@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
J
jbiscan21
@jbiscan21
Posts
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VOXL ESC FPV 4-in-1 with Built-in Power Module (MDK-M0138) Issues -
VOXL ESC FPV 4-in-1 with Built-in Power Module (MDK-M0138) IssuesHello, 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 -dStarting 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 -
VOXL ESC FPV 4-in-1 with Built-in Power Module (MDK-M0138) Issues@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):/$ -
VOXL ESC FPV 4-in-1 with Built-in Power Module (MDK-M0138) IssuesHello.
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.
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ROS2 foxy not working on the voxl.@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 -
ROS2 foxy not working on the voxl.@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 ──────────────────────────────────────────────────────────────────────────────── -
Wifi Card - Intermittent ConnectionWe are having the same issue on our C28 config.
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ROS2 foxy not working on the voxl.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' -
Standoffs partHello,
Where can I purchase spare standoffs that are used for the starling 2 max?
Thank you,
John -
OpenVINS and FLIR LeptonIs 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?
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Starling 2 Max C28 vs C29Hello,
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 -
TOF sensor hardware on the starling 2 max@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.
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C29 Configuration@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.