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
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<!-- 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>
, and will check your recommended procedure.
