then you just need to match your PX4 params to what you set in the ESC (baud rate, rpm limits, and use correct UART port).Alex
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@Alex-Kushleyev Thank you for reverting, I didnt change anything with respect to the fc or ESC, the firmware is the same.
could you help me with understanding why it was working earlier , it is not now.
The firmware of the FC is voxl-fpv-dev version, and when i tried to build again it is giving error, and not building.
I still dont know whether the issue is with respect to FC firmware or ESC -
@Jetson-Nano , please confirm the ESC is working by using a usb to serial connection directly to the esc and voxl-esc Python tools on a Linux PC or VM.
You can run simple commands to detect the esc and perform spin tests if needed, this is all documented.
https://docs.modalai.com/voxl-escs/faq/
If the esc is ok, then you will need to double check the FC v2 setup.
Alex
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Hey @Alex-Kushleyev , for the same setup I mentioned above my esc is not starting by default, while I run voxl_esc start in mavlink console, it starts and works.
what could be the reason for such behaviour. Please could you help me out -
@Jetson-Nano , this is likely related to the fact that the FC starts quicker than the ESC bootloader's 1s wait time. We discussed this before.
So if you are saying that delaying the start of voxl_esc driver in px4 on your FC solves the problem, then the issue is exactly that.
Please delay the start of the voxl_esc driver in your px4 start-up script, for example you can see it at the bottom of the script here : https://github.com/modalai/px4-firmware/blob/bugfix-fpv-rev0-airframe/boards/modalai/fc-v2/init/rc.board_sensors
if param greater VOXL_ESC_CONFIG 0 then usleep 1500000 voxl_esc start fi -
@Alex-Kushleyev I have already tried it, It was working fine earlier. since past 2 days the behaviour has changed, I have verified everything else and nothing else could be a reason for such behaviour , I even played around with delay to verify it, still the same issue.
please excuse me for repeating the questions but is there any other reason that can cause this issue. -
Thank you for clarifying. Unfortunately, since I don't know what you changed between the working and non-working condition, it is hard to help. Also, since you are indicating that the ESC is responding if you manually start the esc driver, then the ESC itself should still be functional.
Please try to backtrack your changes until you have a working setup again.
Alex
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@Alex-Kushleyev , I will backtrack the steps and try re-configuring the setup.
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@Alex-Kushleyev @Eric-Katzfey
Hello guys, I am facing a new error where when I try to use Optical flow by enabling the UAVCAN in the default.px4board, since it was commented out. Whenever try to enable it and build it is giving error. I want to use CAN port on the FC v2 for Optical Flow. It would be of great help , if you could help with this or guide me.FAILED: src/drivers/uavcan/CMakeFiles/drivers__uavcan.dir/uavcan_servers.cpp.obj /usr/bin/ccache /opt/gcc-arm-none-eabi-9-2020-q2-update/bin/arm-none-eabi-g++ -DCONFIG_ARCH_BOARD_MODALAI_FC_V2 -DMODULE_NAME=\"uavcan\" -DPX4_BOARD_LABEL=\"default\" -DPX4_BOARD_NAME=\"MODALAI_FC_V2\" -DPX4_MAIN=uavcan_app_main -DUAVCAN_CPP_VERSION=UAVCAN_CPP03 -DUAVCAN_DRIVER=uavcan_stm32h7 -DUAVCAN_IMPLEMENT_PLACEMENT_NEW=1 -DUAVCAN_MEM_POOL_BLOCK_SIZE=48 -DUAVCAN_NO_ASSERTIONS -DUAVCAN_PLATFORM=generic -DUAVCAN_STM32H7_NUM_IFACES=2 -DUAVCAN_STM32H7_NUTTX=1 -DUAVCAN_STM32H7_TIMER_NUMBER=2 -D_SYS_CDEFS_H_ -D_SYS_REENT_H_ -D__CUSTOM_FILE_IO__ -D__PX4_NUTTX -D__STDC_FORMAT_MACROS -I/home/t/p/px4-firmware/boards/modalai/fc-v2/src -I/home/t/p/px4-firmware/platforms/nuttx/src/px4/common/include -I/home/t/p/px4-firmware/build/modalai_fc-v2_default -I/home/t/p/px4-firmware/build/modalai_fc-v2_default/src/lib -I/home/t/p/px4-firmware/platforms/nuttx/src/px4/stm/stm32h7/include -I/home/t/p/px4-firmware/platforms/common -I/home/t/p/px4-firmware/platforms/common/include -I/home/t/p/px4-firmware/src -I/home/t/p/px4-firmware/src/include -I/home/t/p/px4-firmware/src/lib -I/home/t/p/px4-firmware/src/lib/matrix -I/home/t/p/px4-firmware/src/modules -I/home/t/p/px4-firmware/platforms/nuttx/NuttX/nuttx/arch/arm/src/armv7-m -I/home/t/p/px4-firmware/platforms/nuttx/NuttX/nuttx/arch/arm/src/chip -I/home/t/p/px4-firmware/platforms/nuttx/NuttX/nuttx/arch/arm/src/common -I/home/t/p/px4-firmware/platforms/nuttx/NuttX/apps/include -I/home/t/p/px4-firmware/build/modalai_fc-v2_default/uORB/topics -I/home/t/p/px4-firmware/build/modalai_fc-v2_default/external/Install/include -I/home/t/p/px4-firmware/build/modalai_fc-v2_default/src/drivers/uavcan/include/dsdlc_generated -I/home/t/p/px4-firmware/src/drivers/uavcan/libuavcan/libuavcan/include -I/home/t/p/px4-firmware/src/drivers/uavcan/libuavcan/libuavcan/include/dsdlc_generated -I/home/t/p/px4-firmware/src/drivers/uavcan/libuavcan/libuavcan_drivers/posix/include -I/home/t/p/px4-firmware/src/drivers/uavcan/uavcan_drivers/stm32h7/driver/include -isystem /home/t/p/px4-firmware/platforms/nuttx/NuttX/include/cxx -isystem /home/t/p/px4-firmware/platforms/nuttx/NuttX/nuttx/include/cxx -isystem /home/t/p/px4-firmware/platforms/nuttx/NuttX/nuttx/include -mcpu=cortex-m7 -mthumb -mfpu=fpv5-d16 -mfloat-abi=hard -Os -DNDEBUG -std=gnu++14 -g -fdata-sections -ffunction-sections -fomit-frame-pointer -fmerge-all-constants -fno-signed-zeros -fno-trapping-math -freciprocal-math -fno-math-errno -fno-strict-aliasing -fvisibility=hidden -include visibility.h -Wall -Wextra -Werror -Warray-bounds -Wcast-align -Wdisabled-optimization -Wdouble-promotion -Wfatal-errors -Wfloat-equal -Wformat-security -Winit-self -Wlogical-op -Wpointer-arith -Wshadow -Wuninitialized -Wunknown-pragmas -Wunused-variable -Wno-missing-field-initializers -Wno-missing-include-dirs -Wno-unused-parameter -fdiagnostics-color=always -Wno-stringop-truncation -fno-builtin-printf -fno-strength-reduce -Wformat=1 -Wunused-but-set-variable -Wno-format-truncation -fcheck-new -Wreorder -Wno-overloaded-virtual -fno-rtti -fno-exceptions -fno-sized-deallocation -fno-threadsafe-statics -nostdinc++ -Wno-cast-align -Wno-deprecated-copy -Wno-address-of-packed-member -Wframe-larger-than=4096 -Wno-format-security -D__KERNEL__ -MD -MT src/drivers/uavcan/CMakeFiles/drivers__uavcan.dir/uavcan_servers.cpp.obj -MF src/drivers/uavcan/CMakeFiles/drivers__uavcan.dir/uavcan_servers.cpp.obj.d -o src/drivers/uavcan/CMakeFiles/drivers__uavcan.dir/uavcan_servers.cpp.obj -c /home/t/p/px4-firmware/src/drivers/uavcan/uavcan_servers.cpp In file included from /home/t/p/px4-firmware/src/drivers/uavcan/uavcan_servers.cpp:52: /home/t/p/px4-firmware/src/drivers/uavcan/uavcan_main.hpp:79:10: fatal error: uORB/topics/uavcan_parameter_request.h: No such file or directory 79 | #include <uORB/topics/uavcan_parameter_request.h> | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ compilation terminated. [596/1151] Building CXX object src/dri...rivers__uavcan.dir/uavcan_main.cpp.obj FAILED: src/drivers/uavcan/CMakeFiles/drivers__uavcan.dir/uavcan_main.cpp.obj /usr/bin/ccache /opt/gcc-arm-none-eabi-9-2020-q2-update/bin/arm-none-eabi-g++ -DCONFIG_ARCH_BOARD_MODALAI_FC_V2 -DMODULE_NAME=\"uavcan\" -DPX4_BOARD_LABEL=\"default\" -DPX4_BOARD_NAME=\"MODALAI_FC_V2\" -DPX4_MAIN=uavcan_app_main -DUAVCAN_CPP_VERSION=UAVCAN_CPP03 -DUAVCAN_DRIVER=uavcan_stm32h7 -DUAVCAN_IMPLEMENT_PLACEMENT_NEW=1 -DUAVCAN_MEM_POOL_BLOCK_SIZE=48 -DUAVCAN_NO_ASSERTIONS -DUAVCAN_PLATFORM=generic -DUAVCAN_STM32H7_NUM_IFACES=2 -DUAVCAN_STM32H7_NUTTX=1 -DUAVCAN_STM32H7_TIMER_NUMBER=2 -D_SYS_CDEFS_H_ -D_SYS_REENT_H_ -D__CUSTOM_FILE_IO__ -D__PX4_NUTTX -D__STDC_FORMAT_MACROS -I/home/t/p/px4-firmware/boards/modalai/fc-v2/src -I/home/t/p/px4-firmware/platforms/nuttx/src/px4/common/include -I/home/t/p/px4-firmware/build/modalai_fc-v2_default -I/home/t/p/px4-firmware/build/modalai_fc-v2_default/src/lib -I/home/t/p/px4-firmware/platforms/nuttx/src/px4/stm/stm32h7/include -I/home/t/p/px4-firmware/platforms/common -I/home/t/p/px4-firmware/platforms/common/include -I/home/t/p/px4-firmware/src -I/home/t/p/px4-firmware/src/include -I/home/t/p/px4-firmware/src/lib -I/home/t/p/px4-firmware/src/lib/matrix -I/home/t/p/px4-firmware/src/modules -I/home/t/p/px4-firmware/platforms/nuttx/NuttX/nuttx/arch/arm/src/armv7-m -I/home/t/p/px4-firmware/platforms/nuttx/NuttX/nuttx/arch/arm/src/chip -I/home/t/p/px4-firmware/platforms/nuttx/NuttX/nuttx/arch/arm/src/common -I/home/t/p/px4-firmware/platforms/nuttx/NuttX/apps/include -I/home/t/p/px4-firmware/build/modalai_fc-v2_default/uORB/topics -I/home/t/p/px4-firmware/build/modalai_fc-v2_default/external/Install/include -I/home/t/p/px4-firmware/build/modalai_fc-v2_default/src/drivers/uavcan/include/dsdlc_generated -I/home/t/p/px4-firmware/src/drivers/uavcan/libuavcan/libuavcan/include -I/home/t/p/px4-firmware/src/drivers/uavcan/libuavcan/libuavcan/include/dsdlc_generated -I/home/t/p/px4-firmware/src/drivers/uavcan/libuavcan/libuavcan_drivers/posix/include -I/home/t/p/px4-firmware/src/drivers/uavcan/uavcan_drivers/stm32h7/driver/include -isystem /home/t/p/px4-firmware/platforms/nuttx/NuttX/include/cxx -isystem /home/t/p/px4-firmware/platforms/nuttx/NuttX/nuttx/include/cxx -isystem /home/t/p/px4-firmware/platforms/nuttx/NuttX/nuttx/include -mcpu=cortex-m7 -mthumb -mfpu=fpv5-d16 -mfloat-abi=hard -Os -DNDEBUG -std=gnu++14 -g -fdata-sections -ffunction-sections -fomit-frame-pointer -fmerge-all-constants -fno-signed-zeros -fno-trapping-math -freciprocal-math -fno-math-errno -fno-strict-aliasing -fvisibility=hidden -include visibility.h -Wall -Wextra -Werror -Warray-bounds -Wcast-align -Wdisabled-optimization -Wdouble-promotion -Wfatal-errors -Wfloat-equal -Wformat-security -Winit-self -Wlogical-op -Wpointer-arith -Wshadow -Wuninitialized -Wunknown-pragmas -Wunused-variable -Wno-missing-field-initializers -Wno-missing-include-dirs -Wno-unused-parameter -fdiagnostics-color=always -Wno-stringop-truncation -fno-builtin-printf -fno-strength-reduce -Wformat=1 -Wunused-but-set-variable -Wno-format-truncation -fcheck-new -Wreorder -Wno-overloaded-virtual -fno-rtti -fno-exceptions -fno-sized-deallocation -fno-threadsafe-statics -nostdinc++ -Wno-cast-align -Wno-deprecated-copy -Wno-address-of-packed-member -Wframe-larger-than=4096 -Wno-format-security -D__KERNEL__ -MD -MT src/drivers/uavcan/CMakeFiles/drivers__uavcan.dir/uavcan_main.cpp.obj -MF src/drivers/uavcan/CMakeFiles/drivers__uavcan.dir/uavcan_main.cpp.obj.d -o src/drivers/uavcan/CMakeFiles/drivers__uavcan.dir/uavcan_main.cpp.obj -c /home/t/p/px4-firmware/src/drivers/uavcan/uavcan_main.cpp In file included from /home/t/p/px4-firmware/src/drivers/uavcan/uavcan_main.cpp:63: /home/t/p/px4-firmware/src/drivers/uavcan/uavcan_main.hpp:79:10: fatal error: uORB/topics/uavcan_parameter_request.h: No such file or directory 79 | #include <uORB/topics/uavcan_parameter_request.h> | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ compilation terminated. [603/1151] Building CXX object src/dri..._uavcan.dir/sensors/ice_status.cpp.obj ninja: build stopped: subcommand failed. make: *** [Makefile:227: modalai_fc-v2_default] Error 1 -
@Jetson-Nano Can you please start a new thread for this new topic?
