Posts made by MChehadeh

Hello,

I am trying to test the VOXL ESC Mini with px4 running on either a pixhawk6x or KakuteH7.

I am using PX4 v1.14.3, which has the modal_io driver. I have done the necessary board configuration to run the modal_io module on the pixhawk 6x and kakuteH7, and I can configure the modal_io params from QGC. However, when I send any actuation command from the command line or using the "actuators" page of QGC, the motors do not run.

Kindly note that the same exact software and hardware configurations were successfully tested with the "VOXL ESC 4-in-1 Digital I/O UART Communications".
Also, the VOXL ESC Mini was tested separately using the VOXL ESC tools and it runs successfully, so the unit is not damaged.

Below are the modal_io parameters used in my testing:
MODAL_IO_BAUD: 250000 (200000 was also tested with no success)
MODAL_IO_CONFIG: VOXL_ESC

Can you first kindly confirm whether the VOXL ESC mini is compatible with modal_io driver running on px4 v1.14.3? if so, should it also work with pixhawk6x and kakuteh7 given the the normal M0134 model works?

Finally, can you kindly advise what changes need to be done to run the VOXL ESC Mini with this hardware?

Hi,
I would like to access RPM measurements (+current and voltage if possible) of the ESCs at the highest possible rate (2kHz is good, more is better). So what is the highest rate possible with M0129 and M0134? This is for direct connection between the ESC and a Linux PC.

Another relevant question: what would be the highest rates of these measurements through PX4->Mavlink->offboard?

Thank you very much,

@Alex-Kushleyev Thanks for the response.

What I understood is that there is a constant ratio between p_term and i_term, i.e. 1024/1048576=9.76x10^-4. Is that right?

Hi,
May I know the structure of the PI controller used for control of RPM governor? this would help with tuning. For example, does the error get multiplied by Kp and Ki and then the results get summed-up together to produce the control action? or is it some other arrangement?

Thanks,,,

@Alex-Kushleyev No worries. I got things running through serial with KakuteH7 and fmuv6x flight contollers. No all seems good

@Moderator Thanks for the quick response,,

The datasheet says it is supported: https://docs.modalai.com/modal-esc-datasheet/ ; where it reads: "PWM input supporting 1-2ms and OneShot125 (more protocols coming soon)"

Hi,
I did a successful spin-up of a motor with ModalAI M0134 ESC using UART. However, when trying to drive the ESC by PWM signals (used 400Hz, 1ms-2ms) the motors are not rotating and the ESC seems not to have any response to the PWM command.

I checked the PWM signal with logic analyzer and all looks alright. I have double checked the pinout connection and found all good. What am I missing?

The ESC I am using is Model M0134 REV A, M2300000N6A. The firmware loaded is modalai_esc_firmware_m0134_1_v0_39_RC9_d4fe8e3d.bin

Thank you!