OK, quick update..
I did a quick test.. ramp from 0 to 100% power runs fine on ID3, see image below.
optical encoder test was good, i did 3 measurements : ESC: 8040, 11800, 1850rpm, tachometer 8035, 11810, 18500. (rounded to closest 100rpm). The optical tachometer was very very close to reported rpm of the ESC.
I used the following command to do a quick ramp test:
./voxl-esc-spin.py --id 3 --power 100 --ramp-time 4.0 --timeout 5.0 --enable-plot 1
(btw, i just updated voxl-esc on dev branch to plot the total current, since M0129 does not have individual current measurement, but if you test one motor at a time, you will get current for one motor)
got to about 33000 rpm at 100% power, 14.8V, about 5.8A current..
More details will follow as I tune for RPM control.
0867e8c5-fa0a-4c21-9d2a-58edb1adcb2a-image.png