Hey @Eric-Katzfey @James-Strawson ,

Thanks a lot for helping me with the integration of my VOXL2 with Cube Orange. It is working well. I am also using it with the ToF, HighRes, and tracking camera from ModalAI.
Position hold using VIO and Semi-Autonomous (VOA) are also working well.

Now, I am facing an issue with the offboard mode. The moment I switch to offboard, the drone aggressively moves and crashes. (in both "figure_eight and "trajectory"). [In the offboard mode = "off", I am not able to switch to offboard. ]

There are no error messages in QGC or otherwise. Except offboard everything else works.
Could please help with this issue?
I'm working on this as a priority, so any suggestion will be quickly tested. I hope to hear from you.

Thank you

Hey @Alex-Kushleyev @Eric-Katzfey @tom

I'm using a VOXL2 compute along with Flight Core V2 as external flight controller.

PX4 version: v1.15.1 (Stable)

The VOXL2 communicates with FC as mentioned in this documentation.

For position hold I have set EV parameter using tracking camera fusing with a Optical Flow with Rangefinder onboard. I'm able to see the odometry message being shown in mavlink console on QGC. Also, I try streaming the message from VOXL2,

mavlink stream -r 30 -s ODOMETRY -d /dev/ttyS1

In voxl-vision-hub I have set the mode to figure_eight. But once, I switch to offboard mode from position mode the drone stays at the same place and does not perform figure 8.

Once I ssh into VOXL2, and check for mavlink status, I get the LOCAL_POSITION_NED but not #331 ODOMETRY message. How can I get that message?

Without that message I'm not sure if VIO inputs from tracking camera would be passed on to FC for fusion on switching to offboard mode of flight.

We have been looking out for VOXL Time of Flight (TOF) Depth Sensor from ModalAI products page to integrate with our VOXL2 board. But the sensor is currently unavailable for the critical time period.

The sensor provided is ToF Depth sensor from PMD. Could the same sensor module provided by PMD(ie. PMD Flexx2 3D Camera Sensor module) be directly integrated with VOXL2?

@Vinny Thank you for your valuable feedback.

I’ll keep the points you mentioned in mind while doing the bench testing.

@Vinny Thank you for reverting back and the information, I will be more careful , and will check your recommended procedure.
From what I externally see there is no any other visible damages to any other components.
What was the capacitance of the component?

I did not notice the damage and had powered the system and it was working fine, now i have replaced the ESC, but i would like to know whether it will be ok if i get the capacitor replaced.

@Alex-Kushleyev
While testing, I got one capacitor burnt, could verify, whether this affect the performance of the ESC, I was able to do bench test perfectly, but before I carry ahead with flight test I would like to verify with you guys.
I am attaching the photos with you , could please check it out and help me with this.

PCB does not look damaged, only the capacitor looks like burnt, I do not know what caused it, a spark was observed during bench testing, but the motors were working after the spark , i later observed this damage.

What is the capacitor used for here, what is the capacitance.

@Alex-Kushleyev Thank you for reverting back and the support. I will follow the steps you mentioned to tune the ESC.

@Jetson-Nano It was solved, i reduced the baudrate to 250000, and the tune was due to the deafult value , i noticed it later.

I wanted to know that this change in baudrate will not affect the drone, also if i want further tune the esc , what are the procedure.

I am using TMOTOR F60 1950 KV motors.

I was able to solve the issue of smoking and sound by using another configuration file for ESC, but after that when i try to connect to FC the ESC is not detected, i don't know why this is happening, i changed the baud rate and checked still the same behaviour.

Could you help why the ESC is not starting after the configuration file change, i tried to start from mavlink console, the ESC was not getting started, but from voxl2, the motors are rotating.

Also the ESC is no longer making the motor initialising sound while powered.

This is the file i am using

This XML file does not appear to have any style information associated with it. The document tree is shown below.
<!--  Copyright (c) 2020 ModalAI Inc.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:

1. Redistributions of source code must retain the above copyright notice,
   this list of conditions and the following disclaimer.

2. Redistributions in binary form must reproduce the above copyright notice,
   this list of conditions and the following disclaimer in the documentation
   and/or other materials provided with the distribution.

3. Neither the name of the copyright holder nor the names of its contributors
   may be used to endorse or promote products derived from this software
   without specific prior written permission.

4. The Software is used solely in conjunction with devices provided by
   ModalAI Inc.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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  -->
<!--  Sample parameters for 6s lipo Xing2 2207 1855kv motors with 5.1x4.1x3" tri-blade HQ propellers  -->
<EscParameters>
<IdParams>
<param name="id" value="127"/>
<!--  0-7 .. 127 means use hardware ID pins to read ID -->
<param name="dir" value="3"/>
<!--  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="22000"/>
<!--  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="3000"/>
<!--  minimum RPM that will be attempted, otherwise capped  -->
<param name="max_rpm" value="25000"/>
<!--  maximum RPM that will be attempted, otherwise capped  -->
<param name="min_pwm" value="75"/>
<!--  cap for minimum power to be ever applied. max is 999  -->
<param name="max_pwm" value="999"/>
<!--  cap for maximum power to be ever applied. max is 999  -->
<param name="pwm_vs_rpm_curve_a0" value="-161.08261993195703"/>
<!--  this is actually motor_voltage vs rpm curve.. using legacy naming  -->
<param name="pwm_vs_rpm_curve_a1" value="0.47042836521926995"/>
<!--    -->
<param name="pwm_vs_rpm_curve_a2" value="1.0493408741732317e-05"/>
<param name="kp" value="0"/>
<!--  RPM controller proportional gain  -->
<param name="ki" value="0"/>
<!--  RPM controller proportional gain  -->
<param name="max_kpe" value="100"/>
<!--  maximum proportional erorr term (max is 999)  -->
<param name="max_kie" value="50"/>
<!--  maximum integral error term (max is 999)  -->
<param name="max_rpm_delta" value="6000"/>
<!--  cap for maximum rpm error used in RPM controller  -->
<param name="spinup_type" value="1"/>
<!--  0: traditional, 1: sinusoidal  -->
<param name="spinup_power" value="90"/>
<!--  power used to during spin-up procedure  -->
<param name="latch_power" value="90"/>
<!--  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="3500"/>
<!--  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="1855"/>
<!--  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  -->
<!-- silent -->
<param name="tone_freqs" value="[0, 0,0,0, 0,0,0,0, 0,0,0,0]"/>
<!--  200 is 2000Hz, max 255  -->
<param name="tone_durations" value="[0, 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="[0, 0,0,0, 0,0,0,0, 0,0,0,0]"/>
<!--  max is 255  -->
<param name="dt_threshold_ns" value="100000"/>
<!--  during start up, ignore inter-commutation times less than this val, probably noise  -->
<param name="max_dt_ns" value="3500000"/>
<!--  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="2500000"/>
<!--  filter bootstrap value for commutation dt during start up  -->
<param name="spinup_stall_dt_ns" value="8000000"/>
<!--  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="20"/>
<param name="sense_advance" value="15"/>
<param name="demag_timing" value="0"/>
<!--  unused  -->
</TuneParams>
</EscParameters>

@Alex-Kushleyev @Vinny @Eric-Katzfey @tom
Hi guys,
If anyone could help me with the issue I am facing it would be great.

I am using VOXL 2 -> FC V2 -> VOXL FPV 4 in 1 ESC , how to calibrate the ESC.

Also my motors are making sound and getting smoked up, When try to arm or run them through QGC. I felt it might be a calibration issue. The motors are only smoking when they in a CF frame, but when they are out of the frame , they are working fine. On other non modalai ESC and FC the motors are working fine.

what could be causing this kind of behaviour.

@tom Thank you for the support.

@Alex-Kushleyev Thank you for sharing the files and the support, I was able to flip the video by using the flip file for camera 1. Now it is working fine.

@Alex-Kushleyev Thank you for reverting back, I will steps mentioned by you.