Posts made by Jetson Nano

I found this board which is for TOF , I would like to know whether the micro coax pinout below the tof pinout is compatible with tracking and hires, no confirmation on the same as been mentioned anywhere, i just wanted a confirmation.

Hey @Vinny @Eric-Katzfey
I had some queries regarding the voxl 2 mini,

1. Is external FC compatible with the voxl 2 mini
2. Is Doodle labs compatible with the voxl 2 mini, in the compatible communication modules only Wifi, LTE and microhard are mentioned.
3. Lepton is compatible with the micro coax board
4. TOF port is not showed on the latest micro coax board, I would like to know whether you guys are completely removing the TOF from the sensors, or will it be added in the later versions.
5. If i wanted TOF to be a part of the image sensors , Can i use the interposer or dual image sensor expander for multiple connections with MIPI flex cable based sensors.
6. It is Mentioned in the datasheet that the Lepton is compatible with USB connection and spi connection is under development. Will you guys will be taking it forward or will coax board required for SPI based lepton connection.

Thank you for your time

@Eric-Katzfey As you suggested .I tested the same configuration in another build, where the Doodle labs module is away from ESC . the testing did not show any loss of data.

Hi @Eric-Katzfey,

Thanks for your feedback.

I have a few additional clarifications that I would like to request, listed below:

In my current setup, I am powering the DoodleLabs Nano module using a 5V, 1.5A BEC, and the data interface is configured through the USB Dev port (Port 1).
With this configuration, the signal/noise readings observed in the DoodleLabs portal are approximately -45 dBm / -85 dBm, respectively.
Could you please share your suggestions or insights based on these RSSI readings?

Powering Query

I would also like to confirm whether the Nano module can be powered directly from the VOXL2.
I was unable to find detailed specifications regarding the current rating of the VOXL2 port.
Could you please confirm if the VOXL2 port can supply adequate current to reliably power the DoodleLabs module?
Your confirmation will help finalize our power configuration.

Oscilloscope Query

You had earlier suggested checking the signals on an oscilloscope.
Since our communication interface uses USB (not UART), I wanted to confirm if it is practical or meaningful to probe USB signals using an oscilloscope in this context.

Looking forward to your feedback and guidance on these points.

@Eric-Katzfey will shielding work, if so what should be shielded?

@Eric-Katzfey Hey, My build has ESC directly below the Doodle labs module, and the antenna cable is going out below the ESC, there is carbon fibre plate above and below the electronics.
can the cause the issues i am facing be because of EMI.

@Eric-Katzfey Ok I will try all of them, and let you know.

@Eric-Katzfey Yes this over the earlier issue of dealy, I highly believe that there is a chance of everything to be related.
The FC data and the portal data, along with the ssh connection is lost in the moment of high throttle which is regained after a time frame of 10 to 30 seconds. the doodle labs to doodle labs module communication remains intact.

@Eric-Katzfey I tested this out , I observed a strange behaviour, during the system is connected to doodle labs, I am able to see the video stream and the portal. once I am and try to take the data transfer is cut, I am not able to see any data from px4 or voxl 2. At the same time I can see that Doodle labs modules are still connected and they are not losing connection, but the data from voxl 2 is completely lost, QGC also is disconnected which make me lose the control over the drone.
what can cause this kind of behaviour., and this observed when i arm try to take off and throttle is high, Normal arming, even when the command control is slow the drone does not lose connection, high throttle it is different.

voxl 2 is not boot looping. just the communication is lost with the voxl 2. I checked the Doodle labs connection with multi meter, i was proper.

It does get connected back through QGC and portal but that delay is risky, drone is flying away.

Hey @Alex-Kushleyev @Eric-Katzfey

I am using VOXL 2 with Flight core V2 as flight controller along with Doodle labs for communication and control.

While I try to fly the system with joystick through QGC , there is a visible delay in the mode changing as well as arming and disarming. The same time I am also facing delay in controlling the drone, the joystick inputs are delayed sometime, the drone is not taking input and once it takes it continue to roll or pitch or whatever command that was previously provided by me.

It would be great if anyone could help me with solving this issue, is it a parameter issue (PX4, QGC, or Doodle labs), or any other issue. Can the delay be because of the command is passing from Voxl to FC, should I change any parameter in the VOXL servers.

@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.