VOXL FPV Racing 4-in-1 ESC with flight core v2 and voxl2
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Hello @Eric-Katzfey @Alex-Kushleyev @tom
I am using voxl2 , with flight core v2 and VOXL FPV Racing 4-in-1 ESC. I would like to know how to setup this pipeline. what are the parameters that requires to be changed and what are values.
could anyone help me this approach
The Flight controller is not recognising the ESC. -
@Jetson-Nano Are you using PX4 on the flight core v2? If so, what version? What do you mean when you say that it is not recognizing the ESC?
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@Eric-Katzfey i am using http://voxl-packages.modalai.com/dists/fc-v2/dev/modalai_fc-v2_1.14.0-2.0.95.px4 version and also tried with http://voxl-packages.modalai.com/dists/fc-v2/dev/modalai_fc-v2_1.14.0-2.0.90.px4.
The ESC should start blinking blue LED to represent achieving data from FC. It is not happening. -
@Jetson-Nano How are the VOXL_ESC parameters set on your FCv2? There could be a UART baud rate mismatch between what FCv2 is using and what the ESC is using.
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@Jetson-Nano , if the voxl_esc driver is started by PX4 running on the Flight Core, it should print out debugging information to the UART console. The log below was taken from PX4 running on VOXL2 DSP, but the output should be the same when using Flight Core V2.
Please also note that the Flight Core (V2), when powered up, starts immediately (as opposed to VOXL2 booting takes a few seconds), so FC V2 will try to detect the ESC before the ESC exits bootloader (which takes 1 second after power is applied) and will fail to detect the ESC. This was fixed in our FC V2 drone config, please check your voxl-esc driver behavior. Here is the commit that added the delay of 1.5 seconds before starting voxl esc driver on FC V2:
- https://github.com/modalai/px4-firmware/pull/70/commits/55742d298bf9241a2af5aa2c7ba3a26788073356
- https://github.com/modalai/px4-firmware/pull/70/commits/1c11e2e0ac3fcc19cb45ab59292b3cf5f4fdb348
(voxl-esc driver log from VOXL2 DSP is below)
INFO [muorb] SLPI: VOXL_ESC: Starting VOXL ESC driver INFO [muorb] SLPI: VOXL_ESC: Opening UART ESC device 2, baud rate 2000000 INFO [muorb] SLPI: VOXL_ESC: Successfully opened UART ESC device INFO [muorb] SLPI: VOXL_ESC: Detecting ESCs... INFO [muorb] SLPI: VOXL_ESC: ESC ID : 0 INFO [muorb] SLPI: VOXL_ESC: Board Type : 37: ModalAi 4-in-1 ESC (M0134-1) INFO [muorb] SLPI: VOXL_ESC: Unique ID : 0x203330385246571900480024 INFO [muorb] SLPI: VOXL_ESC: Firmware : version 39, hash eb6fb500 INFO [muorb] SLPI: VOXL_ESC: Bootloader : version 183, hash b4fa2cf8 INFO [muorb] SLPI: VOXL_ESC: Reply time : 1646us INFO [muorb] SLPI: VOXL_ESC: INFO [muorb] SLPI: VOXL_ESC: ESC ID : 1 INFO [muorb] SLPI: VOXL_ESC: Board Type : 37: ModalAi 4-in-1 ESC (M0134-1) INFO [muorb] SLPI: VOXL_ESC: Unique ID : 0x2033303852465719004D004D INFO [muorb] SLPI: VOXL_ESC: Firmware : version 39, hash eb6fb500 INFO [muorb] SLPI: VOXL_ESC: Bootloader : version 183, hash b4fa2cf8 INFO [muorb] SLPI: VOXL_ESC: Reply time : 621us INFO [muorb] SLPI: VOXL_ESC: INFO [muorb] SLPI: VOXL_ESC: ESC ID : 2 INFO [muorb] SLPI: VOXL_ESC: Board Type : 37: ModalAi 4-in-1 ESC (M0134-1) INFO [muorb] SLPI: VOXL_ESC: Unique ID : 0x203330385246571900500042 INFO [muorb] SLPI: VOXL_ESC: Firmware : version 39, hash eb6fb500 INFO [muorb] SLPI: VOXL_ESC: Bootloader : versiINFO [qshell] Send cmd: 'voxl_esc start' INFO [muorb] SLPI: VOXL_ESC: Reply time : 1120us INFO [muorb] SLPI: VOXL_ESC: INFO [muorb] SLPI: VOXL_ESC: ESC ID : 3 INFO [muorb] SLPI: VOXL_ESC: Board Type : 37: ModalAi 4-in-1 ESC (M0134-1) INFO [muorb] SLPI: VOXL_ESC: Unique ID : 0x2033303852465719004D0050 INFO [muorb] SLPI: VOXL_ESC: Firmware : version 39, hash eb6fb500 INFO [muorb] SLPI: VOXL_ESC: Bootloader : version 183, hash b4fa2cf8 INFO [muorb] SLPI: VOXL_ESC: Reply time : 617us INFO [muorb] SLPI: VOXL_ESC: INFO [muorb] SLPI: VOXL_ESC: Use extened rpm packet : 1 INFO [muorb] SLPI: VOXL_ESC: All ESCs successfully detected -
@Alex-Kushleyev Thank you for reverting back. I will verify this and get back.
I changed the firmware version to the
voxl-fpv-devstill the FC is not detecting the ESC.
could please verify the parameters I mentioned.nsh> voxl_esc status INFO [voxl_esc] Max update rate: 0 Hz INFO [voxl_esc] Outputs on: no INFO [voxl_esc] UART port: /dev/ttyS4 INFO [voxl_esc] UART open: no INFO [voxl_esc] INFO [voxl_esc] Params: VOXL_ESC_CONFIG: 1 INFO [voxl_esc] Params: VOXL_ESC_MODE: 0 INFO [voxl_esc] Params: VOXL_ESC_BAUD: 250000 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 INFO [voxl_esc] INFO [voxl_esc] -- ID: 0 INFO [voxl_esc] Motor: 1 INFO [voxl_esc] Direction: 1 INFO [voxl_esc] State: 0 INFO [voxl_esc] Requested: 0 RPM INFO [voxl_esc] Measured: 0 RPM INFO [voxl_esc] Command Counter: 0 INFO [voxl_esc] Voltage: 0.000000 VDC INFO [voxl_esc] INFO [voxl_esc] -- ID: 1 INFO [voxl_esc] Motor: 4 INFO [voxl_esc] Direction: 1 INFO [voxl_esc] State: 0 INFO [voxl_esc] Requested: 0 RPM INFO [voxl_esc] Measured: 0 RPM INFO [voxl_esc] Command Counter: 0 INFO [voxl_esc] Voltage: 0.000000 VDC INFO [voxl_esc] INFO [voxl_esc] -- ID: 2 INFO [voxl_esc] Motor: 2 INFO [voxl_esc] Direction: 1 INFO [voxl_esc] State: 0 INFO [voxl_esc] Requested: 0 RPM INFO [voxl_esc] Measured: 0 RPM INFO [voxl_esc] Command Counter: 0 INFO [voxl_esc] Voltage: 0.000000 VDC INFO [voxl_esc] INFO [voxl_esc] -- ID: 3 INFO [voxl_esc] Motor: 3 INFO [voxl_esc] Direction: 1 INFO [voxl_esc] State: 0 INFO [voxl_esc] Requested: 0 RPM INFO [voxl_esc] Measured: 0 RPM INFO [voxl_esc] Command Counter: 0 INFO [voxl_esc] Voltage: 0.000000 VDC INFO [voxl_esc] voxl_esc: cycle: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms voxl_esc: output update interval: 0 events, 0.00us avg, min 0us max 0us 0.000us rms INFO [mixer_module] Param prefix: VOXL_ESC control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms Channel Configuration: Channel 0: func: 0, value: 0, failsafe: 0, disarmed: 0, min: 5500, max: 15000 Channel 1: func: 0, value: 0, failsafe: 0, disarmed: 0, min: 5500, max: 15000 Channel 2: func: 0, value: 0, failsafe: 0, disarmed: 0, min: 5500, max: 15000 Channel 3: func: 0, value: 0, failsafe: 0, disarmed: 0, min: 5500, max: 15000 -
Voxl2 is connected to Flight core v2 through telem 1.
ESC is connected to flight core through telem 2.
the parameters are the following
