@Alex-Kushleyev Can you provide me an EMAIL where I can share the video?

@Alex-Kushleyev Yes, I can share a video of the motor cogging, but it seems I do not have permissions to upload a video on this forum. I can send you the video if you share an where I can reach you.

@Alex-Kushleyev Thanks for your detailed response. The ESC version is M0134-1. I observed that the correct firmware was loaded. To your point, the NAK was due to the fact that I attempted uploading the wrong firmware version.

The motor Cogging happens on all 4 motors when I rapidly change the thrust input - I noticed this only happens when there are no propellers attached. The issue does not seem to happen when I do the same thrust variations with propellers attached so this might be due to a lack of inertia. As of now, the cogging is no longer present with Propellers attached. I will update the ticket the issue persists after performing additional flight tests.

Hi,

Our ModalAI RB5 has had an issue that make the motors cog/stutter - the motor halts spinning for a brief moment mid flight and then resumes spinning. We purchased and installed a new ESC (https://www.modalai.com/products/voxl-esc?variant=44746120298800) because we believed that the probable cause was an old ESC firmware and the ESC we had installed was too old making it incompatible with newer firmware versions.

Unfortunately, the cogging persists even with the new ESC. Attempts to upload the newer version firmware fails with the following error:

ERROR: An error occured during the write process.

See the entire command line output when we tried to upload the new firmware below:

rb5:/usr/share/modalai/voxl-esc-tools$ ./voxl-esc-upload-firmware.py --id 0 -f /usr/share/modalai/voxl-esc-tools/firmware/modalai_esc_fi
rmware_m0134_6_v0_39_RC11_17d64675.bin
Detected Python version : 3.6.9 (default, Mar 10 2023, 16:46:00)
[GCC 8.4.0]
dpkg-query: no packages found matching voxl-esc-board-detect.py
dpkg-query: no packages found matching voxl-esc-calibrate.py
dpkg-query: no packages found matching voxl-esc-led.py
dpkg-query: no packages found matching voxl-esc-neopixel-test.py
dpkg-query: no packages found matching voxl-esc-scan.py
dpkg-query: no packages found matching voxl-esc-spin-helper.sh
dpkg-query: no packages found matching voxl-esc-spin-sine.py
dpkg-query: no packages found matching voxl-esc-spin-step.py
dpkg-query: no packages found matching voxl-esc-spin.py
dpkg-query: no packages found matching voxl-esc-tools-bin
dpkg-query: no packages found matching voxl-esc-upload-firmware-all.sh
dpkg-query: no packages found matching voxl-esc-upload-firmware.py
dpkg-query: no packages found matching voxl-esc-upload-params.py
dpkg-query: no packages found matching voxl-esc-verify-params.py
dpkg-query: no packages found matching voxl_esc_setup_paths.py
dpkg-query: no packages found matching voxl_serial.py
Found voxl-esc tools bin version: 1.6

INFO: Firmware file name : /usr/share/modalai/voxl-esc-tools/firmware/modalai_esc_firmware_m0134_6_v0_39_RC11_17d64675.bin
INFO: Firmware file size : 23104 bytes

VOXL Platform: M0052
Detected RB5 Flight, VOXL2 M0054 or M0104!
INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 2000000
Sending library name request: libslpi_qrb5165_io.so
Received standard error event 2
Sending initialization request
INFO: ESC(s) detected on port: /dev/slpi-uart-2, baud rate: 2000000
INFO: ESC(s) detected: [0, 1, 2, 3]
INFO: Sending reset command to ESC ID 0
Updated baud rate to 230400
INFO: Installing firmware to ESC ID 0 : /usr/share/modalai/voxl-esc-tools/firmware/modalai_esc_firmware_m0134_6_v0_39_RC11_17d64675.bin
Progress: 3% [# ]
NACK Received

ERROR: An error occured during the write process.