ModalAI Forum

dan64

Background
We are seeing some issues with one of four motors on a Starling 2 Max not spinning at the same rate (very low RPMs). We've run a few troubleshooting steps by attempting to arm and using the voxl-esc-spin.py script.

Our initial diagnosis is that the motor may need to be replaced since the voltage being passed through is comparable to the voltage passed through to other motors. However, there is no visible damage to the motor or any wires.

We also attempted to run the px4-esc-cal-tool-v1-11.py according to the instructions here: https://docs.modalai.com/flight-core-pwm-esc-calibration/. We ran into some issues running the script here during the interactive prompts: No Serial Connection Found for px4-esc-cal-tool-v1-11.py

We were using the provided MCBL-00009-1 JST-to-USB Female A connector, but were unable to establish a serial connection to our machine. See attached image
We used multiple different connectors along with USB A to C cords to attempt the connection to rule out a cable issue.
Our development machines are Apple M4 Max MacBook Pros running MacOS Sequoia 15.3.2

Request(s)
Do you have any additional troubleshooting steps?
Any guidance on getting the px4-esc-cal-tool to work?
Is our diagnosis on the right track and the next steps would be to replace the motors? If so, is there a guide to replacing motors on a Starling 2 Max?

Attachments
Output and relevant VOXL version information is attached or pasted below.

VOXL Version:

Welcome to Ubuntu 18.04.6 LTS (GNU/Linux 4.19.125 aarch64)
* Documentation:  https://help.ubuntu.com
* Management:     https://landscape.canonical.com
* Support:        https://ubuntu.com/pro
This system has been minimized by removing packages and content that are
not required on a system that users do not log into.
To restore this content, you can run the 'unminimize' command.
                                                         ▂▂▂▂▂▂▂▂▂▂▂▂▂            
                                                    ▂▄▆▆██▛▀▀▀▀▀▀▀▀▜████▆▆▄▂      
███╗   ███╗ ██████╗ ██████╗  █████╗ ██╗         ▗▆████▀▔             ▔▔▀▀▀▀▚▄    
████╗ ████║██╔═══██╗██╔══██╗██╔══██╗██║       ▗▟████▀     ▗██▖    ▐█   ▝▀▆▄▄▄    
██╔████╔██║██║   ██║██║  ██║███████║██║      ▟████▀      ▗█▘▝█▖   ▐█       ▜█▀█▄ 
██║╚██╔╝██║██║   ██║██║  ██║██╔══██║██║      █▌ ▐█▌     ▗█▘  ▝█▖  ▐█       ▐▄ ▄█ 
██║ ╚═╝ ██║╚██████╔╝██████╔╝██║  ██║███████╗  ▀████    ▗█▘    ▝█▖ ▐█     ▂▄███▀  
╚═╝     ╚═╝ ╚═════╝ ╚═════╝ ╚═╝  ╚═╝╚══════╝    ▀▀██▄▄                ▂▆███▀     
                                                     ▀▀██▄▄ ▀▀▆▄▄▄▄▆██▀▀▀▘        

--------------------------------------------------------------------------------
system-image: 1.7.8-M0054-14.1a-perf
kernel:       #1 SMP PREEMPT Sat May 18 00:10:25 UTC 2024 4.19.125
--------------------------------------------------------------------------------
hw platform:  M0054
mach.var:     1.0.1
--------------------------------------------------------------------------------
voxl-suite:   1.3.2
--------------------------------------------------------------------------------
current IP:   tun0: 10.8.0.7
--------------------------------------------------------------------------------

voxl-esc-spin.py output (trimmed in the middle because values are more or less consistent):

./voxl-esc-spin.py --id 255 --power 60 --ramp-time 3.0 --timeout 4.0 --enable-plot 1
Detected Python version : 3.6.9 (default, Mar 10 2023, 16:46:00) 
[GCC 8.4.0]
Found voxl-esc tools bin version: 1.9
VOXL Platform: M0054
Detected RB5 Flight, VOXL2 M0054 or M0104!
INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 2000000
Sending library name request: libslpi_qrb5165_io.so
Sending initialization request
INFO: ESC(s) detected on port: /dev/slpi-uart-2, baud rate: 2000000
 ID         : 0
 Board      : version 40: ModalAi 4-in-1 ESC (M0129-3)
 UID        : 0x2039333557555313002A002D
 Firmware   : version   39, hash eb6fb500
 Bootloader : version  184, hash 10bf24c8
 ID         : 1
 Board      : version 40: ModalAi 4-in-1 ESC (M0129-3)
 UID        : 0x2039333557555313002A0022
 Firmware   : version   39, hash eb6fb500
 Bootloader : version  184, hash 10bf24c8
 ID         : 2
 Board      : version 40: ModalAi 4-in-1 ESC (M0129-3)
 UID        : 0x2039333557555313002A002B
 Firmware   : version   39, hash eb6fb500
 Bootloader : version  184, hash 10bf24c8
 ID         : 3
 Board      : version 40: ModalAi 4-in-1 ESC (M0129-3)
 UID        : 0x2039333557555313002A002C
 Firmware   : version   39, hash eb6fb500
 Bootloader : version  184, hash 10bf24c8
---------------------
WARNING: 
This test requires motors to spin at high speeds with
propellers attached. Please ensure that appropriate
protective equipment is being worn at all times and
that the motor and propeller are adequately isolated
from all persons.
For best results, please perform this test at the
nominal voltage for the battery used.
Type "Yes" to continue: yes
[0.017] (0) RPM: 0, PWR: 0, VOLTAGE: 0.000V, TEMPERATURE: 0.00C, CURRENT: 0.000A
[0.017] (1) RPM: 0, PWR: 0, VOLTAGE: 0.000V, TEMPERATURE: 0.00C, CURRENT: 0.000A
[0.017] (2) RPM: 0, PWR: 0, VOLTAGE: 0.000V, TEMPERATURE: 0.00C, CURRENT: 0.000A
[0.017] (3) RPM: 0, PWR: 0, VOLTAGE: 0.000V, TEMPERATURE: 0.00C, CURRENT: 0.000A
[0.037] (0) RPM: 0, PWR: 0, VOLTAGE: 0.000V, TEMPERATURE: 0.00C, CURRENT: 0.000A
[0.037] (1) RPM: 0, PWR: 0, VOLTAGE: 16.178V, TEMPERATURE: 45.11C, CURRENT: 0.000A
[0.037] (2) RPM: 19, PWR: 1, VOLTAGE: 16.160V, TEMPERATURE: 45.97C, CURRENT: 0.000A
[0.037] (3) RPM: 0, PWR: 0, VOLTAGE: 0.000V, TEMPERATURE: 0.00C, CURRENT: 0.000A
[0.062] (0) RPM: 68, PWR: 6, VOLTAGE: 16.130V, TEMPERATURE: 46.55C, CURRENT: 0.000A, BOARD_VOLTAGE: 16.153V, BOARD_CURRENT: 0.400A
[0.062] (1) RPM: 0, PWR: 0, VOLTAGE: 16.178V, TEMPERATURE: 45.11C, CURRENT: 0.000A, BOARD_VOLTAGE: 16.153V, BOARD_CURRENT: 0.400A
[0.062] (2) RPM: 19, PWR: 1, VOLTAGE: 16.160V, TEMPERATURE: 45.97C, CURRENT: 0.000A, BOARD_VOLTAGE: 16.153V, BOARD_CURRENT: 0.400A
[0.062] (3) RPM: 50, PWR: 4, VOLTAGE: 16.153V, TEMPERATURE: 48.16C, CURRENT: 0.000A, BOARD_VOLTAGE: 16.153V, BOARD_CURRENT: 0.400A
[0.076] (0) RPM: 68, PWR: 6, VOLTAGE: 16.130V, TEMPERATURE: 46.55C, CURRENT: 0.000A, BOARD_VOLTAGE: 15.874V, BOARD_CURRENT: 2.408A
[0.076] (1) RPM: 85, PWR: 8, VOLTAGE: 16.022V, TEMPERATURE: 45.22C, CURRENT: 0.000A, BOARD_VOLTAGE: 15.874V, BOARD_CURRENT: 2.408A
[0.076] (2) RPM: 118, PWR: 11, VOLTAGE: 15.954V, TEMPERATURE: 46.01C, CURRENT: 0.000A, BOARD_VOLTAGE: 15.874V, BOARD_CURRENT: 2.408A
[0.076] (3) RPM: 140, PWR: 11, VOLTAGE: 15.874V, TEMPERATURE: 48.30C, CURRENT: 0.000A, BOARD_VOLTAGE: 15.874V, BOARD_CURRENT: 2.408A
[0.092] (0) RPM: 155, PWR: 11, VOLTAGE: 15.868V, TEMPERATURE: 46.51C, CURRENT: 0.000A, BOARD_VOLTAGE: 15.874V, BOARD_CURRENT: 2.408A
[0.092] (1) RPM: 85, PWR: 8, VOLTAGE: 16.022V, TEMPERATURE: 45.22C, CURRENT: 0.000A, BOARD_VOLTAGE: 15.874V, BOARD_CURRENT: 2.408A
[0.092] (2) RPM: 118, PWR: 11, VOLTAGE: 15.954V, TEMPERATURE: 46.01C, CURRENT: 0.000A, BOARD_VOLTAGE: 15.874V, BOARD_CURRENT: 2.408A
[0.092] (3) RPM: 140, PWR: 11, VOLTAGE: 15.874V, TEMPERATURE: 48.30C, CURRENT: 0.000A, BOARD_VOLTAGE: 15.874V, BOARD_CURRENT: 2.408A
[0.119] (0) RPM: 155, PWR: 11, VOLTAGE: 15.868V, TEMPERATURE: 46.51C, CURRENT: 0.000A, BOARD_VOLTAGE: 15.874V, BOARD_CURRENT: 2.408A
...
[3.816] (0) RPM: 15173, PWR: 60, VOLTAGE: 15.986V, TEMPERATURE: 48.44C, CURRENT: 0.000A, BOARD_VOLTAGE: 15.980V, BOARD_CURRENT: 1.104A
[3.816] (1) RPM: 745, PWR: 60, VOLTAGE: 15.985V, TEMPERATURE: 46.30C, CURRENT: 0.000A, BOARD_VOLTAGE: 15.980V, BOARD_CURRENT: 1.104A
[3.816] (2) RPM: 15240, PWR: 60, VOLTAGE: 15.972V, TEMPERATURE: 48.39C, CURRENT: 0.000A, BOARD_VOLTAGE: 15.980V, BOARD_CURRENT: 1.104A
[3.816] (3) RPM: 15233, PWR: 60, VOLTAGE: 15.980V, TEMPERATURE: 49.93C, CURRENT: 0.000A, BOARD_VOLTAGE: 15.980V, BOARD_CURRENT: 1.104A
[3.838] (0) RPM: 15173, PWR: 60, VOLTAGE: 15.986V, TEMPERATURE: 48.44C, CURRENT: 0.000A, BOARD_VOLTAGE: 15.980V, BOARD_CURRENT: 1.104A
[3.838] (1) RPM: 798, PWR: 60, VOLTAGE: 15.992V, TEMPERATURE: 46.36C, CURRENT: 0.000A, BOARD_VOLTAGE: 15.980V, BOARD_CURRENT: 1.104A
[3.838] (2) RPM: 15223, PWR: 60, VOLTAGE: 15.970V, TEMPERATURE: 48.39C, CURRENT: 0.000A, BOARD_VOLTAGE: 15.980V, BOARD_CURRENT: 1.104A
[3.838] (3) RPM: 15252, PWR: 60, VOLTAGE: 15.979V, TEMPERATURE: 49.96C, CURRENT: 0.000A, BOARD_VOLTAGE: 15.980V, BOARD_CURRENT: 1.104A
[3.854] (0) RPM: 15159, PWR: 60, VOLTAGE: 15.991V, TEMPERATURE: 48.43C, CURRENT: 0.000A, BOARD_VOLTAGE: 15.979V, BOARD_CURRENT: 1.144A
[3.854] (1) RPM: 798, PWR: 60, VOLTAGE: 15.992V, TEMPERATURE: 46.36C, CURRENT: 0.000A, BOARD_VOLTAGE: 15.979V, BOARD_CURRENT: 1.144A
[3.854] (2) RPM: 15223, PWR: 60, VOLTAGE: 15.970V, TEMPERATURE: 48.39C, CURRENT: 0.000A, BOARD_VOLTAGE: 15.979V, BOARD_CURRENT: 1.144A
[3.854] (3) RPM: 15252, PWR: 60, VOLTAGE: 15.979V, TEMPERATURE: 49.96C, CURRENT: 0.000A, BOARD_VOLTAGE: 15.979V, BOARD_CURRENT: 1.144A
[3.876] (0) RPM: 15159, PWR: 60, VOLTAGE: 15.991V, TEMPERATURE: 48.43C, CURRENT: 0.000A, BOARD_VOLTAGE: 15.979V, BOARD_CURRENT: 1.144A
[3.876] (1) RPM: 816, PWR: 60, VOLTAGE: 15.990V, TEMPERATURE: 46.32C, CURRENT: 0.000A, BOARD_VOLTAGE: 15.979V, BOARD_CURRENT: 1.144A
[3.876] (2) RPM: 15223, PWR: 60, VOLTAGE: 15.970V, TEMPERATURE: 48.39C, CURRENT: 0.000A, BOARD_VOLTAGE: 15.979V, BOARD_CURRENT: 1.144A
[3.876] (3) RPM: 15252, PWR: 60, VOLTAGE: 15.979V, TEMPERATURE: 49.96C, CURRENT: 0.000A, BOARD_VOLTAGE: 15.979V, BOARD_CURRENT: 1.144A
[3.892] (0) RPM: 15171, PWR: 60, VOLTAGE: 15.982V, TEMPERATURE: 48.42C, CURRENT: 0.000A, BOARD_VOLTAGE: 15.981V, BOARD_CURRENT: 1.144A
[3.892] (1) RPM: 855, PWR: 60, VOLTAGE: 15.986V, TEMPERATURE: 46.36C, CURRENT: 0.000A, BOARD_VOLTAGE: 15.981V, BOARD_CURRENT: 1.144A
[3.892] (2) RPM: 15269, PWR: 60, VOLTAGE: 15.965V, TEMPERATURE: 48.41C, CURRENT: 0.000A, BOARD_VOLTAGE: 15.981V, BOARD_CURRENT: 1.144A
[3.892] (3) RPM: 15252, PWR: 60, VOLTAGE: 15.981V, TEMPERATURE: 49.97C, CURRENT: 0.000A, BOARD_VOLTAGE: 15.981V, BOARD_CURRENT: 1.144A
[3.914] (0) RPM: 15171, PWR: 60, VOLTAGE: 15.982V, TEMPERATURE: 48.42C, CURRENT: 0.000A, BOARD_VOLTAGE: 15.981V, BOARD_CURRENT: 1.144A
[3.914] (1) RPM: 855, PWR: 60, VOLTAGE: 15.986V, TEMPERATURE: 46.36C, CURRENT: 0.000A, BOARD_VOLTAGE: 15.981V, BOARD_CURRENT: 1.144A
[3.914] (2) RPM: 15261, PWR: 60, VOLTAGE: 15.973V, TEMPERATURE: 48.43C, CURRENT: 0.000A, BOARD_VOLTAGE: 15.981V, BOARD_CURRENT: 1.144A
[3.914] (3) RPM: 15252, PWR: 60, VOLTAGE: 15.981V, TEMPERATURE: 49.97C, CURRENT: 0.000A, BOARD_VOLTAGE: 15.981V, BOARD_CURRENT: 1.144A
[3.935] (0) RPM: 15170, PWR: 60, VOLTAGE: 15.987V, TEMPERATURE: 48.40C, CURRENT: 0.000A, BOARD_VOLTAGE: 15.976V, BOARD_CURRENT: 1.192A
[3.935] (1) RPM: 855, PWR: 60, VOLTAGE: 15.986V, TEMPERATURE: 46.36C, CURRENT: 0.000A, BOARD_VOLTAGE: 15.976V, BOARD_CURRENT: 1.192A
[3.935] (2) RPM: 15261, PWR: 60, VOLTAGE: 15.973V, TEMPERATURE: 48.43C, CURRENT: 0.000A, BOARD_VOLTAGE: 15.976V, BOARD_CURRENT: 1.192A
[3.935] (3) RPM: 15244, PWR: 60, VOLTAGE: 15.976V, TEMPERATURE: 49.98C, CURRENT: 0.000A, BOARD_VOLTAGE: 15.976V, BOARD_CURRENT: 1.192A
[3.960] (0) RPM: 15170, PWR: 60, VOLTAGE: 15.987V, TEMPERATURE: 48.40C, CURRENT: 0.000A, BOARD_VOLTAGE: 15.976V, BOARD_CURRENT: 1.192A
[3.960] (1) RPM: 750, PWR: 60, VOLTAGE: 15.989V, TEMPERATURE: 46.32C, CURRENT: 0.000A, BOARD_VOLTAGE: 15.976V, BOARD_CURRENT: 1.192A
[3.960] (2) RPM: 15290, PWR: 60, VOLTAGE: 15.973V, TEMPERATURE: 48.41C, CURRENT: 0.000A, BOARD_VOLTAGE: 15.976V, BOARD_CURRENT: 1.192A
[3.960] (3) RPM: 15244, PWR: 60, VOLTAGE: 15.976V, TEMPERATURE: 49.98C, CURRENT: 0.000A, BOARD_VOLTAGE: 15.976V, BOARD_CURRENT: 1.192A
[3.976] (0) RPM: 15170, PWR: 60, VOLTAGE: 15.987V, TEMPERATURE: 48.40C, CURRENT: 0.000A, BOARD_VOLTAGE: 15.974V, BOARD_CURRENT: 1.248A
[3.976] (1) RPM: 750, PWR: 60, VOLTAGE: 15.989V, TEMPERATURE: 46.32C, CURRENT: 0.000A, BOARD_VOLTAGE: 15.974V, BOARD_CURRENT: 1.248A
[3.976] (2) RPM: 15290, PWR: 60, VOLTAGE: 15.973V, TEMPERATURE: 48.41C, CURRENT: 0.000A, BOARD_VOLTAGE: 15.974V, BOARD_CURRENT: 1.248A
[3.976] (3) RPM: 15245, PWR: 60, VOLTAGE: 15.974V, TEMPERATURE: 49.98C, CURRENT: 0.000A, BOARD_VOLTAGE: 15.974V, BOARD_CURRENT: 1.248A
[3.994] (0) RPM: 15169, PWR: 60, VOLTAGE: 15.986V, TEMPERATURE: 48.46C, CURRENT: 0.000A, BOARD_VOLTAGE: 15.974V, BOARD_CURRENT: 1.248A
[3.994] (1) RPM: 700, PWR: 60, VOLTAGE: 16.000V, TEMPERATURE: 46.28C, CURRENT: 0.000A, BOARD_VOLTAGE: 15.974V, BOARD_CURRENT: 1.248A
[3.994] (2) RPM: 15261, PWR: 60, VOLTAGE: 15.981V, TEMPERATURE: 48.48C, CURRENT: 0.000A, BOARD_VOLTAGE: 15.974V, BOARD_CURRENT: 1.248A
[3.994] (3) RPM: 15245, PWR: 60, VOLTAGE: 15.974V, TEMPERATURE: 49.98C, CURRENT: 0.000A, BOARD_VOLTAGE: 15.974V, BOARD_CURRENT: 1.248A
Finished!
[3.994172] TX=404, RX=501 packets, RX CRC ERRORS=0
Average RPMs: 15155.23 1018.99 15249.99 15239.80
Average RPM deviation between ESCs : 14231.00
WARNING: In order to plot the results, install the Python "plotly" module: pip3 install plotly --upgrade

dan64

VOXL 2 Mini	LTE Modem v2 Pro

dan64

For additional context, here is our voxl-streamer.conf:

{
  "input-pipe":  "hires_front_small_encoded",
  "bitrate":  1000000,
  "rotation":  0,
  "decimator":  1,
  "port":  8900
}

dan64

My team is looking into ways to minimize bandwidth and latency while streaming video from multiple Starling Max drones over 4G+VPN. In one of our tests, we disabled all but one pipe in voxl-camera-server.conf for the hires_front camera, and disabled all for the hires_down:

"en_preview": false,
"en_small_video": true,
"en_large_video": false,
"en_snapshot": false,

According to these docs, streams are not activated until a client connects, but disabling these other pipes seemed to have made a significant improvement in stream quality.
https://docs.modalai.com/voxl-camera-server/#hal3-streams

Can someone please confirm: if all pipes are enabled, and a client connects to a specific pipe (e.g. small video only), are all streams then activated? Any tips or suggestions to optimize bandwidth and reduce onboard overhead are appreciated!

dan64

@Eric-Katzfey thanks for the quick reply. Since 14550 is hard-coded into voxl-mavlink-server service, that answers my question re: customizing this port.

For additional context, I'm interested in replicating QGC's behavior of connecting to multiple UAVs simultaneously, each identified by their MAV_SYS_ID. As an example:

Set MAV_SYS_ID to "42" on one VOXL
Leave MAV_SYS_ID as "1" on another VOXL
Set secondary_static_gcs_ip to your GCS IP on both (/etc/modalai/voxl-mavlink-server.conf)
QGC automatically connects to both and shows "Vehicle 42" and "Vehicle 1" in the dropdown in the top menu bar

I'm able to connect to my UAV using mavsdk at udp://:14550 but I can't tell which one connects since both are sending telemetry to my Mac's 14550.

Since posting this, I discovered https://github.com/mavlink-router/mavlink-router which may be what I'm looking for, but I'm still trying to get it working with my docker-compose setup. I was just wondering if there was a simpler configuration onboard the VOXL that I could easily change.

dan64

Hi, we're trying to do something very similar to this post and connect the VOXL2 Mini to a LTE Modem v2 Pro.

We connected the J3 on the VOXL 2 mini to the standalone USB host on J7 on the LTE Modem, and are using the standalone power on J4 of the LTE Modem to supply voltage. We can verify with voltimeter and led lights that power is going to the LTE Modem, but we don't see any indication of data transfer or detection of the Sierra device or other USB devices on the LTE Modem.

Can you verify that this wiring is correct when using LTE Modem v2 Pro with the VOXL2 Mini. If it is correct, is there some other piece we might be missing, like configuration changes we might need to make to get data flowing between these 2 components?

dan64

I'm trying to send telemetry data from multiple VOXL 2 drones to a single GCS IP.

Is there a way to set a custom UDP port for secondary_static_gcs_ip (other than 14550) on each individual VOXL 2 drone so I can guarantee which drone is connecting? Essentially something like:

drone 1 (MAV_SYS_ID = 1): drone.connect(system_address="udp://:14551")
drone 2 (MAV_SYS_ID = 2): drone.connect(system_address="udp://:14552")
drone 3 (MAV_SYS_ID = 3): drone.connect(system_address="udp://:14553")
etc.

I'm able to view multiple unique drones in QGroundControl, uniquely identified by setting a unique MAV_SYS_ID on each drone first. However, I'm trying to connect using mavsdk now instead, but I haven't had any luck using the sysid arg, so it's always a random gamble on which drone actually connects when I try system address of udp://:14550.

ModalAI Forum

dan64

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