Hi - I'm running the 4in1 mini connected to px4. I have the esc and battery status message and I was wondering if the ESC telemetry rate can be increased. I can increase it on the px4 side, but that doesn't increase the rate at which the ESC is actually reporting. It seems to be set at 5-10Hz. Thanks in advance.

@Alex-Kushleyev
Thanks Alex, that helps. With voxl-esc-spin We were able to recreate the board current with id = 255, but had mixed results getting just current on id = 3. More importantly, we don't see current getting populated in esc_status on px4. I now see 'power' in the px4 esc_status log which is great and a better metric for what I'm doing anyway.

OK, thanks, I'll try that out, but I recall all currents reading zero when I tried before.

I was actually hoping to get more information about the individual motors during their operation. I would love to see phase current, but that doesn't sound like what you're reporting. Do you by chance report or can it be set up to report phase pwm/driving voltage? I want to use this as a safety measure for when the motors are approaching their limits. My guess is no, but I thought I'd ask.

Ping.

I am similarly seeing that data the current is not being reported in the PX4 SD log, under esc_status.

FYI, I am running the voxl-esc mini. I put a screen shot below from the spin command showing the 0.000A current reading.

BTW, is the current output supposed to be phase current or DC current? If it's DC is there just one shunt on the board or do we current to each controller? Thanks in advance.

@Alex-Kushleyev
OK, thanks for the reply. It is actually behaving as expected now. At first it did not seem like the PX4 params were having an effect.

If I have the understanding correct: On the PX4 side, the controller efforts (0-1) are getting spanned to the RPM MIN/MAX params. The RPM (in RPM units) command is then being sent across the UART to the esc.

I get motor current readings of zero through both the voxl-esc-spin python script and through the px4 ESC mavlink messages. Do I need to set a calibration parameter? Thanks in advance!

px4 1.14-rc1
voxl-esc modalai_esc_firmware_m0129_3_v0_39_RC5_fb6fd95c

px4 1.14-rc1
voxl-esc modalai_esc_firmware_m0129_3_v0_39_RC5_fb6fd95c

What are the functions of the MODAL_IO_RPM_MAX and MIN parameters in px4? They don't seem to actively limit the rpm. The esc parameters (min_rpm, max_rpm) do have an effect, but I was hoping to adjust from px4.

Similar but different question: from the esc-tools I adjusted the min_rpm value to 500, but the motor will never spin below 1200 (as per feedback from esc-spin command). I tried adjusting the min_pwm but that did not seem to help.

Thanks in advance!