ModalAI Forum

@Eric-Katzfey @alex-kushleyev

We confirmed all of the above. What we noticed is that when we watch the esc_status messages in mavlink inspector and we throttle up with RC, two of the RPM values are off by several thousand. For example, two RPM values are around 16000 while others are stuck at 6000-8000. However, if I watch these RPM values while throttling the esc's using the actuator sliders in QGC, they are all the same value roughly. For context, we are using a radiomaster GX12 with a Radiomaster XR4 receiver on the drone.

I have attached my px4 params if you would not mind giving those a sanity check... thank you!

# Onboard parameters for Vehicle 1
#
# Stack: PX4 Pro
# Vehicle: Multi-Rotor
# Version: 1.14.0 dev
# Git Revision: 3e7db37f06020085
#
# Vehicle-Id Component-Id Name Value Type
1	1	ASPD_SCALE_1	1	9
1	1	BAT1_CAPACITY	5e+03	9
1	1	BAT1_N_CELLS	6	6
1	1	BAT1_R_INTERNAL	0.003	9
1	1	BAT1_SOURCE	0	6
1	1	BAT1_V_CHARGED	4.2	9
1	1	BAT1_V_EMPTY	3.3	9
1	1	BAT1_V_LOAD_DROP	0.1	9
1	1	BAT_AVRG_CURRENT	15	9
1	1	BAT_CRIT_THR	0.1	9
1	1	BAT_EMERGEN_THR	0.05	9
1	1	BAT_LOW_THR	0.15	9
1	1	BAT_N_CELLS	3	6
1	1	BAT_V_CHARGED	4.05	9
1	1	BAT_V_EMPTY	3.6	9
1	1	BAT_V_LOAD_DROP	0.3	9
1	1	CAL_ACC0_ID	2490378	6
1	1	CAL_ACC0_PRIO	50	6
1	1	CAL_ACC0_ROT	-1	6
1	1	CAL_ACC0_XOFF	0.016957283	9
1	1	CAL_ACC0_XSCALE	0.99843574	9
1	1	CAL_ACC0_YOFF	0.04622507	9
1	1	CAL_ACC0_YSCALE	1.0024542	9
1	1	CAL_ACC0_ZOFF	0.02586174	9
1	1	CAL_ACC0_ZSCALE	0.99772567	9
1	1	CAL_ACC1_ID	0	6
1	1	CAL_ACC2_ID	0	6
1	1	CAL_ACC3_ID	0	6
1	1	CAL_AIR_CMODEL	0	6
1	1	CAL_AIR_TUBED_MM	1.5	9
1	1	CAL_AIR_TUBELEN	0.2	9
1	1	CAL_BARO0_ID	0	6
1	1	CAL_BARO1_ID	0	6
1	1	CAL_BARO2_ID	0	6
1	1	CAL_BARO3_ID	0	6
1	1	CAL_GYRO0_ID	2490378	6
1	1	CAL_GYRO0_PRIO	50	6
1	1	CAL_GYRO0_ROT	-1	6
1	1	CAL_GYRO0_XOFF	-0.006514091	9
1	1	CAL_GYRO0_YOFF	0.019818183	9
1	1	CAL_GYRO0_ZOFF	-0.0041006296	9
1	1	CAL_GYRO1_ID	0	6
1	1	CAL_GYRO2_ID	0	6
1	1	CAL_GYRO3_ID	0	6
1	1	CAL_MAG0_ID	0	6
1	1	CAL_MAG0_PRIO	75	6
1	1	CAL_MAG0_ROT	-1	6
1	1	CAL_MAG0_XODIAG	-0.01694872	9
1	1	CAL_MAG0_XOFF	0.07075692	9
1	1	CAL_MAG0_XSCALE	1.0713451	9
1	1	CAL_MAG0_YODIAG	0.05755493	9
1	1	CAL_MAG0_YOFF	-0.22197492	9
1	1	CAL_MAG0_YSCALE	1.0001789	9
1	1	CAL_MAG0_ZODIAG	-0.022624424	9
1	1	CAL_MAG0_ZOFF	0.09056667	9
1	1	CAL_MAG0_ZSCALE	0.98838013	9
1	1	CAL_MAG1_ID	0	6
1	1	CAL_MAG1_ROT	-1	6
1	1	CAL_MAG2_ID	0	6
1	1	CAL_MAG2_ROT	-1	6
1	1	CAL_MAG3_ID	0	6
1	1	CAL_MAG3_ROT	-1	6
1	1	CA_AIRFRAME	0	6
1	1	CA_FAILURE_MODE	0	6
1	1	CA_METHOD	2	6
1	1	CA_R0_SLEW	0	9
1	1	CA_R10_SLEW	0	9
1	1	CA_R11_SLEW	0	9
1	1	CA_R1_SLEW	0	9
1	1	CA_R2_SLEW	0	9
1	1	CA_R3_SLEW	0	9
1	1	CA_R4_SLEW	0	9
1	1	CA_R5_SLEW	0	9
1	1	CA_R6_SLEW	0	9
1	1	CA_R7_SLEW	0	9
1	1	CA_R8_SLEW	0	9
1	1	CA_R9_SLEW	0	9
1	1	CA_ROTOR0_AX	0	9
1	1	CA_ROTOR0_AY	0	9
1	1	CA_ROTOR0_AZ	1	9
1	1	CA_ROTOR0_CT	6.5	9
1	1	CA_ROTOR0_KM	0.05	9
1	1	CA_ROTOR0_PX	0.033528	9
1	1	CA_ROTOR0_PY	0.033528	9
1	1	CA_ROTOR0_PZ	0	9
1	1	CA_ROTOR10_AX	0	9
1	1	CA_ROTOR10_AY	0	9
1	1	CA_ROTOR10_AZ	-1	9
1	1	CA_ROTOR10_CT	6.5	9
1	1	CA_ROTOR10_KM	0.05	9
1	1	CA_ROTOR10_PX	0	9
1	1	CA_ROTOR10_PY	0	9
1	1	CA_ROTOR10_PZ	0	9
1	1	CA_ROTOR11_AX	0	9
1	1	CA_ROTOR11_AY	0	9
1	1	CA_ROTOR11_AZ	-1	9
1	1	CA_ROTOR11_CT	6.5	9
1	1	CA_ROTOR11_KM	0.05	9
1	1	CA_ROTOR11_PX	0	9
1	1	CA_ROTOR11_PY	0	9
1	1	CA_ROTOR11_PZ	0	9
1	1	CA_ROTOR1_AX	0	9
1	1	CA_ROTOR1_AY	0	9
1	1	CA_ROTOR1_AZ	1	9
1	1	CA_ROTOR1_CT	6.5	9
1	1	CA_ROTOR1_KM	0.05	9
1	1	CA_ROTOR1_PX	-0.033528	9
1	1	CA_ROTOR1_PY	-0.033528	9
1	1	CA_ROTOR1_PZ	0	9
1	1	CA_ROTOR2_AX	0	9
1	1	CA_ROTOR2_AY	0	9
1	1	CA_ROTOR2_AZ	1	9
1	1	CA_ROTOR2_CT	6.5	9
1	1	CA_ROTOR2_KM	-0.05	9
1	1	CA_ROTOR2_PX	0.033528	9
1	1	CA_ROTOR2_PY	-0.033528	9
1	1	CA_ROTOR2_PZ	0	9
1	1	CA_ROTOR3_AX	0	9
1	1	CA_ROTOR3_AY	0	9
1	1	CA_ROTOR3_AZ	1	9
1	1	CA_ROTOR3_CT	6.5	9
1	1	CA_ROTOR3_KM	-0.05	9
1	1	CA_ROTOR3_PX	-0.033528	9
1	1	CA_ROTOR3_PY	0.033528	9
1	1	CA_ROTOR3_PZ	0	9
1	1	CA_ROTOR4_AX	0	9
1	1	CA_ROTOR4_AY	0	9
1	1	CA_ROTOR4_AZ	-1	9
1	1	CA_ROTOR4_CT	6.5	9
1	1	CA_ROTOR4_KM	0.05	9
1	1	CA_ROTOR4_PX	0	9
1	1	CA_ROTOR4_PY	0	9
1	1	CA_ROTOR4_PZ	0	9
1	1	CA_ROTOR5_AX	0	9
1	1	CA_ROTOR5_AY	0	9
1	1	CA_ROTOR5_AZ	-1	9
1	1	CA_ROTOR5_CT	6.5	9
1	1	CA_ROTOR5_KM	0.05	9
1	1	CA_ROTOR5_PX	0	9
1	1	CA_ROTOR5_PY	0	9
1	1	CA_ROTOR5_PZ	0	9
1	1	CA_ROTOR6_AX	0	9
1	1	CA_ROTOR6_AY	0	9
1	1	CA_ROTOR6_AZ	-1	9
1	1	CA_ROTOR6_CT	6.5	9
1	1	CA_ROTOR6_KM	0.05	9
1	1	CA_ROTOR6_PX	0	9
1	1	CA_ROTOR6_PY	0	9
1	1	CA_ROTOR6_PZ	0	9
1	1	CA_ROTOR7_AX	0	9
1	1	CA_ROTOR7_AY	0	9
1	1	CA_ROTOR7_AZ	-1	9
1	1	CA_ROTOR7_CT	6.5	9
1	1	CA_ROTOR7_KM	0.05	9
1	1	CA_ROTOR7_PX	0	9
1	1	CA_ROTOR7_PY	0	9
1	1	CA_ROTOR7_PZ	0	9
1	1	CA_ROTOR8_AX	0	9
1	1	CA_ROTOR8_AY	0	9
1	1	CA_ROTOR8_AZ	-1	9
1	1	CA_ROTOR8_CT	6.5	9
1	1	CA_ROTOR8_KM	0.05	9
1	1	CA_ROTOR8_PX	0	9
1	1	CA_ROTOR8_PY	0	9
1	1	CA_ROTOR8_PZ	0	9
1	1	CA_ROTOR9_AX	0	9
1	1	CA_ROTOR9_AY	0	9
1	1	CA_ROTOR9_AZ	-1	9
1	1	CA_ROTOR9_CT	6.5	9
1	1	CA_ROTOR9_KM	0.05	9
1	1	CA_ROTOR9_PX	0	9
1	1	CA_ROTOR9_PY	0	9
1	1	CA_ROTOR9_PZ	0	9
1	1	CA_ROTOR_COUNT	4	6
1	1	CA_R_REV	0	6
1	1	CA_SV0_SLEW	0	9
1	1	CA_SV1_SLEW	0	9
1	1	CA_SV2_SLEW	0	9
1	1	CA_SV3_SLEW	0	9
1	1	CA_SV4_SLEW	0	9
1	1	CA_SV5_SLEW	0	9
1	1	CA_SV6_SLEW	0	9
1	1	CA_SV7_SLEW	0	9
1	1	CBRK_AIRSPD_CHK	0	6
1	1	CBRK_FLIGHTTERM	121212	6
1	1	CBRK_IO_SAFETY	22027	6
1	1	CBRK_SUPPLY_CHK	894281	6
1	1	CBRK_USB_CHK	197848	6
1	1	CBRK_VTOLARMING	0	6
1	1	COM_ACT_FAIL_ACT	0	6
1	1	COM_ARM_ARSP_EN	1	6
1	1	COM_ARM_AUTH_ID	10	6
1	1	COM_ARM_AUTH_MET	0	6
1	1	COM_ARM_AUTH_REQ	0	6
1	1	COM_ARM_AUTH_TO	1	9
1	1	COM_ARM_BAD_INOV	0	6
1	1	COM_ARM_CHK_ESCS	0	6
1	1	COM_ARM_EKF_BIAS	3	9
1	1	COM_ARM_EKF_HGT	1	9
1	1	COM_ARM_EKF_POS	0.5	9
1	1	COM_ARM_EKF_VEL	0.5	9
1	1	COM_ARM_EKF_YAW	0.5	9
1	1	COM_ARM_HFLT_CHK	1	6
1	1	COM_ARM_IMU_ACC	0.7	9
1	1	COM_ARM_IMU_GYR	0.25	9
1	1	COM_ARM_MAG_ANG	60	6
1	1	COM_ARM_MAG_STR	2	6
1	1	COM_ARM_MIS_REQ	0	6
1	1	COM_ARM_ODID	0	6
1	1	COM_ARM_SDCARD	0	6
1	1	COM_ARM_SWISBTN	0	6
1	1	COM_ARM_WO_GPS	1	6
1	1	COM_CPU_MAX	-1	9
1	1	COM_DISARM_FORCE	0	6
1	1	COM_DISARM_LAND	0.1	9
1	1	COM_DISARM_PRFLT	2e+01	9
1	1	COM_DL_LOSS_T	10	6
1	1	COM_FAIL_ACT_T	5	9
1	1	COM_FLIGHT_UUID	217	6
1	1	COM_FLTMODE1	8	6
1	1	COM_FLTMODE2	-1	6
1	1	COM_FLTMODE3	-1	6
1	1	COM_FLTMODE4	-1	6
1	1	COM_FLTMODE5	-1	6
1	1	COM_FLTMODE6	2	6
1	1	COM_FLT_PROFILE	0	6
1	1	COM_FLT_TIME_MAX	-1	6
1	1	COM_FORCE_SAFETY	0	6
1	1	COM_HLDL_LOSS_T	120	6
1	1	COM_HLDL_REG_T	0	6
1	1	COM_HOME_EN	1	6
1	1	COM_HOME_IN_AIR	0	6
1	1	COM_IMB_PROP_ACT	0	6
1	1	COM_KILL_DISARM	0	9
1	1	COM_LKDOWN_TKO	3	9
1	1	COM_LOW_BAT_ACT	0	6
1	1	COM_MOT_TEST_EN	1	6
1	1	COM_OBC_LOSS_T	5	9
1	1	COM_OBL_RC_ACT	0	6
1	1	COM_OBS_AVOID	0	6
1	1	COM_OF_LOSS_T	3	9
1	1	COM_PARACHUTE	0	6
1	1	COM_POSCTL_NAVL	0	6
1	1	COM_POS_FS_DELAY	1	6
1	1	COM_POS_FS_EPH	5	9
1	1	COM_POS_LOW_EPH	-1	9
1	1	COM_POWER_COUNT	1	6
1	1	COM_PREARM_MODE	0	6
1	1	COM_QC_ACT	0	6
1	1	COM_RCL_EXCEPT	0	6
1	1	COM_RC_ARM_HYST	1000	6
1	1	COM_RC_IN_MODE	3	6
1	1	COM_RC_LOSS_T	0.5	9
1	1	COM_RC_OVERRIDE	1	6
1	1	COM_RC_STICK_OV	3e+01	9
1	1	COM_SPOOLUP_TIME	2	9
1	1	COM_TAKEOFF_ACT	0	6
1	1	COM_VEL_FS_EVH	1	9
1	1	COM_WIND_MAX	-1	9
1	1	COM_WIND_WARN	-1	9
1	1	CP_DELAY	0.4	9
1	1	CP_DIST	-1	9
1	1	CP_GO_NO_DATA	0	6
1	1	CP_GUIDE_ANG	3e+01	9
1	1	EKF2_ABIAS_INIT	0.2	9
1	1	EKF2_ABL_ACCLIM	25	9
1	1	EKF2_ABL_GYRLIM	3	9
1	1	EKF2_ABL_LIM	0.4	9
1	1	EKF2_ABL_TAU	0.5	9
1	1	EKF2_ACC_B_NOISE	0.003	9
1	1	EKF2_ACC_NOISE	0.35	9
1	1	EKF2_AID_MASK	0	6
1	1	EKF2_ANGERR_INIT	0.1	9
1	1	EKF2_ARSP_THR	0	9
1	1	EKF2_ASPD_MAX	2e+01	9
1	1	EKF2_ASP_DELAY	1e+02	9
1	1	EKF2_AVEL_DELAY	5	9
1	1	EKF2_BARO_CTRL	1	6
1	1	EKF2_BARO_DELAY	0	9
1	1	EKF2_BARO_GATE	5	9
1	1	EKF2_BARO_NOISE	3.5	9
1	1	EKF2_BCOEF_X	1e+02	9
1	1	EKF2_BCOEF_Y	1e+02	9
1	1	EKF2_BETA_GATE	5	9
1	1	EKF2_BETA_NOISE	0.3	9
1	1	EKF2_DECL_TYPE	7	6
1	1	EKF2_DRAG_CTRL	0	6
1	1	EKF2_DRAG_NOISE	2.5	9
1	1	EKF2_EAS_NOISE	1.4	9
1	1	EKF2_EVA_NOISE	0.1	9
1	1	EKF2_EVP_GATE	5	9
1	1	EKF2_EVP_NOISE	0.1	9
1	1	EKF2_EVV_GATE	3	9
1	1	EKF2_EVV_NOISE	0.1	9
1	1	EKF2_EV_CTRL	0	6
1	1	EKF2_EV_DELAY	0	9
1	1	EKF2_EV_HGT_TO	5000	6
1	1	EKF2_EV_NOISE_MD	0	6
1	1	EKF2_EV_POS_TO	1000	6
1	1	EKF2_EV_POS_X	0	9
1	1	EKF2_EV_POS_Y	0	9
1	1	EKF2_EV_POS_Z	0	9
1	1	EKF2_EV_QMIN	0	6
1	1	EKF2_FUSE_BETA	0	6
1	1	EKF2_GBIAS_INIT	0.1	9
1	1	EKF2_GND_EFF_DZ	4	9
1	1	EKF2_GND_MAX_HGT	0.5	9
1	1	EKF2_GPS_CHECK	1	6
1	1	EKF2_GPS_CTRL	7	6
1	1	EKF2_GPS_DELAY	1.1e+02	9
1	1	EKF2_GPS_POS_X	0	9
1	1	EKF2_GPS_POS_Y	0	9
1	1	EKF2_GPS_POS_Z	0	9
1	1	EKF2_GPS_P_GATE	5	9
1	1	EKF2_GPS_P_NOISE	0.5	9
1	1	EKF2_GPS_V_GATE	5	9
1	1	EKF2_GPS_V_NOISE	0.3	9
1	1	EKF2_GRAV_NOISE	1	9
1	1	EKF2_GSF_TAS	15	9
1	1	EKF2_GYR_B_LIM	0.15	9
1	1	EKF2_GYR_B_NOISE	0.001	9
1	1	EKF2_GYR_NOISE	0.015	9
1	1	EKF2_HDG_GATE	2.6	9
1	1	EKF2_HEAD_NOISE	0.3	9
1	1	EKF2_HGT_REF	0	6
1	1	EKF2_IMU_CTRL	3	6
1	1	EKF2_IMU_POS_X	0.033	9
1	1	EKF2_IMU_POS_Y	0.008	9
1	1	EKF2_IMU_POS_Z	-0.036	9
1	1	EKF2_MAG_ACCLIM	0.5	9
1	1	EKF2_MAG_B_NOISE	0.0001	9
1	1	EKF2_MAG_CHECK	1	6
1	1	EKF2_MAG_DECL	0	9
1	1	EKF2_MAG_DELAY	0	9
1	1	EKF2_MAG_E_NOISE	0.001	9
1	1	EKF2_MAG_GATE	3	9
1	1	EKF2_MAG_NOISE	0.05	9
1	1	EKF2_MAG_TYPE	0	6
1	1	EKF2_MAG_YAWLIM	0.2	9
1	1	EKF2_MCOEF	0.15	9
1	1	EKF2_MIN_RNG	0.1	9
1	1	EKF2_NOAID_NOISE	1e+01	9
1	1	EKF2_NOAID_TOUT	5000000	6
1	1	EKF2_OF_CTRL	0	6
1	1	EKF2_OF_DELAY	2e+01	9
1	1	EKF2_OF_GATE	3	9
1	1	EKF2_OF_N_MAX	0.5	9
1	1	EKF2_OF_N_MIN	0.15	9
1	1	EKF2_OF_POS_X	0	9
1	1	EKF2_OF_POS_Y	0	9
1	1	EKF2_OF_POS_Z	0	9
1	1	EKF2_OF_QMIN	1	6
1	1	EKF2_PCOEF_XN	0	9
1	1	EKF2_PCOEF_XP	0	9
1	1	EKF2_PCOEF_YN	0	9
1	1	EKF2_PCOEF_YP	0	9
1	1	EKF2_PCOEF_Z	0	9
1	1	EKF2_PREDICT_US	10000	6
1	1	EKF2_REQ_EPH	3	9
1	1	EKF2_REQ_EPV	5	9
1	1	EKF2_REQ_GPS_H	5	9
1	1	EKF2_REQ_HDRIFT	0.1	9
1	1	EKF2_REQ_NSATS	6	6
1	1	EKF2_REQ_PDOP	2.5	9
1	1	EKF2_REQ_SACC	1.5	9
1	1	EKF2_REQ_VDRIFT	0.2	9
1	1	EKF2_RNG_A_HMAX	5	9
1	1	EKF2_RNG_A_IGATE	1	9
1	1	EKF2_RNG_A_VMAX	1	9
1	1	EKF2_RNG_CTRL	0	6
1	1	EKF2_RNG_DELAY	5	9
1	1	EKF2_RNG_GATE	5	9
1	1	EKF2_RNG_K_GATE	1	9
1	1	EKF2_RNG_NOISE	0.1	9
1	1	EKF2_RNG_PITCH	0	9
1	1	EKF2_RNG_POS_X	0	9
1	1	EKF2_RNG_POS_Y	0	9
1	1	EKF2_RNG_POS_Z	0	9
1	1	EKF2_RNG_QLTY_T	1	9
1	1	EKF2_RNG_SFE	0.05	9
1	1	EKF2_SYNT_MAG_Z	0	6
1	1	EKF2_TAS_GATE	3	9
1	1	EKF2_TAU_POS	0.25	9
1	1	EKF2_TAU_VEL	0.25	9
1	1	EKF2_TERR_GRAD	0.5	9
1	1	EKF2_TERR_MASK	3	6
1	1	EKF2_TERR_NOISE	5	9
1	1	EKF2_WIND_NSD	0.01	9
1	1	FD_ACT_EN	1	6
1	1	FD_ACT_MOT_C2T	2	9
1	1	FD_ACT_MOT_THR	0.2	9
1	1	FD_ACT_MOT_TOUT	100	6
1	1	FD_ESCS_EN	1	6
1	1	FD_EXT_ATS_EN	0	6
1	1	FD_EXT_ATS_TRIG	1900	6
1	1	FD_FAIL_P	60	6
1	1	FD_FAIL_P_TTRI	0.3	9
1	1	FD_FAIL_R	180	6
1	1	FD_FAIL_R_TTRI	0.3	9
1	1	FD_IMB_PROP_THR	30	6
1	1	FLW_TGT_ALT_M	0	6
1	1	FLW_TGT_DST	8	9
1	1	FLW_TGT_FA	1.8e+02	9
1	1	FLW_TGT_HT	8	9
1	1	FLW_TGT_MAX_VEL	5	9
1	1	FLW_TGT_RS	0.1	9
1	1	FW_AIRSPD_MAX	2e+01	9
1	1	FW_AIRSPD_TRIM	15	9
1	1	FW_ARSP_MODE	0	6
1	1	FW_PSP_OFF	0	9
1	1	FW_T_CLMB_R_SP	3	9
1	1	FW_T_SINK_R_SP	2	9
1	1	GF_ACTION	2	6
1	1	GF_ALTMODE	0	6
1	1	GF_COUNT	-1	6
1	1	GF_MAX_HOR_DIST	0	9
1	1	GF_MAX_VER_DIST	0	9
1	1	GF_PREDICT	0	6
1	1	GF_SOURCE	0	6
1	1	GND_SPEED_THR_SC	1	9
1	1	GPIO_CTL_CH	0	6
1	1	GPS_1_GNSS	0	6
1	1	GPS_1_PROTOCOL	1	6
1	1	GPS_DUMP_COMM	0	6
1	1	GPS_PITCH_OFFSET	0	9
1	1	GPS_SAT_INFO	1	6
1	1	GPS_UBX_BAUD2	230400	6
1	1	GPS_UBX_CFG_INTF	0	6
1	1	GPS_UBX_DYNMODEL	6	6
1	1	GPS_UBX_MODE	0	6
1	1	GPS_YAW_OFFSET	0	9
1	1	HTE_ACC_GATE	3	9
1	1	HTE_HT_ERR_INIT	0.1	9
1	1	HTE_HT_NOISE	0.0036	9
1	1	HTE_THR_RANGE	0.2	9
1	1	HTE_VXY_THR	1e+01	9
1	1	HTE_VZ_THR	2	9
1	1	ICM42688_DT_COMP	0	9
1	1	IMU_ACCEL_CUTOFF	4e+01	9
1	1	IMU_DGYRO_CUTOFF	4e+01	9
1	1	IMU_GYRO_CUTOFF	4e+01	9
1	1	IMU_GYRO_DNF_BW	15	9
1	1	IMU_GYRO_DNF_EN	1	6
1	1	IMU_GYRO_DNF_HMC	3	6
1	1	IMU_GYRO_DNF_MIN	25	9
1	1	IMU_GYRO_NF0_BW	2e+01	9
1	1	IMU_GYRO_NF0_FRQ	0	9
1	1	IMU_GYRO_NF1_BW	2e+01	9
1	1	IMU_GYRO_NF1_FRQ	0	9
1	1	IMU_GYRO_RATEMAX	800	6
1	1	IMU_INTEG_RATE	200	6
1	1	LNDMC_ALT_GND	2	9
1	1	LNDMC_ALT_MAX	-1	9
1	1	LNDMC_ROT_MAX	3e+01	9
1	1	LNDMC_TRIG_TIME	0.5	9
1	1	LNDMC_XY_VEL_MAX	1.5	9
1	1	LNDMC_Z_VEL_MAX	0.25	9
1	1	LND_FLIGHT_T_HI	0	6
1	1	LND_FLIGHT_T_LO	976113329	6
1	1	MAN_ARM_GESTURE	0	6
1	1	MAV_COMP_ID	1	6
1	1	MAV_FWDEXTSP	1	6
1	1	MAV_HASH_CHK_EN	1	6
1	1	MAV_HB_FORW_EN	1	6
1	1	MAV_PROTO_VER	0	6
1	1	MAV_RADIO_TOUT	5	6
1	1	MAV_SIK_RADIO_ID	0	6
1	1	MAV_SYS_ID	1	6
1	1	MAV_TYPE	2	6
1	1	MAV_USEHILGPS	0	6
1	1	MC_ACRO_EXPO	0.69	9
1	1	MC_ACRO_EXPO_Y	0.69	9
1	1	MC_ACRO_P_MAX	7.2e+02	9
1	1	MC_ACRO_R_MAX	7.2e+02	9
1	1	MC_ACRO_SUPEXPO	0.7	9
1	1	MC_ACRO_SUPEXPOY	0.7	9
1	1	MC_ACRO_Y_MAX	5.4e+02	9
1	1	MC_AIRMODE	0	6
1	1	MC_AT_APPLY	1	6
1	1	MC_AT_AXES	3	6
1	1	MC_AT_RISE_TIME	0.14	9
1	1	MC_AT_START	0	6
1	1	MC_AT_SYSID_AMP	0.7	9
1	1	MC_BAT_SCALE_EN	0	6
1	1	MC_INJECT_AMP	0.05	9
1	1	MC_INJECT_CNT	12	6
1	1	MC_INJECT_EN	0	6
1	1	MC_INJECT_INC	1	9
1	1	MC_INJECT_REST_T	1	9
1	1	MC_INJECT_RPY	2	6
1	1	MC_INJECT_SINE_T	5	9
1	1	MC_INJECT_START	3	9
1	1	MC_MAN_TILT_TAU	0	9
1	1	MC_ORBIT_RAD_MAX	1e+03	9
1	1	MC_PITCHRATE_D	0	9
1	1	MC_PITCHRATE_FF	0	9
1	1	MC_PITCHRATE_I	0.4	9
1	1	MC_PITCHRATE_K	1	9
1	1	MC_PITCHRATE_MAX	1.5e+02	9
1	1	MC_PITCHRATE_P	0.08	9
1	1	MC_PITCH_CUTOFF	0	9
1	1	MC_PITCH_P	5.5	9
1	1	MC_PR_INT_LIM	0.3	9
1	1	MC_ROLLRATE_D	0	9
1	1	MC_ROLLRATE_FF	0	9
1	1	MC_ROLLRATE_I	0.4	9
1	1	MC_ROLLRATE_K	1	9
1	1	MC_ROLLRATE_MAX	1.5e+02	9
1	1	MC_ROLLRATE_P	0.08	9
1	1	MC_ROLL_CUTOFF	0	9
1	1	MC_ROLL_P	8	9
1	1	MC_RR_INT_LIM	0.3	9
1	1	MC_THR_CURVE_ACR	0	6
1	1	MC_YAWRATE_D	0	9
1	1	MC_YAWRATE_FF	0	9
1	1	MC_YAWRATE_I	0.5	9
1	1	MC_YAWRATE_K	1	9
1	1	MC_YAWRATE_MAX	1.5e+02	9
1	1	MC_YAWRATE_P	0.13	9
1	1	MC_YAW_CUTOFF	0	9
1	1	MC_YAW_P	2	9
1	1	MC_YAW_WEIGHT	0.4	9
1	1	MC_YR_INT_LIM	0.3	9
1	1	MIS_DIST_1WP	9e+02	9
1	1	MIS_LND_ABRT_ALT	30	6
1	1	MIS_MNT_YAW_CTL	0	6
1	1	MIS_PD_TO	5	9
1	1	MIS_TAKEOFF_ALT	2.5	9
1	1	MIS_TKO_LAND_REQ	0	6
1	1	MIS_YAW_ERR	12	9
1	1	MIS_YAW_TMT	-1	9
1	1	MODALAI_CONFIG	0	6
1	1	MOT_SLEW_MAX	0	9
1	1	MPC_ACC_DOWN_MAX	3	9
1	1	MPC_ACC_HOR	3	9
1	1	MPC_ACC_HOR_MAX	6	9
1	1	MPC_ACC_UP_MAX	3	9
1	1	MPC_ALT_MODE	0	6
1	1	MPC_HOLD_DZ	0.1	9
1	1	MPC_HOLD_MAX_XY	0	9
1	1	MPC_HOLD_MAX_Z	0	9
1	1	MPC_JERK_AUTO	4	9
1	1	MPC_JERK_MAX	4e+01	9
1	1	MPC_LAND_ALT1	1e+01	9
1	1	MPC_LAND_ALT2	5	9
1	1	MPC_LAND_ALT3	1	9
1	1	MPC_LAND_CRWL	0.3	9
1	1	MPC_LAND_RADIUS	1e+03	9
1	1	MPC_LAND_RC_HELP	0	6
1	1	MPC_LAND_SPEED	1	9
1	1	MPC_MANTHR_MIN	0.12	9
1	1	MPC_MAN_TILT_MAX	35	9
1	1	MPC_MAN_Y_MAX	1.5e+02	9
1	1	MPC_MAN_Y_TAU	0.08	9
1	1	MPC_POS_MODE	4	6
1	1	MPC_THR_CURVE	0	6
1	1	MPC_THR_HOVER	0.39	9
1	1	MPC_THR_MAX	0.75	9
1	1	MPC_THR_MIN	0.12	9
1	1	MPC_THR_XY_MARG	0.3	9
1	1	MPC_TILTMAX_AIR	3e+01	9
1	1	MPC_TILTMAX_LND	12	9
1	1	MPC_TKO_RAMP_T	1	9
1	1	MPC_TKO_SPEED	1.5	9
1	1	MPC_USE_HTE	1	6
1	1	MPC_VELD_LP	5	9
1	1	MPC_VEL_MANUAL	5	9
1	1	MPC_VEL_MAN_BACK	-1	9
1	1	MPC_VEL_MAN_SIDE	-1	9
1	1	MPC_XY_CRUISE	5	9
1	1	MPC_XY_ERR_MAX	2	9
1	1	MPC_XY_MAN_EXPO	0.45	9
1	1	MPC_XY_P	0.95	9
1	1	MPC_XY_TRAJ_P	0.5	9
1	1	MPC_XY_VEL_ALL	-1e+01	9
1	1	MPC_XY_VEL_D_ACC	0	9
1	1	MPC_XY_VEL_I_ACC	0.1	9
1	1	MPC_XY_VEL_MAX	5	9
1	1	MPC_XY_VEL_P_ACC	3	9
1	1	MPC_YAWRAUTO_MAX	45	9
1	1	MPC_YAW_EXPO	0.3	9
1	1	MPC_YAW_MODE	0	6
1	1	MPC_Z_MAN_EXPO	0.1	9
1	1	MPC_Z_P	1	9
1	1	MPC_Z_VEL_ALL	-3	9
1	1	MPC_Z_VEL_D_ACC	0	9
1	1	MPC_Z_VEL_I_ACC	2	9
1	1	MPC_Z_VEL_MAX_DN	1.5	9
1	1	MPC_Z_VEL_MAX_UP	4	9
1	1	MPC_Z_VEL_P_ACC	8	9
1	1	MPC_Z_V_AUTO_DN	1.5	9
1	1	MPC_Z_V_AUTO_UP	4	9
1	1	MUORB_KAF_DSRM	30	6
1	1	MUORB_KAF_LAND	1	6
1	1	NAV_ACC_RAD	2	9
1	1	NAV_DLL_ACT	0	6
1	1	NAV_FORCE_VT	1	6
1	1	NAV_FW_ALTL_RAD	5	9
1	1	NAV_FW_ALT_RAD	1e+01	9
1	1	NAV_LOITER_RAD	8e+01	9
1	1	NAV_MC_ALT_RAD	0.8	9
1	1	NAV_MIN_LTR_ALT	-1	9
1	1	NAV_RCL_ACT	2	6
1	1	NAV_TRAFF_AVOID	1	6
1	1	NAV_TRAFF_A_HOR	5e+02	9
1	1	NAV_TRAFF_A_VER	5e+02	9
1	1	NAV_TRAFF_COLL_T	60	6
1	1	PLD_BTOUT	5	9
1	1	PLD_FAPPR_ALT	0.1	9
1	1	PLD_HACC_RAD	0.2	9
1	1	PLD_MAX_SRCH	3	6
1	1	PLD_SRCH_ALT	1e+01	9
1	1	PLD_SRCH_TOUT	1e+01	9
1	1	RC10_DZ	0	9
1	1	RC10_MAX	2e+03	9
1	1	RC10_MIN	1e+03	9
1	1	RC10_REV	1	9
1	1	RC10_TRIM	1.5e+03	9
1	1	RC11_DZ	0	9
1	1	RC11_MAX	2e+03	9
1	1	RC11_MIN	1e+03	9
1	1	RC11_REV	1	9
1	1	RC11_TRIM	1.5e+03	9
1	1	RC12_DZ	0	9
1	1	RC12_MAX	2e+03	9
1	1	RC12_MIN	1e+03	9
1	1	RC12_REV	1	9
1	1	RC12_TRIM	1.5e+03	9
1	1	RC13_DZ	0	9
1	1	RC13_MAX	2e+03	9
1	1	RC13_MIN	1e+03	9
1	1	RC13_REV	1	9
1	1	RC13_TRIM	1.5e+03	9
1	1	RC14_DZ	0	9
1	1	RC14_MAX	2e+03	9
1	1	RC14_MIN	1e+03	9
1	1	RC14_REV	1	9
1	1	RC14_TRIM	1.5e+03	9
1	1	RC15_DZ	0	9
1	1	RC15_MAX	2e+03	9
1	1	RC15_MIN	1e+03	9
1	1	RC15_REV	1	9
1	1	RC15_TRIM	1.5e+03	9
1	1	RC16_DZ	0	9
1	1	RC16_MAX	2e+03	9
1	1	RC16_MIN	1e+03	9
1	1	RC16_REV	1	9
1	1	RC16_TRIM	1.5e+03	9
1	1	RC17_DZ	0	9
1	1	RC17_MAX	2e+03	9
1	1	RC17_MIN	1e+03	9
1	1	RC17_REV	1	9
1	1	RC17_TRIM	1.5e+03	9
1	1	RC18_DZ	0	9
1	1	RC18_MAX	2e+03	9
1	1	RC18_MIN	1e+03	9
1	1	RC18_REV	1	9
1	1	RC18_TRIM	1.5e+03	9
1	1	RC1_DZ	1e+01	9
1	1	RC1_MAX	2e+03	9
1	1	RC1_MIN	1001	9
1	1	RC1_REV	1	9
1	1	RC1_TRIM	1.5e+03	9
1	1	RC2_DZ	1e+01	9
1	1	RC2_MAX	2e+03	9
1	1	RC2_MIN	1001	9
1	1	RC2_REV	1	9
1	1	RC2_TRIM	1.5e+03	9
1	1	RC3_DZ	1e+01	9
1	1	RC3_MAX	2e+03	9
1	1	RC3_MIN	1001	9
1	1	RC3_REV	1	9
1	1	RC3_TRIM	1001	9
1	1	RC4_DZ	1e+01	9
1	1	RC4_MAX	2e+03	9
1	1	RC4_MIN	1001	9
1	1	RC4_REV	1	9
1	1	RC4_TRIM	1.5e+03	9
1	1	RC5_DZ	1e+01	9
1	1	RC5_MAX	1988	9
1	1	RC5_MIN	1011	9
1	1	RC5_REV	1	9
1	1	RC5_TRIM	1499	9
1	1	RC6_DZ	1e+01	9
1	1	RC6_MAX	1988	9
1	1	RC6_MIN	1011	9
1	1	RC6_REV	1	9
1	1	RC6_TRIM	1499	9
1	1	RC7_DZ	1e+01	9
1	1	RC7_MAX	1988	9
1	1	RC7_MIN	1011	9
1	1	RC7_REV	1	9
1	1	RC7_TRIM	1499	9
1	1	RC8_DZ	1e+01	9
1	1	RC8_MAX	1988	9
1	1	RC8_MIN	1011	9
1	1	RC8_REV	1	9
1	1	RC8_TRIM	1499	9
1	1	RC9_DZ	0	9
1	1	RC9_MAX	2e+03	9
1	1	RC9_MIN	1e+03	9
1	1	RC9_REV	1	9
1	1	RC9_TRIM	1.5e+03	9
1	1	RC_ARMSWITCH_TH	0.75	9
1	1	RC_CHAN_CNT	16	6
1	1	RC_CRSF_TEL_EN	1	6
1	1	RC_ENG_MOT_TH	0.75	9
1	1	RC_FAILS_THR	0	6
1	1	RC_GEAR_TH	0.75	9
1	1	RC_KILLSWITCH_TH	0.75	9
1	1	RC_LOITER_TH	0.75	9
1	1	RC_MAP_ACRO_SW	0	6
1	1	RC_MAP_ARM_SW	5	6
1	1	RC_MAP_AUX1	0	6
1	1	RC_MAP_AUX2	0	6
1	1	RC_MAP_AUX3	0	6
1	1	RC_MAP_AUX4	0	6
1	1	RC_MAP_AUX5	0	6
1	1	RC_MAP_AUX6	0	6
1	1	RC_MAP_ENG_MOT	0	6
1	1	RC_MAP_FAILSAFE	0	6
1	1	RC_MAP_FLAPS	0	6
1	1	RC_MAP_FLTMODE	8	6
1	1	RC_MAP_FLTM_BTN	0	6
1	1	RC_MAP_GEAR_SW	0	6
1	1	RC_MAP_KILL_SW	0	6
1	1	RC_MAP_LOITER_SW	0	6
1	1	RC_MAP_MAN_SW	0	6
1	1	RC_MAP_MODE_SW	0	6
1	1	RC_MAP_OFFB_SW	7	6
1	1	RC_MAP_PARAM1	0	6
1	1	RC_MAP_PARAM2	0	6
1	1	RC_MAP_PARAM3	0	6
1	1	RC_MAP_PITCH	2	6
1	1	RC_MAP_POSCTL_SW	0	6
1	1	RC_MAP_RATT_SW	0	6
1	1	RC_MAP_RETURN_SW	0	6
1	1	RC_MAP_ROLL	1	6
1	1	RC_MAP_STAB_SW	0	6
1	1	RC_MAP_THROTTLE	3	6
1	1	RC_MAP_TRANS_SW	0	6
1	1	RC_MAP_YAW	4	6
1	1	RC_OFFB_TH	0.75	9
1	1	RC_RETURN_TH	0.75	9
1	1	RC_TRANS_TH	0.75	9
1	1	RTL_CONE_ANG	45	6
1	1	RTL_DESCEND_ALT	1e+01	9
1	1	RTL_HDG_MD	0	6
1	1	RTL_LAND_DELAY	0	9
1	1	RTL_LOITER_RAD	8e+01	9
1	1	RTL_MIN_DIST	1e+01	9
1	1	RTL_PLD_MD	0	6
1	1	RTL_RETURN_ALT	3e+01	9
1	1	RTL_TIME_FACTOR	1.1	9
1	1	RTL_TIME_MARGIN	100	6
1	1	RTL_TYPE	0	6
1	1	SDLOG_BOOT_BAT	0	6
1	1	SDLOG_DIRS_MAX	0	6
1	1	SDLOG_MISSION	0	6
1	1	SDLOG_MODE	0	6
1	1	SDLOG_PROFILE	129	6
1	1	SDLOG_UTC_OFFSET	0	6
1	1	SDLOG_UUID	1	6
1	1	SENS_BARO_QNH	1013.25	9
1	1	SENS_BARO_RATE	2e+01	9
1	1	SENS_BOARD_ROT	0	6
1	1	SENS_BOARD_X_OFF	1.3035778	9
1	1	SENS_BOARD_Y_OFF	-0.52755773	9
1	1	SENS_BOARD_Z_OFF	0	9
1	1	SENS_DPRES_OFF	0	9
1	1	SENS_IMU_AUTOCAL	0	6
1	1	SENS_IMU_MODE	1	6
1	1	SENS_MAG_MODE	0	6
1	1	SENS_MAG_RATE	15	9
1	1	SENS_MAG_SIDES	0	6
1	1	SYS_AUTOCONFIG	0	6
1	1	SYS_AUTOSTART	4001	6
1	1	SYS_CAL_TDEL	24	6
1	1	SYS_CAL_TMAX	10	6
1	1	SYS_CAL_TMIN	5	6
1	1	SYS_FAC_CAL_MODE	0	6
1	1	SYS_FAILURE_EN	0	6
1	1	SYS_HAS_BARO	1	6
1	1	SYS_HAS_GPS	0	6
1	1	SYS_HAS_MAG	0	6
1	1	SYS_HAS_NUM_DIST	0	6
1	1	SYS_HITL	0	6
1	1	SYS_MC_EST_GROUP	2	6
1	1	SYS_RGB_MAXBRT	1	9
1	1	SYS_STCK_EN	1	6
1	1	SYS_VEHICLE_RESP	-0.4	9
1	1	TC_A_ENABLE	0	6
1	1	TC_B0_TREF	48.72	9
1	1	TC_B0_X0	5.313	9
1	1	TC_B0_X1	-5.2285	9
1	1	TC_B_ENABLE	0	6
1	1	TC_G_ENABLE	0	6
1	1	THR_MDL_FAC	0.8	9
1	1	TRIG_MODE	0	6
1	1	UAVCAN_ENABLE	0	6
1	1	VOXL_ESC_BAUD	2000000	6
1	1	VOXL_ESC_CMD	0	6
1	1	VOXL_ESC_CONFIG	1	6
1	1	VOXL_ESC_FUNC1	101	6
1	1	VOXL_ESC_FUNC2	104	6
1	1	VOXL_ESC_FUNC3	102	6
1	1	VOXL_ESC_FUNC4	103	6
1	1	VOXL_ESC_MODE	0	6
1	1	VOXL_ESC_PUB_BST	1	6
1	1	VOXL_ESC_PWR_MIN	0.05	9
1	1	VOXL_ESC_REV	0	6
1	1	VOXL_ESC_RPM_MAX	28000	6
1	1	VOXL_ESC_RPM_MIN	3000	6
1	1	VOXL_ESC_SDIR1	1	6
1	1	VOXL_ESC_SDIR2	1	6
1	1	VOXL_ESC_SDIR3	1	6
1	1	VOXL_ESC_SDIR4	1	6
1	1	VOXL_ESC_T_COSP	0.99	9
1	1	VOXL_ESC_T_DEAD	20	6
1	1	VOXL_ESC_T_EXPO	35	6
1	1	VOXL_ESC_T_MINF	0.15	9
1	1	VOXL_ESC_T_OVER	0	6
1	1	VOXL_ESC_T_PERC	90	6
1	1	VOXL_ESC_T_WARN	0	6
1	1	VOXL_ESC_VLOG	1	6
1	1	VTO_LOITER_ALT	8e+01	9
1	1	VT_B_DEC_MSS	2	9
1	1	WV_EN	0	6
1	1	WV_GAIN	1	9
1	1	WV_ROLL_MIN	1	9
1	1	WV_YRATE_MAX	9e+01	9
1	1	XRCE_DDS_DOM_ID	0	6
1	1	XRCE_DDS_KEY	1	6

@Alex-Kushleyev

Hi Alex,

Thank you for the informative responses. That is all good information to know.

We calibrated with a prop on and I experimented with max_rpm_delta, but we when we tried to fly in stabilized mode, the drone immediately flipped over. We also noticed via bench top testing with no prop on, that the the rpm values were very unbalanced at max rpm. For example, one motor in the inspector reported 26000 while another was 6000 rpm. Is there anything on the PX4 side of things that should be changed too?

Thank you,
John

@alex-kushleyev Alright I feel pretty dumb. But it is because the PID gains were zero in my config file...

@Alex-Kushleyev Yes I want through that procedure. Here are my params:

<?xml version="1.0" encoding="UTF-8"?>

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INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
POSSIBILITY OF SUCH DAMAGE.

For a license to use on non-ModalAI hardware, please contact license@modalai.com -->

<EscParameters>

  <IdParams>
    <param name="id"              value="127"/>  <!-- 0-7 .. 127 means use hardware ID pins to read ID-->
    <param name="dir"             value="2"/>    <!-- 0=fwd, 1=rev, 2=fwd id-based, 3=rev id-based -->
  </IdParams>

  <UartParams>
    <param name="protocol_version" value="2"/>          <!-- reserved for future use -->
    <param name="input_mode"       value="0"/>          <!-- reserved for future use -->
    <param name="baud_rate"        value="2000000"/>     <!-- communication bit rate -->
    <param name="char_timeout_ns"  value="0"/>          <!-- not used -->
    <param name="cmd_timeout_ns"   value="100000000"/>  <!-- timeout for incoming commands before ESC will stop the motor -->
  </UartParams>

  <TuneParams>
    <param name="pwm_frequency"       value="48000"/>  <!-- switching freqency of PWM signal going to motors. 24Khz and 48Khz are only options for now -->
    <param name="vbat_nominal_mv"     value="22200"/>  <!-- used for sanity checking and limiting of voltage-dependent funcions -->
    <param name="num_cycles_per_rev"  value="7"/>      <!-- number of pole pairs in the motor. used for converting electrical frequency to mechanical rpm -->
    <param name="min_rpm"             value="3020"/>   <!-- WARNING: not tuned. minimum RPM that will be attempted, otherwise capped -->
    <param name="max_rpm"             value="26311"/>   <!-- WARNING: not tuned. maximum RPM that will be attempted, otherwise capped -->
    <param name="min_pwm"             value="75"/>     <!-- cap for minimum power to be ever applied. min is 75  -->
    <param name="max_pwm"             value="9999"/>    <!-- cap for maximum power to be ever applied. max is 999 -->
    <param name="pwm_vs_rpm_curve_a0" value="-92.6079829269"/>    <!-- this is actually motor_voltage vs rpm curve.. using legacy naming -->
    <param name="pwm_vs_rpm_curve_a1" value="0.813657468926"/>    <!-- WARNING: RPM controller params are disabled since motor is not tuned -->
    <param name="pwm_vs_rpm_curve_a2" value="2.69099700436e-06"/>    <!-- WARNING: RPM controller params are disabled since motor is not tuned -->
    <param name="kp"                  value="0"/>      <!-- WARNING: RPM controller params are disabled since motor is not tuned -->
    <param name="ki"                  value="0"/>      <!-- WARNING: RPM controller params are disabled since motor is not tuned -->
    <param name="max_kpe"             value="0"/>      <!-- WARNING: RPM controller params are disabled since motor is not tuned -->
    <param name="max_kie"             value="0"/>      <!-- WARNING: RPM controller params are disabled since motor is not tuned -->
    <param name="max_rpm_delta"       value="0"/>      <!-- WARNING: RPM controller params are disabled since motor is not tuned -->

    <param name="spinup_type"         value="1"/>      <!-- 0: traditional, 1: sinusoidal -->
    <param name="spinup_power"        value="60"/>     <!-- power used to during spin-up procedure -->
    <param name="latch_power"         value="60"/>    <!-- power used during latching stage of spin-up (out of 999)-->
    <param name="spinup_power_ramp"   value="8"/>      <!-- it will take ( 4096 / (spinup_power_ramp*10000) ) seconds to ramp sinusoidal start-up power from 0 to spinup_power -->
    <param name="spinup_rpm_target"   value="2000"/>   <!-- Desired RPM at the end of the sinusoidal spin-up procedure -->
    <param name="spinup_time_ms"      value="500"/>   <!-- Duration of the sinusoidal spin-up procedure -->
    <param name="spinup_bemf_comp"    value="1"/>      <!-- 0: disable, 1:enable back-emf compensation in sinusoidal spin-up procedure -->
    <param name="motor_kv"            value="2300"/>   <!-- kV value of the motor. used in back-emf compensation during spin-up -->

    <param name="min_num_cross_for_closed_loop" value="10"/>  <!-- exit latching mode of fixed power after this number of zero crossings -->
    <param name="protection_stall_check_rpm" value="1000"/> <!-- if motor spins below this RPM, stall check will trigger and stop / restart the motor -->

    <param name="brake_to_stop"       value="0"/>             <!-- apply brake when stopping motor (or not) -->
    <param name="stall_timeout_ns"    value="20000000"/>      <!-- after spin-up, if no zero crossing is not detected for this amount of time, motor is considered stalled -->
    <param name="require_reset_if_stalled"      value="0"/>   <!-- require sending an array of zero commands to reset before next spin-up, if motor stalled -->

    <param name="tone_freqs"          value="[200, 215, 225, 250, 0,0,0,0, 0,0,0,0]"/> <!-- 200 is 2000Hz, max 255 -->
    <param name="tone_durations"      value="[3,     0,    0,  0,  0,0,0,0, 0,0,0,0]"/> <!-- duration of each tone in units of 10 milli-seconds. Poor naming!!! -->
    <param name="tone_powers"         value="[20,    0,    0,  0,  0,0,0,0, 0,0,0,0]"/> <!-- max is 255 -->

    <param name="dt_threshold_ns"       value="150000"/>      <!-- during start up, ignore inter-commutation times less than this val, probably noise -->
    <param name="max_dt_ns"             value="2500000"/>     <!-- min and max values for time between two commutations. these are used as caps -->
    <param name="min_dt_ns"             value="10000"/>
    <param name="dt_bootstrap_ns"       value="2000000"/>     <!-- filter bootstrap value for commutation dt during start up -->

    <param name="spinup_stall_dt_ns"    value="6000000"/>     <!-- during spin-up, if no zero crossing is not detected for this amount of time, motor is considered stalled -->
    <param name="spinup_stall_check_ns" value="30000000"/>    <!-- time after beginning of spinup to start checking for spinup stall -->

    <param name="alignment_time_ns"     value="0"/>           <!-- alignment time before spin-up -->
    <param name="timing_advance"        value="0"/>
    <param name="sense_advance"         value="0"/>

    <param name="demag_timing"          value="0"/>       <!-- unused -->
    <param name="led_config"            value="0"/>       <!-- 0: enable status LEDs in bootloader and firmware, 1: disable LEDs in boot and firmware: 2: disable LEDs only in firmware. need FW 39.25 or later -->

  </TuneParams>
</EscParameters>

Quick side questions @alex-kushleyev @eric-katzfey

Have you ever calibrated PWM control with these drones or is that not advised?

I am a bit confused on the RPM calibration process. It appears to me that the RPM control is closed loop, but one thing that does not make sense to me is the testing with props on. I understand that props on will simulate aerodynamic load for calibration but wouldn't the load be different in flight too? Or is the idea that props on calibration is closer to flight load than props off?

@alex-kushleyev @eric-katzfey
One thing I noticed, if I change ESC Command Type from RPM to PWM in the actuators tab, then I can increase the motor speeds

@Alex-Kushleyev

Hello, using the actuator sliders in QGC results in the same behavior. The motors just spin at the same constant (arming) speed. Here are the results of voxl-px4 -d

Starting VOXL ESC driver
INFO  [qshell] Send cmd: 'voxl_esc start'
INFO  [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] [qshell] qshell gotten: voxl_esc start
INFO  [muorb] [qshell]   arg0 = 'voxl_esc'
INFO  [muorb] [qshell]   arg1 = 'start'
INFO  [uORB] Advertising remote topic actuator_outputs
INFO  [muorb] [voxl_esc] Starting VOXL ESC driver
INFO  [muorb] [voxl_esc] Params: VOXL_ESC_CONFIG: 1
INFO  [muorb] [voxl_esc] Params: VOXL_ESC_MODE: 0
INFO  [muorb] [voxl_esc] Params: VOXL_ESC_BAUD: 2000000
INFO  [muorb] [voxl_esc] Params: VOXL_ESC_FUNC1: 101
INFO  [muorb] [voxl_esc] Params: VOXL_ESC_FUNC2: 104
INFO  [muorb] [voxl_esc] Params: VOXL_ESC_FUNC3: 102
INFO  [muorb] [voxl_esc] Params: VOXL_ESC_FUNC4: 103
INFO  [muorb] [voxl_esc] Params: VOXL_ESC_SDIR1: 0
INFO  [muorb] [voxl_esc] Params: VOXL_ESC_SDIR2: 0
INFO  [muorb] [voxl_esc] Params: VOXL_ESC_SDIR3: 0
INFO  [muorb] [voxl_esc] Params: VOXL_ESC_SDIR4: 0
INFO  [muorb] [voxl_esc] Params: VOXL_ESC_PWR_MIN: 0.050000
INFO  [muorb] [voxl_esc] Params: VOXL_ESC_RPM_MIN: 3000
INFO  [muorb] [voxl_esc] Params: VOXL_ESC_RPM_MAX: 30653
INFO  [muorb] [voxl_esc] Params: VOXL_ESC_T_PERC: 90
INFO  [muorb] [voxl_esc] Params: VOXL_ESC_T_DEAD: 20
INFO  [muorb] [voxl_esc] Params: VOXL_ESC_T_EXPO: 35
INFO  [muorb] [voxl_esc] Params: VOXL_ESC_T_MINF: 0.150000
INFO  [muorb] [voxl_esc] Params: VOXL_ESC_T_COSP: 0.990000
INFO  [muorb] [voxl_esc] Params: VOXL_ESC_VLOG: 1
INFO  [muorb] [voxl_esc] Params: VOXL_ESC_PUB_BST: 1
INFO  [muorb] [voxl_esc] Params: VOXL_ESC_T_WARN: 0
INFO  [muorb] [voxl_esc] Params: VOXL_ESC_T_OVER: 0
INFO  [muorb] [voxl_esc] Params: GPIO_CTL_CH: 0
INFO  [muorb] [voxl_esc] Params: VOXL_ESC_CMD: 0
INFO  [muorb] [qshell] Ok executing command: voxl_esc start
INFO  [muorb] [voxl_esc] Opening UART ESC device 2, baud rate 2000000
INFO  [muorb] [voxl_esc] Successfully opened UART ESC device
INFO  [muorb] [voxl_esc] Detecting ESCs...
INFO  [muorb] [voxl_esc] 	ESC ID     : 0
INFO  [muorb] [voxl_esc] 	Board Type : 42: ModalAi 4-in-1 ESC (M0138-1)
INFO  [qshell] qshell return value timestamp: 299177998, local time: 299182990
INFO  [muorb] [voxl_esc] 	Unique ID  : 0x203837304848570400440022
INFO  [muorb] [voxl_esc] 	Firmware   : version   39, hash a58f5f6f
INFO  [muorb] [voxl_esc] 	Bootloader : version  187, hash aad89d63
INFO  [muorb] [voxl_esc] 	Reply time : 709us
INFO  [muorb] [voxl_esc] VOXL_ESC:
INFO  [muorb] [voxl_esc] 	ESC ID     : 1
INFO  [muorb] [voxl_esc] 	Board Type : 42: ModalAi 4-in-1 ESC (M0138-1)
INFO  [muorb] [voxl_esc] 	Unique ID  : 0x203837304848570300310055
INFO  [muorb] [voxl_esc] 	Firmware   : version   39, hash a58f5f6f
INFO  [muorb] [voxl_esc] 	Bootloader : version  187, hash aad89d63
INFO  [muorb] [voxl_esc] 	Reply time : 724us
INFO  [muorb] [voxl_esc] VOXL_ESC:
INFO  [muorb] [voxl_esc] 	ESC ID     : 2
Starting CRSF RC driver
INFO  [muorb] [voxl_esc] 	Board Type : 42: ModalAi 4-in-1 ESC (M0138-1)
INFO  [muorb] [voxl_esc] 	Unique ID  : 0x2038373048485705003A003F
INFO  [muorb] [voxl_esc] 	Firmware   : version   39, hash a58f5f6f
INFO  [muorb] [voxl_esc] 	Bootloader : version  187, hash aad89d63
INFO  [muorb] [voxl_esc] 	Reply time : 716us
INFO  [muorb] [voxl_esc] VOXL_ESC:
INFO  [muorb] [voxl_esc] 	ESC ID     : 3
INFO  [muorb] [voxl_esc] 	Board Type : 42: ModalAi 4-in-1 ESC (M0138-1)
INFO  [muorb] [voxl_esc] 	Unique ID  : 0x203837304848570400440025
INFO  [muorb] [voxl_esc] 	Firmware   : version   39, hash a58f5f6f
INFO  [muorb] [voxl_esc] 	Bootloader : version  187, hash aad89d63
INFO  [muorb] [voxl_esc] 	Reply time : 706us
INFO  [muorb] [voxl_esc] VOXL_ESC:
INFO  [muorb] [voxl_esc] Use extended rpm packet : 1
INFO  [muorb] [voxl_esc] All ESCs successfully detected
INFO  [uORB] Advertising remote topic actuator_outputs_debug
INFO  [uORB] Advertising remote topic esc_status

@Eric-Katzfey Attached below. I misspoke, it appears detect fails.

Here is the link: PX4 Logs

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: 2026-08-06 19:57:23
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                       1.6.3
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
────────────────────────────────────────────────────────────────────────────────

voxl2-test-fixture (TF-M0054):/$ voxl-esc scan
enabling bridge
detected voxl-px4 is enabled
Removed /etc/systemd/system/multi-user.target.wants/voxl-px4.service.
detected voxl-px4 is running, stopping it now
Sending kill slpi command!
bridge enabled
Detected Python version : 3.6.9 (default, May 22 2025, 20:54:22) 
[GCC 8.4.0]
Found voxl-esc tools bin version: 1.10
VOXL Platform: QRB5165
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, protocol: firmware


INFO: ESC Information:
INFO: ---------------------
	ID         : 0
	Board      : version 42: ModalAi 4-in-1 ESC (M0138-1)
	UID        : 0x203837304848570400440022
	Firmware   : version  39.25, hash a58f5f6f
	Bootloader : version    187, hash aad89d63

	ID         : 1
	Board      : version 42: ModalAi 4-in-1 ESC (M0138-1)
	UID        : 0x203837304848570300310055
	Firmware   : version  39.25, hash a58f5f6f
	Bootloader : version    187, hash aad89d63

	ID         : 2
	Board      : version 42: ModalAi 4-in-1 ESC (M0138-1)
	UID        : 0x2038373048485705003A003F
	Firmware   : version  39.25, hash a58f5f6f
	Bootloader : version    187, hash aad89d63

	ID         : 3
	Board      : version 42: ModalAi 4-in-1 ESC (M0138-1)
	UID        : 0x203837304848570400440025
	Firmware   : version  39.25, hash a58f5f6f
	Bootloader : version    187, hash aad89d63

---------------------
successfully pinged ESCs
disabling bridge
Sending kill slpi command!
re-enabling voxl-px4
Created symlink /etc/systemd/system/multi-user.target.wants/voxl-px4.service → /etc/systemd/system/voxl-px4.service.
restarting voxl-px4
bridge disabled
voxl2-test-fixture (TF-M0054):/$ voxl-esc detect 
enabling bridge
detected voxl-px4 is enabled
Removed /etc/systemd/system/multi-user.target.wants/voxl-px4.service.
detected voxl-px4 is running, stopping it now
Sending kill slpi command!
bridge enabled
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
Couldn't configure flight_controller sensor
ERROR:   fc_sensor_initialize failed
ERROR:   Failed to initialize slpi
ERROR:   Encountered error while initializing bus 12
[ERROR] No ESCs detected
disabling bridge
Sending kill slpi command!
re-enabling voxl-px4
Created symlink /etc/systemd/system/multi-user.target.wants/voxl-px4.service → /etc/systemd/system/voxl-px4.service.
restarting voxl-px4
bridge disabled
EXITING VOXL-ESC WITH ERROR
voxl2-test-fixture (TF-M0054):/$ 

Hello.

I am using the VOXL2 with the FPV ESC and experiencing some issues. I can detect/scan and spin the motors at different rpms using the CLI tool on the voxl, but I cannot get the motors to throttle up in response to my RC transmitter. I verified that my rc throttle channel and actuator outputs are increasing as I raise throttle in mavlink inspector. I also tried calibrating the escs as well but that did not fix the issue. I also checked the VOXL ESC params such as min and max rpm (3000 - 30000 rpm). The motors are emax 2807 1300kvs.

@brahim Hm, after a few reboots and trying again a few days later it is working. Do you know where this package lives so I can inspect the source code? I am not sure what the ros2 node is doing but I do see topics relating to imu and camera data.

I have the Starling2 Max C29 config in regards to sensors.

ing2-max (D0012):~$ ros2 run voxl_mpa_to_ros2 voxl_mpa_to_ros2_node 
Found new interface: yolo11_tflite_data
2026-07-28 21:25:30.085 [SUBSCRIBER Error] Deserialization of data failed -> Function deserialize_change
Found new interface: hires_front_large_color
2026-07-28 21:25:36.819 [SUBSCRIBER Error] Deserialization of data failed -> Function deserialize_change
Found new interface: hires_front_large_encoded
Found new interface: hires_front_large_grey
Found new interface: hires_front_small_color
Found new interface: hires_front_small_encoded
Found new interface: hires_front_small_grey
Found new interface: hires_front_snapshot
Found new interface: tof_conf
Found new interface: tof_depth
Found new interface: tof_ir
Found new interface: tracking_down
Found new interface: tracking_down_bayer
Found new interface: tracking_down_misp_encoded
Found new interface: tracking_down_misp_grey
Found new interface: tracking_down_misp_norm
Found new interface: tracking_front
Found new interface: tracking_front_bayer
Found new interface: tracking_front_misp_encoded
Found new interface: tracking_front_misp_grey
Found new interface: tracking_front_misp_norm
Found new interface: yolo11_tflite
Found new interface: imu_apps
Found new interface: imu_apps_body
Found new interface: imu_apps_notemp
Found new interface: imu_apps_raw
Found new interface: imu_mavlink
Found new interface: tof_pc
Found new interface: voa_pc_out
Found new interface: voxl_mapper_aligned_ptcloud
Found new interface: vvhub_body_wrt_fixed
Found new interface: vvhub_body_wrt_local
Found new interface: ov
Found new interface: vvhub_aligned_vio

@ApoorvThapliyal
Hello,

I am using 1.6.3. Here is my attached output. Thank you!

starling2-max (D0012):~$ voxl-version 
────────────────────────────────────────────────────────────────────────────────
system-image: 1.8.06-M0054-14.1a-perf
kernel:       #1 SMP PREEMPT Wed Oct 22 04:29:38 UTC 2025 4.19.125
────────────────────────────────────────────────────────────────────────────────
hw platform:  M0054
mach.var:     1.2.1
SKU:          MRB-D0012-4-V2-C29-T8-M36-X0
────────────────────────────────────────────────────────────────────────────────
voxl-suite:   1.6.3
────────────────────────────────────────────────────────────────────────────────
Packages:
Repo:  http://voxl-packages.modalai.com/ qrb5165 stable
Last Updated: 2026-07-22 18:10:26
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-mapper                    0.2.4
voxl-mavcam-manager            0.6.0
voxl-mavlink                   0.1.6
voxl-mavlink-server            1.4.14
voxl-microdds-agent            3.0.0-0
voxl-modem                     1.2.3
voxl-mongoose                  7.19.0
voxl-mpa-to-ros                0.3.9
voxl-mpa-to-ros2               0.0.7
voxl-mpa-tools                 1.5.6
voxl-nano-tracker              0.1.7
voxl-nlopt                     2.5.0-5
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                       1.15.3-2.0.88-202606042017
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-ros2-foxy                 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-voxblox                   1.1.5
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
────────────────────────────────────────────────────────────────────────────────

We are having the same issue on our C28 config.

After following install instructions, I keep getting this error when running the voxl_mpa_to_ros2_node

terminate called after throwing an instance of 'std::bad_alloc'

Hello,

Where can I purchase spare standoffs that are used for the starling 2 max?

Thank you,
John

Is there a process to get the voxl-benchmark-vio service installed? I do not appear to have it on my Starling Max 2.

Also what is the primary use for the FLIR lepton?

Hello,

For the starling 2 max C28 config, is it possible I could add the tof sensor that you sell to it without sending it back in?

How is this typically mounted? The flex cable on the tof sensor seems pretty short. Is there an extension cable?

Thank you,
John

@Moderator Why is it not plug in play? I found the spot to connect to the board but configuring the SKU based on C29 did not work. Also, the connector seems really short so I am curious how the C29 config looks.

@Alex-Kushleyev said in C29 Configuration:

VOXL 2 Coax Camera Bundles

ModalAI technical documentation for VOXL and VOXL 2 Companion Computers for PX4 and ArduPilot Obstacle Avoidance and GPS-denied navigation, assembled in the USA

ModalAI Technical Docs (docs.modalai.com)

The flex cable is pretty short, where does the tof sensor get mounted exactly after it is plugged in? I assume it is meant to be downward facing.