# Significant Motor Desync During Actuator Testing

Source: https://forum.modalai.com/topic/5335/significant-motor-desync-during-actuator-testing
Category: ESCs, Sensors and Accessories (https://forum.modalai.com/category/15/escs-sensors-and-accessories)
Tags: esc
Posted: 2026-07-22 20:44:08 UTC by PatkirkMartin
Replies: 2 · Views: 176

## PatkirkMartin · 2026-07-22 20:44:08 UTC

**Hardware**
- VOXL2 (MDK-M0154-1-01)
- VOXL ESC FPV 4-in-1 (MDK-M0138-11-00)

**Software Version** (voxl-version)
```
voxl2-test-fixture (TF-M0054):/$ voxl-version
────────────────────────────────────────────────────────────────────────────────
system-image: 1.8.06-M0054-14.1a-perf
kernel:       #1 SMP PREEMPT Wed Oct 22 04:13:18 UTC 2025 4.19.125
────────────────────────────────────────────────────────────────────────────────
hw platform:  M0054
mach.var:     1.0.1
SKU:          TF-M0054-4-V1-C11
────────────────────────────────────────────────────────────────────────────────
voxl-suite:   1.6.3
────────────────────────────────────────────────────────────────────────────────
Packages:
Repo:  http://voxl-packages.modalai.com/ ./dists/qrb5165/sdk-1.6/binary-arm64/
Last Updated: 2023-03-02 12:58:39
List:
libfc-sensor                   1.0.9
libmodal-cv                    0.6.0
libmodal-exposure              0.1.4
libmodal-flow                  1.0.3
libmodal-journal               0.2.7
libmodal-json                  0.4.8
libmodal-pipe                  2.14.11
libqrb5165-io                  0.6.3
libvoxl-cci-direct             0.3.3
libvoxl-codec                  0.0.2
libvoxl-cutils                 0.1.6
modalai-slpi                   1.2.2
mv-voxl                        0.1-r0
qrb5165-bind                   0.1-r0
qrb5165-dfs-server             0.2.0
qrb5165-mini-tof-server        0.2.2
qrb5165-rangefinder-server     0.1.6
qrb5165-slpi-test-sig          01-r0
qrb5165-tflite                 2.17.2
voxl-bind-spektrum             0.1.1
voxl-camera-calibration        0.6.1
voxl-camera-server             2.2.19
voxl-ceres-solver              2:2.0.0-2
voxl-configurator              1.1.5
voxl-cpu-monitor               0.7.7
voxl-docker-support            1.3.1
voxl-elrs                      1.1.0
voxl-esc                       1.5.7
voxl-esptool                   0.2.0
voxl-feature-tracker           0.5.2
voxl-flow-server               0.3.6
voxl-gphoto2-server            0.0.10
voxl-imu-server                2.0.1
voxl-io-server                 0.0.8
voxl-jpeg-turbo                2.1.3-7
voxl-lepton-server             1.3.3
voxl-lepton-tracker            0.0.4
voxl-libgeographic             1.0.0
voxl-libgphoto2                0.0.4
voxl-libuvc                    1.0.7
voxl-logger                    0.6.1
voxl-mavcam-manager            0.6.0
voxl-mavlink                   0.1.6
voxl-mavlink-server            1.4.14
voxl-modem                     1.2.3
voxl-mongoose                  7.19.0
voxl-mpa-to-ros                0.3.9
voxl-mpa-tools                 1.5.6
voxl-nano-tracker              0.1.7
voxl-open-vins-server          0.6.0
voxl-opencv                    4.5.5-3
voxl-osd                       0.3.8
voxl-portal                    0.8.7
voxl-px4                       1.14.0-2.0.133
voxl-px4-params                0.9.0
voxl-qvio-server               1.2.3
voxl-remote-id                 0.0.9
voxl-reset-slpi                0.0.1
voxl-state-estimator           0.0.6
voxl-streamer                  0.8.0
voxl-suite                     1.6.3
voxl-tag-detector              0.1.0
voxl-tflite-server             0.5.1
voxl-utils                     2.0.2
voxl-uvc-server                0.1.7
voxl-vision-hub                1.9.21
voxl-vtx                       2.0.2
voxl-wavemux                   0.0.3
voxl2-io                       0.0.3
voxl2-security-hardening-utls  1.0-r0
voxl2-system-image             1.8.06-r0
voxl2-wlan                     1.0-r0
────────────────────────────────────────────────────────────────────────────────

```
**Services/Config** (voxl-inspect-services)
```
voxl2-test-fixture (TF-M0054):/$ voxl-inspect-services
Scanning services...

 Service Name             |  Enabled  |   Running   |  CPU Usage
───────────────────────────────────────────────────────────────────
 docker-autorun           | Disabled  | Not Running |  
 modallink-relink         | Disabled  | Not Running |  
 voxl-camera-server       |  Enabled  | Not Running |  
 voxl-cpu-monitor         |  Enabled  |   Running   |     0.0%
 voxl-dfs-server          | Disabled  | Not Running |  
 voxl-dma-latency         |  Enabled  |   Running   |  
 voxl-feature-tracker     | Disabled  | Not Running |  
 voxl-flow-server         | Disabled  | Not Running |  
 voxl-imu-server          |  Enabled  |   Running   |     3.8%
 voxl-io-server           | Disabled  | Not Running |  
 voxl-lepton-server       | Disabled  | Not Running |  
 voxl-lepton-tracker      | Disabled  | Not Running |  
 voxl-logger              | Disabled  | Not Running |  
 voxl-mavcam-manager      | Disabled  | Not Running |  
 voxl-mavlink-server      |  Enabled  |   Running   |     0.0%
 voxl-mini-tof-server     | Disabled  | Not Running |  
 voxl-modem-doodle        | Disabled  | Not Running |  
 voxl-modem               | Disabled  | Not Running |  
 voxl-nano-tracker        | Disabled  | Not Running |  
 voxl-open-vins-server    | Disabled  | Not Running |  
 voxl-osd                 | Disabled  | Not Running |  
 voxl-portal              |  Enabled  |   Running   |     0.0%
 voxl-px4                 | Disabled  | Not Running |  
 voxl-qvio-server         | Disabled  | Not Running |  
 voxl-rangefinder-server  | Disabled  | Not Running |  
 voxl-remote-id           | Disabled  | Not Running |  
 voxl-softap              | Disabled  | Not Running |  
 voxl-state-estimator     | Disabled  | Not Running |  
 voxl-static-ip-watcher   | Disabled  | Not Running |  
 voxl-static-ip           | Disabled  | Not Running |  
 voxl-streamer            | Disabled  | Not Running |  
 voxl-tag-detector        | Disabled  | Not Running |  
 voxl-tflite-server       | Disabled  | Not Running |  
 voxl-time-sync           | Disabled  | Not Running |  
 voxl-uvc-server          | Disabled  | Not Running |  
 voxl-vision-hub          |  Enabled  |   Running   |     1.9%
 voxl-vrx                 | Disabled  | Not Running |  
 voxl-vtx                 | Disabled  | Not Running |  
 voxl-wait-for-fs         |  Enabled  |  Completed  |  
```
I am doing some bench testing with my VOXL ESC FPV 4-in-1 and noticing significant motor desync. There is an audible 0.25 second delay between spinup of motor 1, then 2, etc. I have loaded the sentinel param XML file (I am using a custom aircraft, not the sentinel) to my ESC as a template and have only made one change; I set the motor KV to the value spec'd for my motors but I was getting this behavior prior to that change. 

Any input would be greatly appreciated.

## Reply by Alex Kushleyev (ModalAI staff) · 2026-07-25 04:12:19 UTC

Hello @patkirkmartin,

If you are using our ESC with a new motor / prop, you need to perform a one-time ESC calibration and upload the new ESC params using the `voxl-esc` tools. Please see : https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/blob/master/voxl-esc-tools/calibration.md

If the motor kV is relatively low (less than 800), you may need to take a look at this as well : https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/blob/master/voxl-esc-tools/doc/low_kv_motor_tuning.md

It sounds like your de-sync is right during spinup - make sure that you are using sinusoidal spin-up and that also needs to be tweaked for best performance (only a few parameters like spin-up power and time).
- https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/blob/master/voxl-esc-tools/calibration.md#tune-the-motor-spin-up
- https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/blob/master/voxl-esc-tools/doc/low_kv_motor_tuning.md?ref_type=heads#spin-up-parameters-for-low-kv-large-motors-it-is-better-to-use-sinusoidal-spinup

If you would like to provide more details about the motor / prop / voltage, we can try to provide more guidance.

Alex

## Reply by PatkirkMartin · 2026-07-27 16:45:40 UTC (in reply to Alex Kushleyev)

@Alex-Kushleyev 

Hey Alex. Thanks for this input. I will incorporate your feedback as we continue initial motor testing and let you know if we need further guidance.

Much appreciated!