ModalAI Forum

@Alex-Kushleyev

here is out put from ./voxl-esc-scan.py.
~/voxl-esc/voxl-esc-tools$ ./voxl-esc-scan.py
Detected Python version : 3.8.10 (default, May 26 2023, 14:05:08)
[GCC 9.4.0]
Found voxl-esc tools bin version: 1.2
INFO: All COM ports:
/dev/ttyS0 : ttyS0
/dev/ttyUSB0 : FT232R USB UART - FT232R USB UART
INFO: UART Port Candidates:
/dev/ttyUSB0
INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 2000000
INFO: ESC(s) detected on port: /dev/ttyUSB0, baud rate: 2000000
INFO: Detected protocol: firmware
INFO: Additional Information:
INFO: ---------------------
ID : 0
Board : version 34: ModalAi 4-in-1 ESC (M0117-1)
UID : 0x203034305743570C00280022
Firmware : version 38, hash 83faccfa
Bootloader : version 183, hash 25317f42

ID         : 1
Board      : version 34: ModalAi 4-in-1 ESC (M0117-1)
UID        : 0x203034305743570C00190039
Firmware   : version   38, hash 83faccfa
Bootloader : version  183, hash 25317f42

ID         : 2
Board      : version 34: ModalAi 4-in-1 ESC (M0117-1)
UID        : 0x203034305743570C001A0047
Firmware   : version   38, hash 83faccfa
Bootloader : version  183, hash 25317f42

ID         : 3
Board      : version 34: ModalAi 4-in-1 ESC (M0117-1)
UID        : 0x203034305743570C003B004F
Firmware   : version   38, hash 83faccfa
Bootloader : version  183, hash 25317f42

and we supplied 12v in esc.

@Alex-Kushleyev spin normally means motor spins well when using script "voxl-esc-spin.py".

Here is my experiment sequence.

1. use a command ./voxl-esc-verify-params.py , which is part of voxl-esc tools.

result.
Detected Python version : 3.8.10 (default, May 26 2023, 14:05:08)
[GCC 9.4.0]
Found voxl-esc tools bin version: 1.2

INFO: Params file name : ../voxl-esc-params/boards/esc_params_generic_m0117.xml
INFO: Params file size : 7462 bytes

INFO: All COM ports:
/dev/ttyS0 : ttyS0
/dev/ttyUSB0 : FT232R USB UART - FT232R USB UART
INFO: UART Port Candidates:
/dev/ttyUSB0
INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 2000000
INFO: ESC(s) detected on port: /dev/ttyUSB0, baud rate: 2000000
INFO: ESCs detected:
INFO: ---------------------
ID: 0, SW: 38, HW: 34: ModalAi 4-in-1 ESC (M0117-1)
ID: 0
ID: 1, SW: 38, HW: 34: ModalAi 4-in-1 ESC (M0117-1)
ID: 1
ID: 2, SW: 38, HW: 34: ModalAi 4-in-1 ESC (M0117-1)
ID: 2
ID: 3, SW: 38, HW: 34: ModalAi 4-in-1 ESC (M0117-1)
ID: 3

INFO: Loading XML config file...
INFO: Uploading params...
-- board config
-- id config
-- uart config
-- tune config
DONE
INFO: Resetting ESCs...

2. spin 
   can use a command voxl-esc-spin.py* , which is part of voxl-esc tools. (command with --id 255 )

  result

Type "Yes" to continue: yes
[0] RPM: 448, PWR: 8, VBAT: 10.25V, TEMPERATURE: 36.24C, CURRENT: 0.02A
[1] RPM: 360, PWR: 8, VBAT: 10.64V, TEMPERATURE: 36.50C, CURRENT: 0.30A
[2] RPM: 360, PWR: 8, VBAT: 11.46V, TEMPERATURE: 36.31C, CURRENT: 0.59A
[3] RPM: 360, PWR: 8, VBAT: 6.66V, TEMPERATURE: 36.58C, CURRENT: 0.31A
[0] RPM: 360, PWR: 8, VBAT: 9.17V, TEMPERATURE: 36.34C, CURRENT: 0.04A
[1] RPM: 0, PWR: 0, VBAT: 7.99V, TEMPERATURE: 36.64C, CURRENT: 0.10A
[2] RPM: 360, PWR: 8, VBAT: 11.11V, TEMPERATURE: 36.50C, CURRENT: 0.59A
[3] RPM: 360, PWR: 8, VBAT: 7.80V, TEMPERATURE: 36.56C, CURRENT: 0.28A
[0] RPM: 360, PWR: 8, VBAT: 10.90V, TEMPERATURE: 36.57C, CURRENT: -0.06A
[1] RPM: 360, PWR: 8, VBAT: 7.38V, TEMPERATURE: 36.72C, CURRENT: 0.34A
[2] RPM: 360, PWR: 8, VBAT: 10.07V, TEMPERATURE: 36.77C, CURRENT: 0.17A
[3] RPM: 360, PWR: 8, VBAT: 9.72V, TEMPERATURE: 36.74C, CURRENT: 0.21A
[0] RPM: 472, PWR: 10, VBAT: 10.32V, TEMPERATURE: 36.82C, CURRENT: 0.02A
[1] RPM: 360, PWR: 8, VBAT: 11.10V, TEMPERATURE: 36.81C, CURRENT: 0.32A
[2] RPM: 360, PWR: 8, VBAT: 11.42V, TEMPERATURE: 36.88C, CURRENT: 0.60A
[3] RPM: 360, PWR: 8, VBAT: 9.03V, TEMPERATURE: 36.79C, CURRENT: 0.38A
[0] RPM: 0, PWR: 0, VBAT: 7.05V, TEMPERATURE: 36.88C, CURRENT: 0.03A
[1] RPM: 0, PWR: 0, VBAT: 9.28V, TEMPERATURE: 37.00C, CURRENT: 0.09A
[2] RPM: 360, PWR: 8, VBAT: 8.09V, TEMPERATURE: 37.16C, CURRENT: 0.31A
[3] RPM: 360, PWR: 8, VBAT: 7.45V, TEMPERATURE: 36.97C, CURRENT: 0.27A
[0] RPM: 360, PWR: 8, VBAT: 7.46V, TEMPERATURE: 37.10C, CURRENT: 0.30A
[1] RPM: 360, PWR: 8, VBAT: 9.03V, TEMPERATURE: 37.15C, CURRENT: 0.17A
[2] RPM: 360, PWR: 8, VBAT: 9.36V, TEMPERATURE: 37.36C, CURRENT: 0.11A
[3] RPM: 360, PWR: 8, VBAT: 9.52V, TEMPERATURE: 37.12C, CURRENT: 0.21A
[0] RPM: 0, PWR: 8, VBAT: 9.44V, TEMPERATURE: 37.31C, CURRENT: -0.01A
[1] RPM: 0, PWR: 0, VBAT: 7.31V, TEMPERATURE: 37.25C, CURRENT: 0.08A
[2] RPM: 0, PWR: 0, VBAT: 9.27V, TEMPERATURE: 37.49C, CURRENT: 0.13A
[3] RPM: 360, PWR: 8, VBAT: 7.53V, TEMPERATURE: 37.20C, CURRENT: 0.38A
[0] RPM: 0, PWR: 0, VBAT: 7.40V, TEMPERATURE: 37.37C, CURRENT: 0.05A
[1] RPM: 360, PWR: 8, VBAT: 7.23V, TEMPERATURE: 37.41C, CURRENT: 0.38A
[2] RPM: 360, PWR: 8, VBAT: 7.37V, TEMPERATURE: 37.63C, CURRENT: 0.37A
[3] RPM: 360, PWR: 8, VBAT: 7.85V, TEMPERATURE: 37.41C, CURRENT: 0.27A
[0] RPM: 360, PWR: 8, VBAT: 7.60V, TEMPERATURE: 37.64C, CURRENT: 0.31A
[1] RPM: 360, PWR: 8, VBAT: 9.00V, TEMPERATURE: 37.53C, CURRENT: 0.18A
[2] RPM: 343, PWR: 8, VBAT: 9.31V, TEMPERATURE: 37.78C, CURRENT: 0.02A
[3] RPM: 360, PWR: 8, VBAT: 9.31V, TEMPERATURE: 37.49C, CURRENT: 0.15A
[0] RPM: 0, PWR: 8, VBAT: 9.32V, TEMPERATURE: 37.71C, CURRENT: -0.06A
[1] RPM: 0, PWR: 0, VBAT: 7.34V, TEMPERATURE: 37.60C, CURRENT: 0.04A
[2] RPM: 0, PWR: 0, VBAT: 9.17V, TEMPERATURE: 37.97C, CURRENT: 0.10A
[3] RPM: 360, PWR: 8, VBAT: 7.46V, TEMPERATURE: 37.67C, CURRENT: 0.33A
[0] RPM: 0, PWR: 0, VBAT: 7.37V, TEMPERATURE: 37.93C, CURRENT: 0.06A
[1] RPM: 360, PWR: 8, VBAT: 7.38V, TEMPERATURE: 37.78C, CURRENT: 0.28A
[2] RPM: 360, PWR: 8, VBAT: 7.47V, TEMPERATURE: 38.07C, CURRENT: 0.36A
[3] RPM: 360, PWR: 8, VBAT: 7.88V, TEMPERATURE: 37.75C, CURRENT: 0.28A
[0] RPM: 360, PWR: 8, VBAT: 7.59V, TEMPERATURE: 38.10C, CURRENT: 0.28A
[1] RPM: 360, PWR: 8, VBAT: 9.14V, TEMPERATURE: 37.85C, CURRENT: 0.23A
[2] RPM: 360, PWR: 8, VBAT: 9.70V, TEMPERATURE: 38.09C, CURRENT: 0.11A
[3] RPM: 360, PWR: 8, VBAT: 9.30V, TEMPERATURE: 37.86C, CURRENT: 0.18A

  as you see, the result seems wrong and motor didn't spin well.
  The motor moves with a ticking sound and struggles.

3. use a command ./voxl-esc-verify-params.py  one more time , which is part of voxl-esc tools. 

result was changed.

Detected Python version : 3.8.10 (default, May 26 2023, 14:05:08)
[GCC 9.4.0]
Found voxl-esc tools bin version: 1.2
INFO: All COM ports:
/dev/ttyS0 : ttyS0
/dev/ttyUSB0 : FT232R USB UART - FT232R USB UART
INFO: UART Port Candidates:
/dev/ttyUSB0
INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 2000000
INFO: ESC(s) detected on port: /dev/ttyUSB0, baud rate: 2000000
UART config CRC mismatch 58230 != 0
ERROR: Params for ID 0 are invalid!
INFO: Params from ID 1 match ../voxl-esc-params/boards/esc_params_generic_m0117.xml
UART config CRC mismatch 58230 != 0
ERROR: Params for ID 2 are invalid!
UART config CRC mismatch 58230 != 0
ERROR: Params for ID 3 are invalid!
ERROR: Params from ID 0 and 1 are not the same
ERROR: Some params are invalid or not the same!
Number of ESCs expected : 4
Number of ESCs found : 4
Number of invalid params : 3
Number of matched params : 3

can u give me any advise in this issue?

@Alex-Kushleyev
Here is last question.
When using a script to update parameters and run the motor, the motor's response is not always consistent.

it seems like script cannot set whole motor's params.
because after update param first time, i saw situation what id 0,1,2 motor spun normally but id 3 motor was not.

after update param file second time, situation was changed like id 2,3 were normal and id 0,1 were not.

sometimes id 0,1,3 were normal.. and id 2 was not..

can u give me any advise in this issue?

p.s Already checked all motors weren't broken

@Alex-Kushleyev
Thank you for your advice.

Here is my last Question.

I supplied power and put pwm in normanl esc(https://store.tmotor.com/goods-580-ALPHA+40A+6S.html), motor can spin.

Is it possible to operate moter with voxl 4 in 1 esc like above way? (without uart function like normal esc )

when i did that experiment, it didn't work.

@modaltb
Accorinding @modaltb 's advice, I rebuilt the FW that named px4_fmu_v6c included modal_io driver.
In Qgroundcontrol, now i can see modal_io_ouput manual.

but there is an issue what cannot touch param's value.

MODAL IO OUTPUT
configure :(param not available)
Bitrate : (Param not availabe)
RPM Min : (Param not availabe)
RPM Max : (Param not availabe)
ESC 1 spin Direction : (Param not availabe)
ESC 2 Spin Direction : (Param not availabe)
ESC 3 Spin Direction : (Param not availabe)
ESC 4 Spin Direction : (Param not availabe)

can u tell me how to solve this issue?

@Alex-Kushleyev
Thank you for your help!
After changed adapter what suporrt 2Mbit, PC can detect with ESC.

I tried to connect px4_fmu_v6c and voxl_esc 4 in 1.
before connect px4 to esc,
already updated esc_firmware (modalai_esc_firmware_m0117_1_v0_38_83faccfa.bin) & params (/voxl-esc/voxl-esc-params/old/esc_params_modalai_4_in_1_reva.xml)

at that moment i could test script and spin the motor with PC.

But after i uploaded another params (~/voxl-esc/voxl-esc-params/boards/esc_params_generic_m0117.xml),
didnt find esc when i run the script like voxl-esc-scan.py. !

now, when i supply power to esc, esc make a sound and show blue led
After blue led blink 3 or 4 times and led turn off.
--->
this is output in terminal
./voxl-esc-scan.py
Detected Python version : 3.8.10 (default, May 26 2023, 14:05:08)
[GCC 9.4.0]
Found voxl-esc tools bin version: 1.2
INFO: All COM ports:
/dev/ttyS0 : ttyS0
/dev/ttyUSB0 : CP2102 USB to UART Bridge Controller - CP2102 USB to UART Bridge Controller
INFO: UART Port Candidates:
/dev/ttyUSB0
INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 2000000
INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 250000
INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 921600
INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 230400
INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 57600
INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 115200
INFO: Scanning for ESC bootloader: /dev/ttyUSB0, baud: 230400
WARNING: No ESC(s) detected

how can i solve this problem? arleady checked tx and rx also 3.3v

There is another question
Is it possible to spin the motor with this combination? (px4_fmu_v6c + voxl_esc 4 in 1 )
After red a manual where in modal ai (https://docs.modalai.com/modal-esc-px4-user-guide/),
i understood Only these production (VOXL2, Voxl flight, flight core v1., flight core v2) support voxl_esc_4in1 and use modaai_esc driver.

If there is solution to spin the motor with that combination, Please tell me.