ModalAI Forum

Hi,

I'm interested in activating the CAN bus to retrieve range sensor data from the J8 connector using the UAVCAN protocol. However, enabling the feature results in an error. Could you please provide guidance on how to enable the UAVCAN feature for the J8 CAN bus? Thank you.

#default.px4board
CONFIG_DRIVERS_UAVCAN=y
CONFIG_BOARD_UAVCAN_INTERFACES=1
#nuttx-config/nsh/defconfig
CONFIG_CAN=y

boards/modalai/fc-v2/src/can.c:52:10: fatal error: stm32_can.h: No such file or directory
52 | #include "stm32_can.h"
| ^~~~~~~~~~~~~
compilation terminated.
[838/1072] Building CXX object src/modules/simulation/simulator_sih/CMakeFiles/modules__simulation__simulator_sih.dir/sih.cpp.obj
ninja: build stopped: subcommand failed.
make: *** [Makefile:232: modalai_fc-v2] Error 1

BR,
Will

@Vinny, I've conducted measurements on J13 pins, specifically p3 and p4. While p4 (I2C SDA) registers a stable 5V when the voxlpm is operational, I've observed that p3 (I2C SCL) shows no voltage at all. I suspect this discrepancy might be the root cause of my inability to retrieve battery information. Could you please assist in verifying and addressing this issue? Thank you.

Hi,

I've linked the power monitor to FCv2, but I'm unable to view the battery status from either GCS or voxlpm. Your assistance in resolving this matter would be greatly appreciated. Thank you.

[boot] Rev 0x0 : Ver 0x3 V2003000
[boot] Fault Log info File No 4 Length 3177 flags:0x01 state:1
[boot] Fault Log is Armed
ERROR [PX4_MTD] failed to initialize mtd driver
ERROR [PX4_MTD] mtd fail[hardfault_log] Fault Log is Armed
ure: -5 bus 2 address 0 class 1
nsh: sysinit: fopen failed: No such file or directory
HW arch: MODALAI_FC_V2
HW type: V2003000
HW version: 0x003
HW revision: 0x000
PX4 git-hash: 996e85e9360801dd9ec11b7149a524e38231dcc6
PX4 version: 1.14.0 0 (17694720)
Vendor version: 2.0.64 0 (33570816)
OS: NuttX
OS version: Release 11.0.0 (184549631)
OS git-hash: 3f77354c0dc88793a47ff3b57595195ab45f7ba9
Build datetime: Jan  3 2024 15:59:58
Build uri: localhost
Build variant: default
Toolchain: GNU GCC, 9.3.1 20200408 (release)
PX4GUID: 0006000000003333363031315105003a001c
MCU: STM32H7[4|5]xxx, rev. V
INFO  [param] selected parameter default file /fs/microsd/params
INFO  [param] importing from '/fs/microsd/params'
INFO  [parameters] BSON document size 1487 bytes, decoded 1487 bytes (INT32:29, FLOAT:44)
INFO  [param] selected parameter backup file /fs/microsd/parameters_backup.bson
Board architecture defaults: /etc/init.d/rc.board_arch_defaults
Board defaults: /etc/init.d/rc.board_defaults
Loading airframe: /etc/init.d/airframes/4001_quad_x
nsh: tone_alarm: command not found
INFO  [dataman] data manager file '/fs/microsd/dataman' size is 62560 bytes
Board sensors: /etc/init.d/rc.board_sensors
INFO  [voxlpm] Failed to init voxlpm type: 0 on bus: 3, but will try again periodically.
voxlpm #0 on I2C bus 3 (external) address 0x44
WARN  [SPI_I2C] Already running on bus 3
WARN  [SPI_I2C] voxlpm: no instance started (no device on bus?)
icm42688p #0 on SPI bus 1 rotation 12
icm42688p #1 on SPI bus 2 rotation 12
WARN  [SPI_I2C] icp201xx: no instance started (no device on bus?)
nsh: icm20948_i2c_passthrough: command not found
nsh: battery_status: command not found
ekf2 [542:237]
Starting MAVLink on /dev/ttyS6
INFO  [mavlink] mode: Onboard, data rate: 46080 B/s on /dev/ttyS6 @ 921600B
Addons script: /fs/microsd/etc/extras.txt
nsh: BMP388: command not found
INFO  [logger] logger started (mode=all)
INFO  [uavcan] Node ID 1, bitrate 1000000

NuttShell (NSH) NuttX-11.0.0
nsh> WARN  [health_and_arming_checks] Preflight Fail: barometer 0 missing
WARN  [health_and_arming_checks] Preflight Fail: Crash dumps present on SD, vehicle needs service
nsh> ver all
HW arch: MODALAI_FC_V2
HW type: V2003000
HW version: 0x003
HW revision: 0x000
PX4 git-hash: 996e85e9360801dd9ec11b7149a524e38231dcc6
PX4 version: 1.14.0 0 (17694720)
Vendor version: 2.0.64 0 (33570816)
OS: NuttX
OS version: Release 11.0.0 (184549631)
OS git-hash: 3f77354c0dc88793a47ff3b57595195ab45f7ba9
Build datetime: Jan  3 2024 15:59:58
Build uri: localhost
Build variant: default
Toolchain: GNU GCC, 9.3.1 20200408 (release)
PX4GUID: 0006000000003333363031315105003a001c
MCU: STM32H7[4|5]xxx, rev. V
nsh>
nsh> voxlpm status
voxlpm: sample: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms
- type: BATT
  - voltage:    0.0000 VDC
  - current:    0.0000 ADC
  - shunt:    0.0000 mV,    0.0000 mA
  - rsense:  0.000500 ohm, cal: 0
  - meas interval:  100000 us
nsh>
nsh> i2cdetect -b 3
Scanning I2C bus: 3
     0  1  2  3  4  5  6  7  8  9  a  b  c  d  e  f
00: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
10: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
20: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
30: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
40: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
60: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
70: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --

@Vinny , Thank you for the information. I acknowledge the potential risks involved. Unfortunately, I've encountered an issue as I am no longer able to establish a connection between FCv2 and GCS through the J3 USB port. However, I can still access the console via J2 and connect GCS through J5, which is sufficient for my needs. I plan to initiate a separate discussion for the power monitor to retrieve battery information. If you have any suggestions on how to read Tattu Pro Battery through J8 CANbus, please share them with me. (here is the post on PX4 forum, https://discuss.px4.io/t/supporting-tattu-pro-battery-via-uavcan-integration/36145) Thanks again.

@Vinny , I've examined the port on my PC, and surprisingly, it's still functioning properly. Subsequently, I conducted two tests intentionally: one without the battery and the second with the battery. In both tests, I connected the PC's USB port to the FCv2 J8 CANBUS port and probed J8 pin1 (5P0V from the power-in source). Surprisingly, the board successfully booted in both scenarios, as indicated by the console log. This result raises a question: are both methods correct for booting the board?

Additionally, I encountered an issue where I couldn't retrieve information about the 3S battery from i2c bu3, even when connected to the power monitor board. Do I need to enable any other configurations for this? Thanks.

• PC's USB port to J8 without battery
  

• PC's USB port to J8 with battery
  

• Booting console log

[boot] Rev 0x0 : Ver 0x3 V2003000
[boot] Fault Log info File No 4 Length 3177 flags:0x01 state:1
[boot] Fault Log is Armed
ERROR [PX4_MTD] failed to initialize mtd driver
ERROR [PX4_MTD] mtd fail[hardfault_log] Fault Log is Armed
ure: -5 bus 2 address 0 class 1
nsh: sysinit: fopen failed: No such file or directory
HW arch: MODALAI_FC_V2
HW type: V2003000
HW version: 0x003
HW revision: 0x000
PX4 git-hash: 996e85e9360801dd9ec11b7149a524e38231dcc6
PX4 version: 1.14.0 0 (17694720)
Vendor version: 2.0.64 0 (33570816)
OS: NuttX
OS version: Release 11.0.0 (184549631)
OS git-hash: 3f77354c0dc88793a47ff3b57595195ab45f7ba9
Build datetime: Jan  3 2024 15:59:58
Build uri: localhost
Build variant: default
Toolchain: GNU GCC, 9.3.1 20200408 (release)
PX4GUID: 0006000000003333363031315105003a001c
MCU: STM32H7[4|5]xxx, rev. V
INFO  [param] selected parameter default file /fs/microsd/params
INFO  [param] importing from '/fs/microsd/params'
INFO  [parameters] BSON document size 1487 bytes, decoded 1487 bytes (INT32:29, FLOAT:44)
INFO  [param] selected parameter backup file /fs/microsd/parameters_backup.bson
Board architecture defaults: /etc/init.d/rc.board_arch_defaults
Board defaults: /etc/init.d/rc.board_defaults
Loading airframe: /etc/init.d/airframes/4001_quad_x
nsh: tone_alarm: command not found
INFO  [dataman] data manager file '/fs/microsd/dataman' size is 62560 bytes
Board sensors: /etc/init.d/rc.board_sensors
INFO  [voxlpm] Failed to init voxlpm type: 0 on bus: 3, but will try again periodically.
voxlpm #0 on I2C bus 3 (external) address 0x44
WARN  [SPI_I2C] Already running on bus 3
WARN  [SPI_I2C] voxlpm: no instance started (no device on bus?)
icm42688p #0 on SPI bus 1 rotation 12
icm42688p #1 on SPI bus 2 rotation 12
icp201xx #0 on I2C bus 4 (external) address 0x63
nsh: icm20948_i2c_passthrough: command not found
nsh: battery_status: command not found
ekf2 [591:237]
Starting MAVLink on /dev/ttyS6
INFO  [mavlink] mode: Onboard, data rate: 46080 B/s on /dev/ttyS6 @ 921600B
Addons script: /fs/microsd/etc/extras.txt
nsh: BMP388: command not found
INFO  [logger] logger started (mode=all)
INFO  [uavcan] Node ID 1, bitrate 1000000

NuttShell (NSH) NuttX-11.0.0
nsh> WARN  [health_and_arming_checks] Preflight Fail: height estimate not stable
WARN  [health_and_arming_checks] Preflight Fail: height estimate error
WARN  [health_and_arming_checks] Preflight Fail: Crash dumps present on SD, vehicle needs service
WARN  [health_and_arming_checks] Preflight Fail: height estimate not stable
WARN  [health_and_arming_checks] Preflight Fail: Crash dumps present on SD, vehicle needs service

nsh> WARN  [health_and_arming_checks] Preflight Fail: Crash dumps present on SD, vehicle needs service

• Unable to detect battery from i2c bus 3

nsh> i2cdetect -b 3
Scanning I2C bus: 3
     0  1  2  3  4  5  6  7  8  9  a  b  c  d  e  f
00: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
10: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
20: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
30: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
40: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
60: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
70: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --

@Moderator , the board is currently operational somehow. I made adjustments to the code, setting PD15 to a high level and modifying the parameters of UAVCAN_SUB_BAT to 1 and UAVCAN_ENABLE to 2 or 3, following the guidelines on this page (https://docs.px4.io/v1.12/zh/uavcan/pomegranate_systems_pm.html). Despite these modifications, I am still unable to retrieve battery information. I will also explore the PX4 forum for potential solutions. However, if you have additional suggestions, please feel free to share. Thank you.

diff --git a/boards/modalai/fc-v2/src/board_config.h b/boards/modalai/fc-v2/src/board_config.h
index 987f692b22..e7a7c83ef7 100644
--- a/boards/modalai/fc-v2/src/board_config.h
+++ b/boards/modalai/fc-v2/src/board_config.h
@@ -213,6 +213,7 @@
 /* Spare GPIO */
 
 #define CAN1_SILENT                       /* PD15 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN15)
+#define CAN1_SILENT_PULL_HIGH()  px4_arch_gpiowrite(CAN1_SILENT, 1)
 
 /* For primary/backup signaling with VOXL, 2 pins on J4 are exposed */
 // GPIO_VOXL_STATUS_OUT/ GPIO_VOXL_STATUS_IN are for v1 Spare MSS Communications Interface and J4 tests
diff --git a/boards/modalai/fc-v2/src/init.c b/boards/modalai/fc-v2/src/init.c
index dbc6ec4637..55ad6aab6c 100644
--- a/boards/modalai/fc-v2/src/init.c
+++ b/boards/modalai/fc-v2/src/init.c
@@ -211,6 +211,8 @@ __EXPORT int board_app_initialize(uintptr_t arg)
        /* Power on Interfaces */
        board_spi_reset(10, 0xffff);
        VDD_3V3_SPEKTRUM_POWER_EN(true);
+       CAN1_SILENT_PULL_HIGH();

nsh> uavcan status
Pool allocator status:
    Capacity hard/soft: 500/250 blocks
    Reserved:  6 blocks
    Allocated: 6 blocks

UAVCAN node status:
    Internal failures: 0
    Transfer errors:   0
    RX transfers:      0
    TX transfers:      1079

CAN1 status:
    HW errors: 310
    IO errors: 310
    RX frames: 2224
    TX frames: 1296

ESC outputs:
INFO  [mixer_module] Param prefix: UAVCAN_EC
control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms
Channel Configuration:
Channel 0: func:   0, value: 0, failsafe: 65535, disarmed: 65535, min: 1, max: 8191
Channel 1: func:   0, value: 0, failsafe: 65535, disarmed: 65535, min: 1, max: 8191
Channel 2: func:   0, value: 0, failsafe: 65535, disarmed: 65535, min: 1, max: 8191
Channel 3: func:   0, value: 0, failsafe: 65535, disarmed: 65535, min: 1, max: 8191
Channel 4: func:   0, value: 0, failsafe: 65535, disarmed: 65535, min: 1, max: 8191
Channel 5: func:   0, value: 0, failsafe: 65535, disarmed: 65535, min: 1, max: 8191
Channel 6: func:   0, value: 0, failsafe: 65535, disarmed: 65535, min: 1, max: 8191
Channel 7: func:   0, value: 0, failsafe: 65535, disarmed: 65535, min: 1, max: 8191
Servo outputs:
INFO  [mixer_module] Param prefix: UAVCAN_SV
control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms
Channel Configuration:
Channel 0: func:   0, value: 0, failsafe: 500, disarmed: 500, min: 0, max: 1000
Channel 1: func:   0, value: 0, failsafe: 500, disarmed: 500, min: 0, max: 1000
Channel 2: func:   0, value: 0, failsafe: 500, disarmed: 500, min: 0, max: 1000
Channel 3: func:   0, value: 0, failsafe: 500, disarmed: 500, min: 0, max: 1000
Channel 4: func:   0, value: 0, failsafe: 500, disarmed: 500, min: 0, max: 1000
Channel 5: func:   0, value: 0, failsafe: 500, disarmed: 500, min: 0, max: 1000
Channel 6: func:   0, value: 0, failsafe: 500, disarmed: 500, min: 0, max: 1000
Channel 7: func:   0, value: 0, failsafe: 500, disarmed: 500, min: 0, max: 1000

Sensor 'battery':
name: uavcan_battery

Sensor 'mag':
name: uavcan_mag

Online nodes (Node ID, Health, Mode):

uavcan: cycle time: 25877 events, 363400us elapsed, 14.04us avg, min 6us max 587us 24.085us rms
uavcan: cycle interval: 25877 events, 2747.60us avg, min 15us max 3734us 716.959us rms

@Eric-Katzfey , No, I do not have a spare one. The drone I tested has experienced a crash but can still fly stably with SDK 0.9.5, except for occasional MAG #0 failures. However, upon upgrading to SDK 1.1.2, I encountered issues arming the drone, and when I reverted to SDK 0.9.5 at the same location and time, it was able to arm and fly without any problems. Therefore, I believe the issue is not related to the drone itself but may be attributed to differences between SDK 0.9.5 and SDK 1.1.2 concerning the DSMX Spectrum RC. Please assist in investigating this matter. Thank you.

@Moderator , Here is the PX4 system console log. Could you please assist in examining why the J3 USB connector is not functioning? Thank you.

[boot] Rev 0x0 : Ver 0x3 V230
[boot] Fault Log info File No 4 Length 3177 flags:0x01 state:1
[boot] Fault Log is Armed
sercon: Registering CDC/ACM serial driver
sercon: Successfully registered the CDC/ACM serial driver
ERROR [PX4_MTD] failed to initialize mtd driver
ERROR [PX4_MTD] mtd failure[hardfault_log] Fault Log is Armed
: -5 bus 2 address 0 class 1
HW arch: MODALAI_FC_V2
HW type: V230
HW version: 0x00000003
HW revision: 0x00000000
FW git-hash: 259b3c097773507e581e2930093e4958f7726381
FW version: Release 1.13.2 (17629951)
FW git-branch: modalai-1.13.2
OS: NuttX
OS version: Release 11.0.0 (184549631)
OS git-hash: 91bece51afbe7da9db12e3695cdbb4f4bba4bc83
Build datetime: Dec  8 2023 23:35:12
Build uri: localhost
Build variant: default
Toolchain: GNU GCC, 9.3.1 20200408 (release)
PX4GUID: 0006000000003333363031315105003a001c
MCU: STM32H7[4|5]xxx, rev. V
INFO  [param] selected parameter default file /fs/microsd/params
INFO  [param] importing from '/fs/microsd/params'
INFO  [parameters] BSON document size 1752 bytes, decoded 1752 bytes (INT32:40, FLOAT:46)
INFO  [param] selected parameter backup file /fs/microsd/parameters_backup.bson
Board architecture defaults: /etc/init.d/rc.board_arch_defaults
Board defaults: /etc/init.d/rc.board_defaults
nsh: tone_alarm: command not found
INFO  [dataman] data manager file '/fs/microsd/dataman' size is 62560 bytes
Loading airframe: /etc/init.d/airframes/4015_holybro_s500
INFO  [uavcan] Node ID 1, bitrate 1000000
Board sensors: /etc/init.d/rc.board_sensors
INFO  [voxlpm] Failed to init voxlpm type: 0 on bus: 3, but will try again periodically.
voxlpm #0 on I2C bus 3 (external) address 0x44
WARN  [SPI_I2C] Already running on bus 3
WARN  [SPI_I2C] voxlpm: no instance started (no device on bus?)
icm42688p #0 on SPI bus 1 rotation 12
icm42688p #1 on SPI bus 2 rotation 12
icp20100 #0 on I2C bus 4 (external) address 0x63
INFO  [init] Mixer: /etc/mixers/quad_x.main.mix on /dev/uavcan/esc
INFO  [init] setting PWM_AUX_OUT none
ekf2 [670:237]
Starting Main GPS on /dev/ttyS0
Starting MAVLink on /dev/ttyS6
INFO  [mavlink] mode: Onboard, data rate: 46080 B/s on /dev/ttyS6 @ 921600B
WARN  [mavlink] stream SCALED_PRESSURE not found
ERROR [mavlink] configure_streams_to_default() failed
Addons script: /fs/microsd/etc/extras.txt
nsh: BMP388: command not found
INFO  [logger] logger started (mode=all)
 
NuttShell (NSH) NuttX-11.0.0

@Moderator , I mistakenly connected the PC USB port to FCv2 J8 (CAN bus) instead of J3. Could this potentially cause damage to the board? Currently, QGC cannot establish a connection to FCv2 through the serial port, and the PC fails to recognize any ttyUSBx port. Interestingly, I am still able to use STLink to connect to FCv2 via J2. When I connect J3 to the PC, the LED initially blinks green for a few seconds and then switches to green and white intermittently. Despite this, the USB port is not recognized by the PC. I would appreciate your assistance in troubleshooting this issue. Thank you.

@Eric-Katzfey , I've upgraded to SDK 1.1.2, but it has introduced two additional problems. Firstly, the RC is unstable, exhibiting noticeable lag during radio calibration in QGC. I attempted to re-bind the RC using the command "voxl-bind-spectrum -s," but it did not resolve the issue. The second problem is similar to a MAG failure, but it indicates that there is no valid data from Compass 0.

Upon testing outdoors, I reverted the SDK back to version 0.9.5, and the aforementioned RC issues (lag and instability) disappeared. However, the MAG failure problem reoccurred. It appears that SDK 1.1.2 is affecting the spectrum RC, causing issues. Any guidance or assistance would be greatly appreciated. Thank you.

• SDK 1.1.2

system-image: 1.7.1-M0054-14.1a-perf-nightly-20231025
kernel:       #1 SMP PREEMPT Thu Oct 26 03:25:38 UTC 2023 4.19.125
--------------------------------------------------------------------------------
hw version:   M0054
--------------------------------------------------------------------------------
voxl-suite:   1.1.2
--------------------------------------------------------------------------------
current IP: wlan0: 192.168.8.1
--------------------------------------------------------------------------------

• Spectrum RC missing on SDK 1.1.2 :
  

• No valid data from Compass 0 on SDK 1.1.2 :
  

• SDK 1.1.2 log:
  https://drive.google.com/file/d/1T3paVD9SX4lIZfHOU7uyfxhiSVxO9uMX/view?usp=sharing
  https://drive.google.com/file/d/1nXZgMKWIL9RCs5P2ZrMhWi6TfNyA9AjX/view?usp=sharing

@Moderator , I've observed a mention on the provided web address that states, "CAN “Silent” pin (STBY) is controlled by STM32 PD15 pin (default pulled-LOW in hardware)", does this imply that I need to set PD15 to a high level to enable the CAN bus? If so, could you please provide instructions on configuring PD15 on FCv2? Thank you.

Hi,

I am linking the CAN interface of the Tattu Pro Battery ((https://genstattu.com/tattu-pro-22000mah-44-4v-25c-12s-1p-lipo-smart-battery-pack-with-as150u-f-plug/)) to the J8 connector and compiling version v1.14.0-2.0.64-dev with the specified configuration enabled:

CONFIG_DRIVERS_UAVCAN=y
CONFIG_BOARD_UAVCAN_INTERFACES=1
CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2

Here is the version information for the board and firmware

nsh> ver all
HW arch: MODALAI_FC_V2
HW type: V2003000
HW version: 0x003
HW revision: 0x000
PX4 git-hash: 996e85e9360801dd9ec11b7149a524e38231dcc6
PX4 version: 1.14.0 0 (17694720)
Vendor version: 2.0.64 0 (33570816)
OS: NuttX
OS version: Release 11.0.0 (184549631)
OS git-hash: 3f77354c0dc88793a47ff3b57595195ab45f7ba9
Build datetime: Dec 26 2023 12:23:55
Build uri: localhost
Build variant: default
Toolchain: GNU GCC, 9.3.1 20200408 (release)
PX4GUID: 0006000000003333363031315105003a001c
MCU: STM32H7[4|5]xxx, rev. V

Below is the error indicating the issue where I am unable to retrieve battery information:

nsh> uavcan
INFO  [uavcan] usage:
    uavcan {start|status|stop|shrink|update}
            param [set|get|list|save] <node-id> <name> <value>|r
nsh> uavcan start
INFO  [uavcan] already started
nsh> uavcan status
Pool allocator status:
    Capacity hard/soft: 500/250 blocks
    Reserved:  13 blocks
    Allocated: 10 blocks

UAVCAN node status:
    Internal failures: 0
    Transfer errors:   0
    RX transfers:      0
    TX transfers:      6922

CAN1 status:
    HW errors: 2476
    IO errors: 2476
    RX frames: 10302
    TX frames: 8289

ESC outputs:
INFO  [mixer_module] Param prefix: UAVCAN_EC
control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms
Channel Configuration:
Channel 0: func:   0, value: 0, failsafe: 65535, disarmed: 65535, min: 1, max: 8191
Channel 1: func:   0, value: 0, failsafe: 65535, disarmed: 65535, min: 1, max: 8191
Channel 2: func:   0, value: 0, failsafe: 65535, disarmed: 65535, min: 1, max: 8191
Channel 3: func:   0, value: 0, failsafe: 65535, disarmed: 65535, min: 1, max: 8191
Channel 4: func:   0, value: 0, failsafe: 65535, disarmed: 65535, min: 1, max: 8191
Channel 5: func:   0, value: 0, failsafe: 65535, disarmed: 65535, min: 1, max: 8191
Channel 6: func:   0, value: 0, failsafe: 65535, disarmed: 65535, min: 1, max: 8191
Channel 7: func:   0, value: 0, failsafe: 65535, disarmed: 65535, min: 1, max: 8191
Servo outputs:
INFO  [mixer_module] Param prefix: UAVCAN_SV
control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms
Channel Configuration:
Channel 0: func:   0, value: 0, failsafe: 500, disarmed: 500, min: 0, max: 1000
Channel 1: func:   0, value: 0, failsafe: 500, disarmed: 500, min: 0, max: 1000
Channel 2: func:   0, value: 0, failsafe: 500, disarmed: 500, min: 0, max: 1000
Channel 3: func:   0, value: 0, failsafe: 500, disarmed: 500, min: 0, max: 1000
Channel 4: func:   0, value: 0, failsafe: 500, disarmed: 500, min: 0, max: 1000
Channel 5: func:   0, value: 0, failsafe: 500, disarmed: 500, min: 0, max: 1000
Channel 6: func:   0, value: 0, failsafe: 500, disarmed: 500, min: 0, max: 1000
Channel 7: func:   0, value: 0, failsafe: 500, disarmed: 500, min: 0, max: 1000

Sensor 'gnss':
name: uavcan_gnss

Sensor 'mag':
name: uavcan_mag

Online nodes (Node ID, Health, Mode):

uavcan: cycle time: 163407 events, 2350932us elapsed, 14.39us avg, min 6us max 709us 21.106us rms
uavcan: cycle interval: 163407 events, 2814.40us avg, min 15us max 4373us 624.775us rms
nsh>

nsh> uavcan param list 107
Failed to get param: -1

Here is an example from the Tattu Pro document. However, I am unable to achieve the same result. Please assist in checking if I have missed anything to enable UAVCAN. Thanks.

@Eric-Katzfey

Can you update you software to the latest SDK 1.1.2 and retry? It looks like you are running much older software.

Here is the sw version I am running, I will try to upgrade to SDK 1.1.2. Additionally, I'm interested in understanding how the error_count is calculated. I may explore checking the SLPI I2C signal using a scope, thanks.

voxl-version
--------------------------------------------------------------------------------
system-image: 1.5.5-M0054-14.1a-perf
kernel:       #1 SMP PREEMPT Fri Mar 24 00:48:55 UTC 2023 4.19.125
--------------------------------------------------------------------------------
hw version:   M0054
--------------------------------------------------------------------------------
voxl-suite:   0.9.5
--------------------------------------------------------------------------------

pxh> ver all
HW arch: MODALAI_RB5_FLIGHT
FW git-hash: 49dd87bfd8b7f4b4bf3d4f27499ffa1aba251eb0
FW version: 1.12.31 80 (17571712)
OS: Linux
OS version: Release 4.19.125 (68386303)
Build datetime: Oct 26 2022 17:18:59
Build uri: localhost
Toolchain: GNU GCC, 7.5.0
PX4GUID: 10014c474145304449453030303030303030
UNKNOWN MCU

what type of drone you you have? What are the specifics of your hardware configuration?

It is sentinel, thanks.

@ejohnson01 Are you observing parts of the system become unresponsive or laggy when you see this?

I use voxl-inspect-cpu command to check when there is MAG #0 failed: TIMEOUT, it seems cpu usage is fine, thanks.

Name   Freq (MHz) Temp (C) Util (%)
-----------------------------------
cpu0        518.4     25.8    20.67
cpu1        518.4     25.4     9.59
cpu2        518.4     25.4     9.19
cpu3        518.4     25.4     8.16
cpu4        710.4     25.4     0.00
cpu5        710.4     25.1     0.00
cpu6        710.4     25.8     0.00
cpu7        844.8     25.8     0.00
Total                 25.8     5.95
10s avg                        5.95
-----------------------------------
GPU         305.0     24.3     0.00
GPU 10s avg                    0.00
-----------------------------------
memory temp:       25.2 C
memory used:   546/7671 MB
-----------------------------------
Flags
CPU freq scaling mode: auto
GPU freq scaling mode: auto
-----------------------------------

Hi,

I consistently encounter the MAG failed alarm. Upon inspecting the PX4 listener, I observe that the error_count is not 0. Could you assist me in identifying the potential reasons for this error? Thank you.

voxl2:/$ px4-listener sensor_mag
TOPIC: sensor_mag
sensor_mag_s
timestamp: 277247992 (0.016736 seconds ago)
timestamp_sample: 277247418 (574 us before timestamp)
device_id: 396809 (Type: 0x06, I2C:1 (0x0E))
x: 0.1197
y: -0.1379
z: 0.1803
temperature: nan
error_count: 42
is_external: True

voxl2:/$ voxl-px4
Found DSP signature file
INFO [px4] mlockall() enabled. PX4's virtual address space is locked into RAM.
INFO [px4] assuming working directory is rootfs, no symlinks needed.

---

| ___ \ \ \ / / / |
| |/ / \ V / / /| |
| __/ / \ / /| |
| | / /^\ \ ___ |
_| / / |_/

px4 starting.

INFO [px4] Calling startup script: /bin/sh /etc/modalai/voxl-px4.config 0
Running on M0054
INFO [muorb] SLPI: Creating qurt thread hpwork

INFO [muorb] SLPI: Successfully created px4 task PX4_hpwork with tid 83
INFO [muorb] SLPI: Creating qurt thread lpwork

INFO [muorb] SLPI: Successfully created px4 task PX4_lpwork with tid 82
INFO [muorb] SLPI: Creating qurt thread wkr_hrt

INFO [muorb] SLPI: Successfully created px4 task PX4_wkr_hrt with tid 81
INFO [muorb] SLPI: Creating qurt thread client_sync_thread

INFO [muorb] SLPI: Successfully created px4 task PX4_client_sync_thread with tid 80
INFO [muorb] SLPI: Creating qurt thread wq_manager

INFO [muorb] SLPI: Successfully created px4 task PX4_wq_manager with tid 79
INFO [muorb] SLPI: Creating qurt thread qshell

INFO [muorb] SLPI: Successfully created px4 task PX4_qshell with tid 78
INFO [qshell] Send cmd: 'icm42688p start -s'
INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO [muorb] SLPI: qshell gotten: icm42688p start -s
INFO [muorb] SLPI: Creating qurt thread wq_SPI1

INFO [muorb] SLPI: Successfully created px4 task PX4_wq_SPI1 with tid 77
INFO [muorb] SLPI: *** SPI Device ID 0x26000a 2490378
INFO [uorb] Advertising remote topic sensor_accel
INFO [uorb] Marking DeviceNode(parameter_server_set_used_request) as advertised in process_remote_topic
INFO [muorb] SLPI: Marking DeviceNode(parameter_server_set_used_response) as advertised in process_remote_to
INFO [uorb] Advertising remote topic sensor_gyro
INFO [uorb] Advertising remote topic imu_server
INFO [muorb] SLPI: on SPI bus 1
INFO [muorb] SLPI: icm42688p #0 on SPI bus 1 (devid=0x0)
INFO [muorb] SLPI:

INFO [muorb] SLPI: Ok executing command: icm42688p start -s
INFO [muorb] SLPI: Sending qshell retval with timestamp 162829520, current timestamp 162829521
INFO [uorb] Advertising remote topic qshell_retval
INFO [qshell] qshell return value timestamp: 162829520, local time: 162832909
INFO [muorb] SLPI: Marking DeviceNode(parameter_client_reset_request) as advertised in process_remote_topic
ERROR [muorb] SLPI: Cannot reset all parameters on client side
INFO [uorb] Marking DeviceNode(parameter_client_reset_response) as advertised in process_remote_topic
INFO [muorb] SLPI: Advertising remote topic parameter_update
INFO [muorb] SLPI: Marking DeviceNode(parameter_client_set_value_request) as advertised in process_remote_to
INFO [uorb] Marking DeviceNode(parameter_client_set_value_response) as advertised in process_remote_topic
INFO [logger] logger started (mode=all)
Starting Holybro magnetometer
INFO [qshell] Send cmd: 'ist8310 start -R 10 -X -b 1'
INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO [muorb] SLPI: qshell gotten: ist8310 start -R 10 -X -b 1
INFO [muorb] SLPI: Creating qurt thread wq_I2C1

INFO [muorb] SLPI: Successfully created px4 task PX4_wq_I2C1 with tid 75
INFO [muorb] SLPI: *** I2C Device ID 0x60e09 396809
INFO [muorb] SLPI: ist8310 #0 on I2C bus 1 (external)

INFO [muorb] SLPI: Ok executing command: ist8310 start -R 10 -X -b 1
INFO [muorb] SLPI: Sending qshell retval with timestamp 165852955, current timestamp 165852956
INFO [qshell] qshell return value timestamp: 165852955, local time: 165853837
Starting Holybro LED driver
INFO [qshell] Send cmd: 'rgbled_ncp5623c start -X -b 1 -f 400 -a 56'
INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO [muorb] SLPI: qshell gotten: rgbled_ncp5623c start -X -b 1 -f 400 -a 56
INFO [muorb] SLPI: *** I2C Device ID 0x7b3809 8075273
INFO [muorb] SLPI: rgbled_ncp5623c #0 on I2C bus 1 (external)

INFO [muorb] SLPI: Ok executing command: rgbled_ncp5623c start -X -b 1 -f 400 -a 56
INFO [muorb] SLPI: Sending qshell retval with timestamp 165888791, current timestamp 165888792
INFO [qshell] qshell return value timestamp: 165888791, local time: 165889480
INFO [qshell] Send cmd: 'icp10100 start -I -b 5'
INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO [muorb] SLPI: qshell gotten: icp10100 start -I -b 5
INFO [muorb] SLPI: Creating qurt thread wq_I2C5

INFO [muorb] SLPI: Successfully created px4 task PX4_wq_I2C5 with tid 74
INFO [muorb] SLPI: *** I2C Device ID 0x9c6329 10249001
INFO [muorb] SLPI: probe probe succeeded. data = 0x1 0x48
INFO [muorb] SLPI: icp10100 #0 on I2C bus 5

INFO [muorb] SLPI: Ok executing command: icp10100 start -I -b 5
INFO [muorb] SLPI: Sending qshell retval with timestamp 165921057, current timestamp 165921058
INFO [qshell] qshell return value timestamp: 165921057, local time: 165921609
INFO [qshell] Send cmd: 'modalai_esc start'
INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO [muorb] SLPI: qshell gotten: modalai_esc start
INFO [muorb] SLPI: Creating qurt thread wq_hp_default

INFO [muorb] SLPI: Successfully created px4 task PX4_wq_hp_default with tid 73
INFO [uorb] Advertising remote topic test_motor
INFO [uorb] Advertising remote topic sensor_mag
INFO [muorb] SLPI: Ok executing command: modalai_esc start
INFO [muorb] SLPI: Sending qshell retval with timestamp 165961204, current timestamp 165961204
INFO [muorb] SLPI: Opened UART ESC device
INFO [uorb] Advertising remote topic sensor_baro
INFO [qshell] qshell return value timestamp: 165961204, local time: 165962290
INFO [qshell] Send cmd: 'mixer load /dev/uart_esc quad_x.main.mix'
INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO [muorb] SLPI: qshell gotten: mixer load /dev/uart_esc quad_x.main.mix
INFO [muorb] SLPI: Creating qurt thread wq_rate_ctrl

INFO [muorb] SLPI: Successfully created px4 task PX4_wq_rate_ctrl with tid 71
INFO [muorb] SLPI: Ok executing command: mixer load /dev/uart_esc quad_x.main.mix
INFO [muorb] SLPI: Sending qshell retval with timestamp 166023373, current timestamp 166023374
INFO [qshell] qshell return value timestamp: 166023373, local time: 166024932
INFO [uorb] Advertising remote topic actuator_outputs
INFO [uorb] Advertising remote topic multirotor_motor_limits
INFO [qshell] Send cmd: 'voxlpm start -X -b 2'
INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO [muorb] SLPI: qshell gotten: voxlpm start -X -b 2
INFO [muorb] SLPI: Creating qurt thread wq_I2C2

INFO [muorb] SLPI: Successfully created px4 task PX4_wq_I2C2 with tid 4169
INFO [muorb] SLPI: *** I2C Device ID 0x784411 7881745
INFO [uorb] Advertising remote topic battery_status
INFO [muorb] SLPI: voxlpm #0 on I2C bus 2 (external)

INFO [muorb] SLPI: Ok executing command: voxlpm start -X -b 2
INFO [muorb] SLPI: Sending qshell retval with timestamp 166066506, current timestamp 166066507
INFO [qshell] qshell return value timestamp: 166066506, local time: 166067902
INFO [uorb] Advertising remote topic power_monitor
Starting Holybro GPS
INFO [qshell] Send cmd: 'gps start -d 7 -b 115200'
INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO [muorb] SLPI: qshell gotten: gps start -d 7 -b 115200
INFO [muorb] SLPI: Creating qurt thread gps

INFO [muorb] SLPI: Successfully created px4 task PX4_gps with tid 70
INFO [muorb] SLPI: Ok executing command: gps start -d 7 -b 115200
INFO [muorb] SLPI: Sending qshell retval with timestamp 166109271, current timestamp 166109272
INFO [qshell] qshell return value timestamp: 166109271, local time: 166110180
INFO [qshell] Send cmd: 'px4io detect'
INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO [muorb] SLPI: qshell gotten: px4io detect
INFO [muorb] SLPI: serial port fd 2
ERROR [muorb] SLPI: px4io read failed
ERROR [muorb] SLPI: px4io io_reg_get(0,0,1): data error -5
ERROR [muorb] SLPI: IO not installed
ERROR [muorb] SLPI: Detection attempt 2 failed
ERROR [muorb] SLPI: Detection attempt 1 failed
ERROR [muorb] SLPI: Detection attempt 0 failed
ERROR [muorb] SLPI: Failed to execute command: px4io detect
INFO [muorb] SLPI: Sending qshell retval with timestamp 166159427, current timestamp 166159428
INFO [qshell] cmd returned with: -17
INFO [qshell] qshell return value timestamp: 166159427, local time: 166162532
ERROR [qshell] Command failed
M0065 not detected, starting Spektrum RC driver
INFO [qshell] Send cmd: 'spektrum_rc start -d 8'
INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO [muorb] SLPI: qshell gotten: spektrum_rc start -d 8
INFO [muorb] SLPI: Creating qurt thread spektrum_rc_main

INFO [muorb] SLPI: Successfully created px4 task PX4_spektrum_rc_main with tid 67
INFO [muorb] SLPI: Ok executing command: spektrum_rc start -d 8
INFO [muorb] SLPI: Sending qshell retval with timestamp 166191950, current timestamp 166191951
INFO [qshell] qshell return value timestamp: 166191950, local time: 166192806
INFO [qshell] Send cmd: 'sensors start'
INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO [muorb] SLPI: qshell gotten: sensors start
INFO [muorb] SLPI: Creating qurt thread wq_nav_and_controllers

INFO [muorb] SLPI: Successfully created px4 task PX4_wq_nav_and_controllers with tid 66
INFO [muorb] SLPI: Ok executing command: sensors start
INFO [muorb] SLPI: Sending qshell retval with timestamp 167257291, current timestamp 167257292
INFO [uorb] Advertising remote topic vehicle_angular_acceleration
INFO [uorb] Advertising remote topic vehicle_angular_velocity
INFO [qshell] qshell return value timestamp: 167257291, local time: 167259265
INFO [muorb] SLPI: Creating qurt thread wq_INS0

INFO [muorb] SLPI: Successfully created px4 task PX4_wq_INS0 with tid 65
INFO [uorb] Advertising remote topic vehicle_imu
INFO [uorb] Advertising remote topic vehicle_imu_status
INFO [uorb] Advertising remote topic sensors_status_imu
INFO [uorb] Advertising remote topic vehicle_acceleration
INFO [uorb] Advertising remote topic vehicle_air_data
INFO [uorb] Advertising remote topic vehicle_magnetometer
INFO [uorb] Advertising remote topic sensor_preflight_mag
INFO [uorb] Advertising remote topic sensor_selection
INFO [uorb] Advertising remote topic sensor_combined
INFO [qshell] Send cmd: 'ekf2 start'
INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO [muorb] SLPI: qshell gotten: ekf2 start
INFO [muorb] SLPI: Ok executing command: ekf2 start
INFO [muorb] SLPI: Sending qshell retval with timestamp 167424471, current timestamp 167424471
INFO [qshell] qshell return value timestamp: 167424471, local time: 167425271
ERROR [muorb] SLPI: 0 - vehicle_magnetometer lost, generation 0 -> 7
INFO [uorb] Advertising remote topic ekf2_timestamps
INFO [qshell] Send cmd: 'mc_pos_control start'
INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO [muorb] SLPI: qshell gotten: mc_pos_control start
INFO [muorb] SLPI: Ok executing command: mc_pos_control start
INFO [muorb] SLPI: Sending qshell retval with timestamp 167467771, current timestamp 167467772
INFO [qshell] qshell return value timestamp: 167467771, local time: 167468914
INFO [qshell] Send cmd: 'mc_att_control start'
INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO [muorb] SLPI: qshell gotten: mc_att_control start
INFO [muorb] SLPI: Ok executing command: mc_att_control start
INFO [muorb] SLPI: Sending qshell retval with timestamp 167514133, current timestamp 167514134
INFO [qshell] qshell return value timestamp: 167514133, local time: 167515295
INFO [qshell] Send cmd: 'mc_rate_control start'
INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO [muorb] SLPI: qshell gotten: mc_rate_control start
INFO [muorb] SLPI: Ok executing command: mc_rate_control start
INFO [muorb] SLPI: Sending qshell retval with timestamp 167572385, current timestamp 167572386
INFO [qshell] qshell return value timestamp: 167572385, local time: 167573816
INFO [qshell] Send cmd: 'mc_hover_thrust_estimator start'
INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO [muorb] SLPI: qshell gotten: mc_hover_thrust_estimator start
INFO [muorb] SLPI: Ok executing command: mc_hover_thrust_estimator start
INFO [muorb] SLPI: Sending qshell retval with timestamp 167620574, current timestamp 167620575
INFO [qshell] qshell return value timestamp: 167620574, local time: 167621626
INFO [qshell] Send cmd: 'land_detector start multicopter'
INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO [muorb] SLPI: qshell gotten: land_detector start multicopter
INFO [muorb] SLPI: Ok executing command: land_detector start multicopter
INFO [muorb] SLPI: Sending qshell retval with timestamp 167651810, current timestamp 167651811
INFO [qshell] qshell return value timestamp: 167651810, local time: 167652884
INFO [uorb] Advertising remote topic vehicle_land_detected
INFO [muorb] SLPI: 168050471: reset position to last known position
INFO [muorb] SLPI: 168050471: reset velocity to zero
INFO [uorb] Advertising remote topic vehicle_local_position
INFO [uorb] Advertising remote topic vehicle_odometry
INFO [uorb] Advertising remote topic estimator_states
INFO [uorb] Advertising remote topic estimator_status
INFO [uorb] Advertising remote topic estimator_status_flags
INFO [uorb] Advertising remote topic estimator_innovations
INFO [uorb] Advertising remote topic estimator_innovation_test_ratios
INFO [uorb] Advertising remote topic estimator_innovation_variances
INFO [uorb] Advertising remote topic sensor_gps
INFO [uorb] Advertising remote topic vehicle_gps_position
INFO [muorb] SLPI: Advertising remote topic position_setpoint_triplet
INFO [muorb] SLPI: Advertising remote topic mission
INFO [commander] LED: open /dev/led0 failed (22)
INFO [muorb] SLPI: Advertising remote topic led_control
INFO [muorb] SLPI: Advertising remote topic tune_control
INFO [PreFlightCheck] Failed EKF health preflight check while waiting for filter to settle
INFO [muorb] SLPI: Advertising remote topic vehicle_control_mode
INFO [muorb] SLPI: Advertising remote topic vehicle_status
INFO [uorb] Advertising remote topic rate_ctrl_status
INFO [uorb] Advertising remote topic actuator_controls_0
INFO [muorb] SLPI: Advertising remote topic actuator_armed
INFO [muorb] SLPI: Advertising remote topic commander_state
INFO [muorb] SLPI: Advertising remote topic vehicle_status_flags
INFO [muorb] SLPI: Advertising remote topic vehicle_command
INFO [commander] Handling Commander command 176
INFO [muorb] SLPI: Advertising remote topic vehicle_command_ack
INFO [mavlink] mode: Onboard, data rate: 100000 B/s on udp port 14556 remote port 14557
INFO [muorb] SLPI: Marking DeviceNode(vehicle_command) as advertised in process_remote_topic
INFO [uorb] Advertising remote topic estimator_sensor_bias
INFO [px4] Startup script returned successfully
pxh> INFO [muorb] SLPI: Advertising remote topic telemetry_status
INFO [mavlink] partner IP: 127.0.0.1
INFO [uorb] Advertising remote topic mavlink_log
ERROR [muorb] SLPI: MAG #0 failed: TIMEOUT!
INFO [muorb] SLPI: 174279599: EKF aligned, (baro hgt, IMU buf: 12, OBS buf: 9)
INFO [uorb] Advertising remote topic vehicle_attitude
INFO [uorb] Advertising remote topic vehicle_attitude_setpoint
INFO [uorb] Advertising remote topic vehicle_rates_setpoint
ERROR [muorb] SLPI: MAG #0 failed: TIMEOUT!
ERROR [muorb] SLPI: MAG #0 failed: TIMEOUT!
ERROR [muorb] SLPI: MAG #0 failed: TIMEOUT!
ERROR [muorb] SLPI: MAG #0 failed: TIMEOUT!
INFO [PreFlightCheck] Failed EKF sensor bias preflight check
INFO [PreFlightCheck] Failed EKF sensor bias preflight check
ERROR [muorb] SLPI: MAG #0 failed: TIMEOUT!
INFO [PreFlightCheck] Failed EKF sensor bias preflight check
INFO [PreFlightCheck] Failed EKF sensor bias preflight check
INFO [PreFlightCheck] Failed EKF sensor bias preflight check
INFO [PreFlightCheck] Failed EKF sensor bias preflight check
INFO [PreFlightCheck] Failed EKF sensor bias preflight check
INFO [PreFlightCheck] Failed EKF sensor bias preflight check

@Alex-Kushleyev , Using 180-second tests, the x2212 motor consistently failed under full power. In contrast, the d2216 motor passed once with a 9450 propeller, but no attempt was made with a 1045 propeller. Today, I conducted a test pairing the x2212 motor with a 1045 propeller, which I consider the most challenging condition. Surprisingly, it passed twice consecutively, instilling confidence in me. I plan to proceed with the field test using this fw version, thanks for your help.

@Alex-Kushleyev , I've conducted tests on firmware version modalai_esc_firmware_m0117_1_v0_39_bugfix1_14e444b3.bin, and I didn't observe any issues with the stop spinning function. However, there seems to be an unusual burst of current at the beginning. Could you please assist in investigating this matter? Thank you :

• Test round 1 :
  python voxl-esc-spin.py --id 255 --power 100 --timeout 180 --enable-plot 1

Zoom in the current plot:

• Test round 2 :
  python voxl-esc-spin.py --id 255 --power 100 --ramp-time 2 --timeout 180 --enable-plot 1

Zoom in the current plot:

@Alex-Kushleyev , Sure, I'll conduct testing once the updated firmware is available. By the way, where I can download the source code to build the ESC firmware?

Here's a test plot without the propeller for your reference, no issues were identified. Thank you.

@Alex-Kushleyev , here are some updates :

I am curious if you increase the baud rate in your ESC params to 921600, whether this issue goes away.

Yes, after increasing baud rate to 921600 or more, the plot issue goes away.

does the same motor stop spinning ever time, or does the motor ID which fails changes from time to time?

No, it's not the same motor that consistently stops spinning; rather, it's each motor ID that experiences a failure

can you please inspect the motor cables (3 per motor) and make sure they are not damaged or cut, especially around / under zip ties that hold the cables to the arms (please check all the way from motors to the ESC). Also, if there are bullet connectors, make sure they are fully isolated and there is no exposed metal connector that could make contact with anything

Upon visual inspection, no damage or cuts are apparent. However, I will have our hardware guy to conduct a more in-depth diagnosis.

make sure that no camera flex cables are touching the ESC (sometimes camera flex cables can have exposed edge, so if it makes contact with ESC components, it can affect the performance or cause motor stall.

Yes, we have applied tape on camera flex to prevent electronic shorts.

By the way, I noticed in your picture at the very top of this post that you have two wires soldered to the UART connector. Are you using those wires to connect to USB adapter (and also flight controller?).

No, I had previously removed those two soldered wires when I obtained a compatible connector for connecting to the USB adapter.

are you able to share the exact motor and propeller part number?

I've conducted tests with two types of motors. The first is the Sunnysky x2212 (KV980), which you can find more information about here: https://sunnyskyusa.com/products/sunnysky-x2212-brushless-motors.

The second motor is the Dongxingwei D2216 (810KV), and additional details can be found at http://www.dongxingwei.com/detail_d2216.html.

Here is an image showing the propellers used, which are 9450 and 1045:

also can you please see if you can reproduce the issue without propellers using the following command:

No, I can't reproduce it without propellers. The following is where I use D2216 motor with 1045 propeller to reproduce the issue, thanks.

python voxl-esc-spin.py --id 255 --power 100 --timeout 180 --enable-plot 1
Detected Python version : 3.10.9 (main, Mar 1 2023, 18:23:06) [GCC 11.2.0]
Found voxl-esc tools bin version: 1.4
INFO: All COM ports:
/dev/ttyUSB0 : FT232R USB UART - FT232R USB UART
INFO: UART Port Candidates:
/dev/ttyUSB0
INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 2000000
INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 250000
INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 921600
INFO: ESC(s) detected on port: /dev/ttyUSB0, baud rate: 921600
ID : 0
Board : version 34: ModalAi 4-in-1 ESC (M0117-1)
UID : 0x203034305743570C001A0038
Firmware : version 39, hash 3d7ee4eb
Bootloader : version 183, hash 25317f42

ID         : 1
Board      : version 34: ModalAi 4-in-1 ESC (M0117-1)
UID        : 0x203034305743570C003D0050
Firmware   : version   39, hash 3d7ee4eb
Bootloader : version  183, hash 25317f42

ID         : 2
Board      : version 34: ModalAi 4-in-1 ESC (M0117-1)
UID        : 0x203034305743570C003D0054
Firmware   : version   39, hash 3d7ee4eb
Bootloader : version  183, hash 25317f42

ID         : 3
Board      : version 34: ModalAi 4-in-1 ESC (M0117-1)
UID        : 0x203034305743570C003D0056
Firmware   : version   39, hash 3d7ee4eb
Bootloader : version  183, hash 25317f42

---

WARNING:
This test requires motors to spin at high speeds with
propellers attached. Please ensure that appropriate
protective equipment is being worn at all times and
that the motor and propeller are adequately isolated
from all persons.

For best results, please perform this test at the
nominal voltage for the battery used.

Type "Yes" to continue: Yes
[0.000] (0) RPM: 0, PWR: 0, VOLTAGE: 0.000V, TEMPERATURE: 0.00C, CURRENT: 0.000A
[0.000] (1) RPM: 0, PWR: 0, VOLTAGE: 0.000V, TEMPERATURE: 0.00C, CURRENT: 0.000A
[0.000] (2) RPM: 0, PWR: 0, VOLTAGE: 0.000V, TEMPERATURE: 0.00C, CURRENT: 0.000A
[0.000] (3) RPM: 0, PWR: 0, VOLTAGE: 0.000V, TEMPERATURE: 0.00C, CURRENT: 0.000A
[0.011] (0) RPM: 0, PWR: 0, VOLTAGE: 0.000V, TEMPERATURE: 0.00C, CURRENT: 0.000A
[0.011] (1) RPM: 0, PWR: 0, VOLTAGE: 0.000V, TEMPERATURE: 0.00C, CURRENT: 0.000A
[0.011] (2) RPM: 0, PWR: 0, VOLTAGE: 0.000V, TEMPERATURE: 0.00C, CURRENT: 0.000A
[0.011] (3) RPM: 0, PWR: 0, VOLTAGE: 0.000V, TEMPERATURE: 0.00C, CURRENT: 0.000A
[0.021] (0) RPM: 0, PWR: 0, VOLTAGE: 0.000V, TEMPERATURE: 0.00C, CURRENT: 0.000A
[0.021] (1) RPM: 0, PWR: 0, VOLTAGE: 12.681V, TEMPERATURE: 34.95C, CURRENT: -0.008A
[0.021] (2) RPM: 0, PWR: 0, VOLTAGE: 0.000V, TEMPERATURE: 0.00C, CURRENT: 0.000A
[0.021] (3) RPM: 0, PWR: 0, VOLTAGE: 0.000V, TEMPERATURE: 0.00C, CURRENT: 0.000A
[0.031] (0) RPM: 0, PWR: 0, VOLTAGE: 0.000V, TEMPERATURE: 0.00C, CURRENT: 0.000A
[0.031] (1) RPM: 0, PWR: 0, VOLTAGE: 12.681V, TEMPERATURE: 34.95C, CURRENT: -0.008A
[0.031] (2) RPM: 9, PWR: 0, VOLTAGE: 12.672V, TEMPERATURE: 34.39C, CURRENT: -0.056A
[0.031] (3) RPM: 0, PWR: 0, VOLTAGE: 0.000V, TEMPERATURE: 0.00C, CURRENT: 0.000A
...
[179.990] (0) RPM: 865, PWR: 0, VOLTAGE: 11.095V, TEMPERATURE: 46.73C, CURRENT: 0.520A
[179.990] (1) RPM: 875, PWR: 0, VOLTAGE: 11.096V, TEMPERATURE: 45.66C, CURRENT: 0.456A
[179.990] (2) RPM: 6658, PWR: 100, VOLTAGE: 11.094V, TEMPERATURE: 46.91C, CURRENT: 8.672A
[179.990] (3) RPM: 6686, PWR: 100, VOLTAGE: 11.091V, TEMPERATURE: 44.31C, CURRENT: 9.088A
Finished!
[1701932726.226422] TX=18008, RX=18005 packets, RX CRC ERRORS=0
Average RPMs: 733.55 721.26 6645.88 6680.47
Average RPM deviation between ESCs : 5959.22
False

@Alex-Kushleyev , I've acquired four additional motors for testing with the commands below. Despite this, I continue to encounter a scenario where one of the motors abruptly stops, leading to the drone falling from the sky. Conversely, I've assessed the thermal conditions of the motors and found that they aren't excessively hot to the touch. The temperature increases when using a 1045 propeller, while with the current 9450 propeller, there is minimal heat.

• ./voxl-esc-spin.py --power 100 --ramp-time 5.0 --timeout 5.5 --cmd-rate 1000 --enable-plot 1 --id 255 # without propeller
  

• ./voxl-esc-spin.py --power 90 --ramp-time 5.0 --timeout 5.5 --cmd-rate 1000 --enable-plot 1 --id 255 # without propeller
  

• ./voxl-esc-spin.py --power 60 --ramp-time 5.0 --timeout 5.5 --cmd-rate 1000 --enable-plot 1 --id 255 # with propeller
  

• ./voxl-esc-spin.py --power 90 --ramp-time 5.0 --timeout 5.5 --cmd-rate 1000 --enable-plot 1 --id 255 # with propeller
  

I encountered another issue with these commands where, at times, the plot isn't generated, and the RPM value appears incorrect. To resolve this, I have to use ctrl-c to stop and rerun it. I attempted lowering the power value to address this issue, but it seems to occur randomly.

python voxl-esc-spin.py --power 10 --ramp-time 5.0 --timeout 5.5 --cmd-rate 1000 --enable-plot 1 --id 255
Detected Python version : 3.10.9 (main, Mar 1 2023, 18:23:06) [GCC 11.2.0]
Found voxl-esc tools bin version: 1.4
INFO: All COM ports:
/dev/ttyUSB0 : FT232R USB UART - FT232R USB UART
INFO: UART Port Candidates:
/dev/ttyUSB0
INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 2000000
INFO: Scanning for ESC firmware: /dev/ttyUSB0, baud: 250000
INFO: ESC(s) detected on port: /dev/ttyUSB0, baud rate: 250000
ID : 0
Board : version 34: ModalAi 4-in-1 ESC (M0117-1)
UID : 0x203034305743570C001A0038
Firmware : version 39, hash 3d7ee4eb
Bootloader : version 183, hash 25317f42

ID         : 1
Board      : version 34: ModalAi 4-in-1 ESC (M0117-1)
UID        : 0x203034305743570C003D0050
Firmware   : version   39, hash 3d7ee4eb
Bootloader : version  183, hash 25317f42

ID         : 2
Board      : version 34: ModalAi 4-in-1 ESC (M0117-1)
UID        : 0x203034305743570C003D0054
Firmware   : version   39, hash 3d7ee4eb
Bootloader : version  183, hash 25317f42

ID         : 3
Board      : version 34: ModalAi 4-in-1 ESC (M0117-1)
UID        : 0x203034305743570C003D0056
Firmware   : version   39, hash 3d7ee4eb
Bootloader : version  183, hash 25317f42

---

WARNING:
This test requires motors to spin at high speeds with
propellers attached. Please ensure that appropriate
protective equipment is being worn at all times and
that the motor and propeller are adequately isolated
from all persons.

For best results, please perform this test at the
nominal voltage for the battery used.

Type "Yes" to continue: Yes
[0.009] (0) RPM: 0, PWR: 0, VOLTAGE: 0.000V, TEMPERATURE: 0.00C, CURRENT: 0.000A
[0.009] (1) RPM: 0, PWR: 0, VOLTAGE: 0.000V, TEMPERATURE: 0.00C, CURRENT: 0.000A
[0.009] (2) RPM: 0, PWR: 0, VOLTAGE: 0.000V, TEMPERATURE: 0.00C, CURRENT: 0.000A
[0.009] (3) RPM: 0, PWR: 0, VOLTAGE: 0.000V, TEMPERATURE: 0.00C, CURRENT: 0.000A
[0.019] (0) RPM: 6, PWR: 0, VOLTAGE: 12.380V, TEMPERATURE: 37.20C, CURRENT: 0.000A
[0.019] (1) RPM: 11, PWR: 0, VOLTAGE: 12.384V, TEMPERATURE: 36.43C, CURRENT: 0.000A
[0.019] (2) RPM: 8, PWR: 0, VOLTAGE: 12.377V, TEMPERATURE: 36.43C, CURRENT: -0.032A
[0.019] (3) RPM: 5, PWR: 0, VOLTAGE: 12.372V, TEMPERATURE: 37.04C, CURRENT: 0.024A
[0.030] (0) RPM: 6, PWR: 0, VOLTAGE: 12.380V, TEMPERATURE: 37.20C, CURRENT: 0.000A
[0.030] (1) RPM: 11, PWR: 0, VOLTAGE: 12.384V, TEMPERATURE: 36.43C, CURRENT: 0.000A
[0.030] (2) RPM: 8, PWR: 0, VOLTAGE: 12.377V, TEMPERATURE: 36.43C, CURRENT: -0.032A
[0.030] (3) RPM: 5, PWR: 0, VOLTAGE: 12.372V, TEMPERATURE: 37.04C, CURRENT: 0.024A
[0.039] (0) RPM: 6, PWR: 0, VOLTAGE: 12.380V, TEMPERATURE: 37.20C, CURRENT: 0.000A
[0.039] (1) RPM: 11, PWR: 0, VOLTAGE: 12.384V, TEMPERATURE: 36.43C, CURRENT: 0.000A
[0.039] (2) RPM: 8, PWR: 0, VOLTAGE: 12.377V, TEMPERATURE: 36.43C, CURRENT: -0.032A
[0.039] (3) RPM: 5, PWR: 0, VOLTAGE: 12.372V, TEMPERATURE: 37.04C, CURRENT: 0.024A
[0.050] (0) RPM: 6, PWR: 0, VOLTAGE: 12.380V, TEMPERATURE: 37.20C, CURRENT: 0.000A
[0.050] (1) RPM: 11, PWR: 0, VOLTAGE: 12.384V, TEMPERATURE: 36.43C, CURRENT: 0.000A
[0.050] (2) RPM: 44, PWR: 0, VOLTAGE: 12.364V, TEMPERATURE: 36.43C, CURRENT: 0.176A
[0.050] (3) RPM: 45, PWR: 0, VOLTAGE: 12.358V, TEMPERATURE: 37.02C, CURRENT: 0.200A
[0.065] (0) RPM: 46, PWR: 0, VOLTAGE: 12.359V, TEMPERATURE: 37.22C, CURRENT: 0.328A
[0.065] (1) RPM: 47, PWR: 0, VOLTAGE: 12.373V, TEMPERATURE: 36.38C, CURRENT: 0.216A
[0.065] (2) RPM: 48, PWR: 0, VOLTAGE: 12.356V, TEMPERATURE: 36.46C, CURRENT: 0.224A
[0.065] (3) RPM: 55, PWR: 0, VOLTAGE: 12.355V, TEMPERATURE: 36.93C, CURRENT: 0.360A
[0.070] (0) RPM: 46, PWR: 0, VOLTAGE: 12.359V, TEMPERATURE: 37.22C, CURRENT: 0.328A
[0.070] (1) RPM: 60, PWR: 0, VOLTAGE: 12.363V, TEMPERATURE: 36.29C, CURRENT: 0.440A
[0.070] (2) RPM: 61, PWR: 0, VOLTAGE: 12.342V, TEMPERATURE: 36.48C, CURRENT: 0.328A
[0.070] (3) RPM: 55, PWR: 0, VOLTAGE: 12.355V, TEMPERATURE: 36.93C, CURRENT: 0.360A
[0.080] (0) RPM: 46, PWR: 0, VOLTAGE: 12.359V, TEMPERATURE: 37.22C, CURRENT: 0.328A
[0.080] (1) RPM: 60, PWR: 0, VOLTAGE: 12.363V, TEMPERATURE: 36.29C, CURRENT: 0.440A
[0.080] (2) RPM: 61, PWR: 0, VOLTAGE: 12.342V, TEMPERATURE: 36.48C, CURRENT: 0.328A
[0.080] (3) RPM: 55, PWR: 0, VOLTAGE: 12.355V, TEMPERATURE: 36.93C, CURRENT: 0.360A
[0.089] (0) RPM: 46, PWR: 0, VOLTAGE: 12.359V, TEMPERATURE: 37.22C, CURRENT: 0.328A
[0.089] (1) RPM: 60, PWR: 0, VOLTAGE: 12.363V, TEMPERATURE: 36.29C, CURRENT: 0.440A
[0.089] (2) RPM: 61, PWR: 0, VOLTAGE: 12.342V, TEMPERATURE: 36.48C, CURRENT: 0.328A
[0.089] (3) RPM: 55, PWR: 0, VOLTAGE: 12.355V, TEMPERATURE: 36.93C, CURRENT: 0.360A
[0.099] (0) RPM: 46, PWR: 0, VOLTAGE: 12.359V, TEMPERATURE: 37.22C, CURRENT: 0.328A
[0.099] (1) RPM: 60, PWR: 0, VOLTAGE: 12.363V, TEMPERATURE: 36.29C, CURRENT: 0.440A
[0.099] (2) RPM: 61, PWR: 0, VOLTAGE: 12.342V, TEMPERATURE: 36.48C, CURRENT: 0.328A
[0.099] (3) RPM: 55, PWR: 0, VOLTAGE: 12.355V, TEMPERATURE: 36.93C, CURRENT: 0.360A
[0.111] (0) RPM: 94, PWR: 0, VOLTAGE: 12.346V, TEMPERATURE: 37.25C, CURRENT: 0.288A
[0.111] (1) RPM: 99, PWR: 0, VOLTAGE: 12.356V, TEMPERATURE: 36.35C, CURRENT: 0.360A
[0.111] (2) RPM: 105, PWR: 0, VOLTAGE: 12.346V, TEMPERATURE: 36.45C, CURRENT: 0.360A
[0.111] (3) RPM: 97, PWR: 0, VOLTAGE: 12.350V, TEMPERATURE: 36.99C, CURRENT: 0.424A
..
[5.476] (1) RPM: 643, PWR: 0, VOLTAGE: 12.328V, TEMPERATURE: 36.42C, CURRENT: 0.616A
[5.476] (2) RPM: 641, PWR: 0, VOLTAGE: 12.317V, TEMPERATURE: 36.55C, CURRENT: 0.568A
[5.476] (3) RPM: 642, PWR: 0, VOLTAGE: 12.322V, TEMPERATURE: 37.07C, CURRENT: 0.640A
Finished!
[1701745969.875759] TX=1271, RX=435 packets, RX CRC ERRORS=50
Average RPMs: 643.00 643.00 641.00 642.00
Average RPM deviation between ESCs : 2.00
False
^CTraceback (most recent call last):
File "/home/will/projects/voxl-esc/voxl-esc-tools/voxl-esc-spin.py", line 370, in <module>
fig = make_subplots(rows=5, cols=1, start_cell="top-left")
File "/home/will/anaconda3/lib/python3.10/site-packages/plotly/subplots.py", line 304, in make_subplots
return _sub.make_subplots(
File "/home/will/anaconda3/lib/python3.10/site-packages/plotly/_subplots.py", line 879, in make_subplots
figure = go.Figure()
File "/home/will/anaconda3/lib/python3.10/site-packages/plotly/graph_objs/_figure.py", line 629, in init
super(Figure, self).init(data, layout, frames, skip_invalid, **kwargs)
File "/home/will/anaconda3/lib/python3.10/site-packages/plotly/basedatatypes.py", line 577, in init
from plotly.offline.offline import _get_jconfig
File "/home/will/anaconda3/lib/python3.10/site-packages/plotly/offline/init.py", line 6, in <module>
from .offline import (
File "/home/will/anaconda3/lib/python3.10/site-packages/plotly/offline/offline.py", line 11, in <module>
from plotly import tools
File "<frozen importlib._bootstrap>", line 1075, in _handle_fromlist
File "/home/will/anaconda3/lib/python3.10/site-packages/_plotly_utils/importers.py", line 29, in getattr
return importlib.import_module(rel_import, parent_name)
File "/home/will/anaconda3/lib/python3.10/importlib/init.py", line 126, in import_module
return _bootstrap._gcd_import(name[level:], package, level)
File "/home/will/anaconda3/lib/python3.10/site-packages/plotly/tools.py", line 64, in <module>
ipython_core_display = optional_imports.get_module("IPython.core.display")
File "/home/will/anaconda3/lib/python3.10/site-packages/_plotly_utils/optional_imports.py", line 28, in get_module
return import_module(name)
File "/home/will/anaconda3/lib/python3.10/importlib/init.py", line 126, in import_module
return _bootstrap._gcd_import(name[level:], package, level)
File "/home/will/anaconda3/lib/python3.10/site-packages/IPython/init.py", line 52, in <module>
from .core.application import Application
File "/home/will/anaconda3/lib/python3.10/site-packages/IPython/core/application.py", line 26, in <module>
from IPython.core import release, crashhandler
File "<frozen importlib._bootstrap>", line 1027, in _find_and_load
^C

Thanks you.

@Alex-Kushleyev , after completing the ESC/standard X2212 motor calibration using a standard 9045 propeller and uploading the parameters, I continue to experience the following symptoms during the spinning test of the four motors: one motor will suddenly stop spinning, and at times, two motors may stop simultaneously. Moreover, there is a possibility of this issue occurring when the --id is assigned to a specific motor (0~3).

I have attempted to address the problem by applying the default parameters (https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/blob/master/voxl-esc-params/Sentinel_V1/Sentinel_V1.xml?ref_type=heads) for Sentinel, but unfortunately, the issue persists. Your assistance and advice on this matter would be greatly appreciated. Thank you in advance.

• Case-1 ./voxl-esc-spin.py --id 255 --rpm 8000 --timeout 180
  [44.181] (0) RPM: 7380, PWR: 95, VOLTAGE: 10.792V, TEMPERATURE: 44.69C, CURRENT: 7.920A
  [44.181] (1) RPM: 7401, PWR: 96, VOLTAGE: 10.794V, TEMPERATURE: 43.98C, CURRENT: 8.952A
  [44.181] (2) RPM: 7400, PWR: 94, VOLTAGE: 10.794V, TEMPERATURE: 44.67C, CURRENT: 7.656A
  [44.181] (3) RPM: 7398, PWR: 96, VOLTAGE: 10.783V, TEMPERATURE: 42.78C, CURRENT: 8.704A
  [44.191] (0) RPM: 7380, PWR: 95, VOLTAGE: 10.792V, TEMPERATURE: 44.69C, CURRENT: 7.920A
  [44.191] (1) RPM: 7401, PWR: 96, VOLTAGE: 10.794V, TEMPERATURE: 43.98C, CURRENT: 8.952A
  [44.191] (2) RPM: 7400, PWR: 94, VOLTAGE: 10.794V, TEMPERATURE: 44.67C, CURRENT: 7.656A
  [44.191] (3) RPM: 7506, PWR: 93, VOLTAGE: 10.798V, TEMPERATURE: 42.70C, CURRENT: 8.584A
  [44.202] (0) RPM: 7380, PWR: 95, VOLTAGE: 10.792V, TEMPERATURE: 44.69C, CURRENT: 7.920A
  [44.202] (1) RPM: 7401, PWR: 96, VOLTAGE: 10.794V, TEMPERATURE: 43.98C, CURRENT: 8.952A
  [44.202] (2) RPM: 7400, PWR: 94, VOLTAGE: 10.794V, TEMPERATURE: 44.67C, CURRENT: 7.656A
  [44.202] (3) RPM: 7506, PWR: 93, VOLTAGE: 10.798V, TEMPERATURE: 42.70C, CURRENT: 8.584A
  [44.212] (0) RPM: 7380, PWR: 95, VOLTAGE: 10.792V, TEMPERATURE: 44.69C, CURRENT: 7.920A
  [44.212] (1) RPM: 7401, PWR: 96, VOLTAGE: 10.794V, TEMPERATURE: 43.98C, CURRENT: 8.952A
  [44.212] (2) RPM: 7400, PWR: 94, VOLTAGE: 10.794V, TEMPERATURE: 44.67C, CURRENT: 7.656A
  [44.212] (3) RPM: 7506, PWR: 93, VOLTAGE: 10.798V, TEMPERATURE: 42.70C, CURRENT: 8.584A
  [44.222] (0) RPM: 7386, PWR: 94, VOLTAGE: 10.797V, TEMPERATURE: 44.61C, CURRENT: 7.976A
  [44.222] (1) RPM: 7387, PWR: 97, VOLTAGE: 10.754V, TEMPERATURE: 43.79C, CURRENT: 8.272A
  [44.222] (2) RPM: 7400, PWR: 94, VOLTAGE: 10.794V, TEMPERATURE: 44.67C, CURRENT: 7.656A
  [44.222] (3) RPM: 7506, PWR: 93, VOLTAGE: 10.798V, TEMPERATURE: 42.70C, CURRENT: 8.584A
  [44.231] (0) RPM: 7386, PWR: 94, VOLTAGE: 10.797V, TEMPERATURE: 44.61C, CURRENT: 7.976A
  [44.231] (1) RPM: 7387, PWR: 97, VOLTAGE: 10.754V, TEMPERATURE: 43.79C, CURRENT: 8.272A
  [44.231] (2) RPM: 1726, PWR: 48, VOLTAGE: 10.572V, TEMPERATURE: 44.64C, CURRENT: 19.544A
  [44.231] (3) RPM: 7386, PWR: 97, VOLTAGE: 10.668V, TEMPERATURE: 42.72C, CURRENT: 8.896A
  [44.241] (0) RPM: 7386, PWR: 94, VOLTAGE: 10.797V, TEMPERATURE: 44.61C, CURRENT: 7.976A
  [44.241] (1) RPM: 7387, PWR: 97, VOLTAGE: 10.754V, TEMPERATURE: 43.79C, CURRENT: 8.272A
  [44.241] (2) RPM: 1726, PWR: 48, VOLTAGE: 10.572V, TEMPERATURE: 44.64C, CURRENT: 19.544A
  [44.241] (3) RPM: 7386, PWR: 97, VOLTAGE: 10.668V, TEMPERATURE: 42.72C, CURRENT: 8.896A
  [44.252] (0) RPM: 7376, PWR: 95, VOLTAGE: 10.713V, TEMPERATURE: 44.82C, CURRENT: 8.216A
  [44.252] (1) RPM: 7387, PWR: 97, VOLTAGE: 10.754V, TEMPERATURE: 43.79C, CURRENT: 8.272A
  [44.252] (2) RPM: 1726, PWR: 48, VOLTAGE: 10.572V, TEMPERATURE: 44.64C, CURRENT: 19.544A
  [44.252] (3) RPM: 7386, PWR: 97, VOLTAGE: 10.668V, TEMPERATURE: 42.72C, CURRENT: 8.896A
  [44.261] (0) RPM: 7376, PWR: 95, VOLTAGE: 10.713V, TEMPERATURE: 44.82C, CURRENT: 8.216A
  [44.261] (1) RPM: 7391, PWR: 97, VOLTAGE: 10.741V, TEMPERATURE: 43.79C, CURRENT: 9.104A
  [44.261] (2) RPM: 1113, PWR: 41, VOLTAGE: 10.741V, TEMPERATURE: 44.78C, CURRENT: 9.416A
  [44.261] (3) RPM: 7386, PWR: 97, VOLTAGE: 10.668V, TEMPERATURE: 42.72C, CURRENT: 8.896A
  [44.271] (0) RPM: 7376, PWR: 95, VOLTAGE: 10.713V, TEMPERATURE: 44.82C, CURRENT: 8.216A
  [44.271] (1) RPM: 7391, PWR: 97, VOLTAGE: 10.741V, TEMPERATURE: 43.79C, CURRENT: 9.104A
  [44.271] (2) RPM: 1113, PWR: 41, VOLTAGE: 10.741V, TEMPERATURE: 44.78C, CURRENT: 9.416A
  [44.271] (3) RPM: 7386, PWR: 97, VOLTAGE: 10.668V, TEMPERATURE: 42.72C, CURRENT: 8.896A
  [44.282] (0) RPM: 7376, PWR: 95, VOLTAGE: 10.713V, TEMPERATURE: 44.82C, CURRENT: 8.216A
  [44.282] (1) RPM: 7391, PWR: 97, VOLTAGE: 10.741V, TEMPERATURE: 43.79C, CURRENT: 9.104A
  [44.282] (2) RPM: 1113, PWR: 41, VOLTAGE: 10.741V, TEMPERATURE: 44.78C, CURRENT: 9.416A
  [44.282] (3) RPM: 7411, PWR: 96, VOLTAGE: 10.753V, TEMPERATURE: 42.88C, CURRENT: 8.504A
  [44.291] (0) RPM: 7369, PWR: 95, VOLTAGE: 10.750V, TEMPERATURE: 44.70C, CURRENT: 8.088A
  [44.291] (1) RPM: 7396, PWR: 96, VOLTAGE: 10.782V, TEMPERATURE: 43.82C, CURRENT: 9.008A
  [44.291] (2) RPM: 1113, PWR: 41, VOLTAGE: 10.741V, TEMPERATURE: 44.78C, CURRENT: 9.416A
  [44.291] (3) RPM: 7411, PWR: 96, VOLTAGE: 10.753V, TEMPERATURE: 42.88C, CURRENT: 8.504A
  [44.301] (0) RPM: 7369, PWR: 95, VOLTAGE: 10.750V, TEMPERATURE: 44.70C, CURRENT: 8.088A
  [44.301] (1) RPM: 7396, PWR: 96, VOLTAGE: 10.782V, TEMPERATURE: 43.82C, CURRENT: 9.008A
  [44.301] (2) RPM: 1113, PWR: 41, VOLTAGE: 10.741V, TEMPERATURE: 44.78C, CURRENT: 9.416A
  [44.301] (3) RPM: 7411, PWR: 96, VOLTAGE: 10.753V, TEMPERATURE: 42.88C, CURRENT: 8.504A
  [44.312] (0) RPM: 7369, PWR: 95, VOLTAGE: 10.750V, TEMPERATURE: 44.70C, CURRENT: 8.088A
  [44.312] (1) RPM: 7396, PWR: 96, VOLTAGE: 10.782V, TEMPERATURE: 43.82C, CURRENT: 9.008A
  [44.312] (2) RPM: 709, PWR: 37, VOLTAGE: 10.764V, TEMPERATURE: 44.83C, CURRENT: 9.600A
  [44.312] (3) RPM: 7411, PWR: 96, VOLTAGE: 10.753V, TEMPERATURE: 42.88C, CURRENT: 8.504A
  [44.321] (0) RPM: 7383, PWR: 95, VOLTAGE: 10.790V, TEMPERATURE: 44.59C, CURRENT: 7.984A
  [44.321] (1) RPM: 7396, PWR: 96, VOLTAGE: 10.782V, TEMPERATURE: 43.82C, CURRENT: 9.008A
  [44.321] (2) RPM: 709, PWR: 37, VOLTAGE: 10.764V, TEMPERATURE: 44.83C, CURRENT: 9.600A
  [44.321] (3) RPM: 7417, PWR: 96, VOLTAGE: 10.774V, TEMPERATURE: 42.82C, CURRENT: 8.512A
  [44.331] (0) RPM: 7383, PWR: 95, VOLTAGE: 10.790V, TEMPERATURE: 44.59C, CURRENT: 7.984A
  [44.331] (1) RPM: 7396, PWR: 96, VOLTAGE: 10.782V, TEMPERATURE: 43.82C, CURRENT: 9.008A
  [44.331] (2) RPM: 709, PWR: 37, VOLTAGE: 10.764V, TEMPERATURE: 44.83C, CURRENT: 9.600A
  [44.331] (3) RPM: 7417, PWR: 96, VOLTAGE: 10.774V, TEMPERATURE: 42.82C, CURRENT: 8.512A
  [44.341] (0) RPM: 7383, PWR: 95, VOLTAGE: 10.790V, TEMPERATURE: 44.59C, CURRENT: 7.984A
  [44.341] (1) RPM: 7396, PWR: 96, VOLTAGE: 10.782V, TEMPERATURE: 43.82C, CURRENT: 9.008A
  [44.341] (2) RPM: 709, PWR: 37, VOLTAGE: 10.764V, TEMPERATURE: 44.83C, CURRENT: 9.600A
  [44.341] (3) RPM: 7417, PWR: 96, VOLTAGE: 10.774V, TEMPERATURE: 42.82C, CURRENT: 8.512A
  [44.351] (0) RPM: 7383, PWR: 95, VOLTAGE: 10.790V, TEMPERATURE: 44.59C, CURRENT: 7.984A
  [44.351] (1) RPM: 7406, PWR: 96, VOLTAGE: 10.780V, TEMPERATURE: 43.85C, CURRENT: 8.952A
  [44.351] (2) RPM: 519, PWR: 36, VOLTAGE: 10.786V, TEMPERATURE: 44.66C, CURRENT: 7.424A
  [44.351] (3) RPM: 7417, PWR: 96, VOLTAGE: 10.774V, TEMPERATURE: 42.82C, CURRENT: 8.512A
  [44.360] (0) RPM: 7383, PWR: 95, VOLTAGE: 10.790V, TEMPERATURE: 44.59C, CURRENT: 7.984A
  [44.360] (1) RPM: 7406, PWR: 96, VOLTAGE: 10.780V, TEMPERATURE: 43.85C, CURRENT: 8.952A
  [44.360] (2) RPM: 519, PWR: 36, VOLTAGE: 10.786V, TEMPERATURE: 44.66C, CURRENT: 7.424A
  [44.360] (3) RPM: 7436, PWR: 95, VOLTAGE: 10.838V, TEMPERATURE: 42.90C, CURRENT: 8.752A
  [44.371] (0) RPM: 7383, PWR: 95, VOLTAGE: 10.790V, TEMPERATURE: 44.59C, CURRENT: 7.984A
  [44.371] (1) RPM: 7406, PWR: 96, VOLTAGE: 10.780V, TEMPERATURE: 43.85C, CURRENT: 8.952A
  [44.371] (2) RPM: 519, PWR: 36, VOLTAGE: 10.786V, TEMPERATURE: 44.66C, CURRENT: 7.424A
  [44.371] (3) RPM: 7436, PWR: 95, VOLTAGE: 10.838V, TEMPERATURE: 42.90C, CURRENT: 8.752A
  [44.381] (0) RPM: 7401, PWR: 93, VOLTAGE: 10.901V, TEMPERATURE: 44.73C, CURRENT: 8.016A
  [44.381] (1) RPM: 7407, PWR: 95, VOLTAGE: 10.924V, TEMPERATURE: 43.94C, CURRENT: 8.776A
  [44.381] (2) RPM: 519, PWR: 36, VOLTAGE: 10.786V, TEMPERATURE: 44.66C, CURRENT: 7.424A
  [44.381] (3) RPM: 7436, PWR: 95, VOLTAGE: 10.838V, TEMPERATURE: 42.90C, CURRENT: 8.752A
  [44.392] (0) RPM: 7401, PWR: 93, VOLTAGE: 10.901V, TEMPERATURE: 44.73C, CURRENT: 8.016A
  [44.392] (1) RPM: 7407, PWR: 95, VOLTAGE: 10.924V, TEMPERATURE: 43.94C, CURRENT: 8.776A
  [44.392] (2) RPM: 19, PWR: 0, VOLTAGE: 10.921V, TEMPERATURE: 44.48C, CURRENT: -0.464A
  [44.392] (3) RPM: 7436, PWR: 95, VOLTAGE: 10.838V, TEMPERATURE: 42.90C, CURRENT: 8.752A
  [44.402] (0) RPM: 7401, PWR: 93, VOLTAGE: 10.901V, TEMPERATURE: 44.73C, CURRENT: 8.016A
  [44.402] (1) RPM: 7407, PWR: 95, VOLTAGE: 10.924V, TEMPERATURE: 43.94C, CURRENT: 8.776A
  [44.402] (2) RPM: 19, PWR: 0, VOLTAGE: 10.921V, TEMPERATURE: 44.48C, CURRENT: -0.464A
  [44.402] (3) RPM: 7436, PWR: 95, VOLTAGE: 10.838V, TEMPERATURE: 42.90C, CURRENT: 8.752A
  [44.412] (0) RPM: 7387, PWR: 93, VOLTAGE: 10.935V, TEMPERATURE: 44.68C, CURRENT: 7.888A
  [44.412] (1) RPM: 7407, PWR: 95, VOLTAGE: 10.924V, TEMPERATURE: 43.94C, CURRENT: 8.776A
  [44.412] (2) RPM: 19, PWR: 0, VOLTAGE: 10.921V, TEMPERATURE: 44.48C, CURRENT: -0.464A
  [44.412] (3) RPM: 7410, PWR: 94, VOLTAGE: 10.931V, TEMPERATURE: 42.84C, CURRENT: 8.512A
  [44.422] (0) RPM: 7387, PWR: 93, VOLTAGE: 10.935V, TEMPERATURE: 44.68C, CURRENT: 7.888A
  [44.422] (1) RPM: 7404, PWR: 95, VOLTAGE: 10.928V, TEMPERATURE: 43.93C, CURRENT: 8.824A
  [44.422] (2) RPM: 60, PWR: 0, VOLTAGE: 10.928V, TEMPERATURE: 44.43C, CURRENT: -0.256A
  [44.422] (3) RPM: 7410, PWR: 94, VOLTAGE: 10.931V, TEMPERATURE: 42.84C, CURRENT: 8.512A
  [44.431] (0) RPM: 7387, PWR: 93, VOLTAGE: 10.935V, TEMPERATURE: 44.68C, CURRENT: 7.888A
  [44.431] (1) RPM: 7404, PWR: 95, VOLTAGE: 10.928V, TEMPERATURE: 43.93C, CURRENT: 8.824A
  [44.431] (2) RPM: 60, PWR: 0, VOLTAGE: 10.928V, TEMPERATURE: 44.43C, CURRENT: -0.256A
  [44.431] (3) RPM: 7410, PWR: 94, VOLTAGE: 10.931V, TEMPERATURE: 42.84C, CURRENT: 8.512A
  [44.441] (0) RPM: 7387, PWR: 93, VOLTAGE: 10.935V, TEMPERATURE: 44.68C, CURRENT: 7.888A
  [44.441] (1) RPM: 7404, PWR: 95, VOLTAGE: 10.928V, TEMPERATURE: 43.93C, CURRENT: 8.824A
  [44.441] (2) RPM: 60, PWR: 0, VOLTAGE: 10.928V, TEMPERATURE: 44.43C, CURRENT: -0.256A
  [44.441] (3) RPM: 7404, PWR: 95, VOLTAGE: 10.923V, TEMPERATURE: 42.82C, CURRENT: 8.560A
  [44.451] (0) RPM: 7403, PWR: 93, VOLTAGE: 10.921V, TEMPERATURE: 44.72C, CURRENT: 7.936A
  [44.451] (1) RPM: 7405, PWR: 95, VOLTAGE: 10.929V, TEMPERATURE: 43.93C, CURRENT: 8.760A
  [44.451] (2) RPM: 60, PWR: 0, VOLTAGE: 10.928V, TEMPERATURE: 44.43C, CURRENT: -0.256A
  [44.451] (3) RPM: 7404, PWR: 95, VOLTAGE: 10.923V, TEMPERATURE: 42.82C, CURRENT: 8.560A
  [44.461] (0) RPM: 7403, PWR: 93, VOLTAGE: 10.921V, TEMPERATURE: 44.72C, CURRENT: 7.936A
  [44.461] (1) RPM: 7405, PWR: 95, VOLTAGE: 10.929V, TEMPERATURE: 43.93C, CURRENT: 8.760A
  [44.461] (2) RPM: 60, PWR: 0, VOLTAGE: 10.928V, TEMPERATURE: 44.43C, CURRENT: -0.256A
  [44.461] (3) RPM: 7404, PWR: 95, VOLTAGE: 10.923V, TEMPERATURE: 42.82C, CURRENT: 8.560A
  [44.471] (0) RPM: 7403, PWR: 93, VOLTAGE: 10.921V, TEMPERATURE: 44.72C, CURRENT: 7.936A
  [44.471] (1) RPM: 7405, PWR: 95, VOLTAGE: 10.929V, TEMPERATURE: 43.93C, CURRENT: 8.760A
  [44.471] (2) RPM: 99, PWR: 0, VOLTAGE: 10.917V, TEMPERATURE: 44.45C, CURRENT: -0.208A
  [44.471] (3) RPM: 7404, PWR: 95, VOLTAGE: 10.923V, TEMPERATURE: 42.82C, CURRENT: 8.560A
  [44.481] (0) RPM: 7404, PWR: 93, VOLTAGE: 10.927V, TEMPERATURE: 44.67C, CURRENT: 7.928A
  [44.481] (1) RPM: 7405, PWR: 95, VOLTAGE: 10.929V, TEMPERATURE: 43.93C, CURRENT: 8.760A
  [44.481] (2) RPM: 99, PWR: 0, VOLTAGE: 10.917V, TEMPERATURE: 44.45C, CURRENT: -0.208A
  [44.481] (3) RPM: 7390, PWR: 95, VOLTAGE: 10.928V, TEMPERATURE: 42.72C, CURRENT: 8.632A
  [44.491] (0) RPM: 7404, PWR: 93, VOLTAGE: 10.927V, TEMPERATURE: 44.67C, CURRENT: 7.928A
  [44.491] (1) RPM: 7405, PWR: 95, VOLTAGE: 10.929V, TEMPERATURE: 43.93C, CURRENT: 8.760A
  [44.491] (2) RPM: 99, PWR: 0, VOLTAGE: 10.917V, TEMPERATURE: 44.45C, CURRENT: -0.208A
  [44.491] (3) RPM: 7390, PWR: 95, VOLTAGE: 10.928V, TEMPERATURE: 42.72C, CURRENT: 8.632A
  [44.501] (0) RPM: 7404, PWR: 93, VOLTAGE: 10.927V, TEMPERATURE: 44.67C, CURRENT: 7.928A
  [44.501] (1) RPM: 7412, PWR: 95, VOLTAGE: 10.926V, TEMPERATURE: 43.97C, CURRENT: 8.808A
  [44.501] (2) RPM: 139, PWR: 0, VOLTAGE: 10.924V, TEMPERATURE: 44.46C, CURRENT: -0.232A
  [44.501] (3) RPM: 7390, PWR: 95, VOLTAGE: 10.928V, TEMPERATURE: 42.72C, CURRENT: 8.632A
  [44.514] (0) RPM: 7404, PWR: 93, VOLTAGE: 10.927V, TEMPERATURE: 44.67C, CURRENT: 7.928A
  [44.514] (1) RPM: 7412, PWR: 95, VOLTAGE: 10.926V, TEMPERATURE: 43.97C, CURRENT: 8.808A
  [44.514] (2) RPM: 139, PWR: 0, VOLTAGE: 10.924V, TEMPERATURE: 44.46C, CURRENT: -0.232A
  [44.514] (3) RPM: 7390, PWR: 95, VOLTAGE: 10.928V, TEMPERATURE: 42.72C, CURRENT: 8.632A
  [44.522] (0) RPM: 7404, PWR: 93, VOLTAGE: 10.927V, TEMPERATURE: 44.67C, CURRENT: 7.928A
  [44.522] (1) RPM: 7412, PWR: 95, VOLTAGE: 10.926V, TEMPERATURE: 43.97C, CURRENT: 8.808A
  [44.522] (2) RPM: 139, PWR: 0, VOLTAGE: 10.924V, TEMPERATURE: 44.46C, CURRENT: -0.232A
  [44.522] (3) RPM: 7392, PWR: 95, VOLTAGE: 10.914V, TEMPERATURE: 42.74C, CURRENT: 8.856A
  [44.531] (0) RPM: 7404, PWR: 93, VOLTAGE: 10.927V, TEMPERATURE: 44.67C, CURRENT: 7.928A
  [44.531] (1) RPM: 7412, PWR: 95, VOLTAGE: 10.926V, TEMPERATURE: 43.97C, CURRENT: 8.808A
  [44.531] (2) RPM: 139, PWR: 0, VOLTAGE: 10.924V, TEMPERATURE: 44.46C, CURRENT: -0.232A
  [44.531] (3) RPM: 7392, PWR: 95, VOLTAGE: 10.914V, TEMPERATURE: 42.74C, CURRENT: 8.856A
  [44.541] (0) RPM: 7398, PWR: 93, VOLTAGE: 10.918V, TEMPERATURE: 44.64C, CURRENT: 7.952A
  [44.541] (1) RPM: 7410, PWR: 95, VOLTAGE: 10.917V, TEMPERATURE: 44.06C, CURRENT: 8.800A
  [44.541] (2) RPM: 139, PWR: 0, VOLTAGE: 10.924V, TEMPERATURE: 44.46C, CURRENT: -0.232A
  [44.541] (3) RPM: 7392, PWR: 95, VOLTAGE: 10.914V, TEMPERATURE: 42.74C, CURRENT: 8.856A
  [44.551] (0) RPM: 7398, PWR: 93, VOLTAGE: 10.918V, TEMPERATURE: 44.64C, CURRENT: 7.952A
  [44.551] (1) RPM: 7410, PWR: 95, VOLTAGE: 10.917V, TEMPERATURE: 44.06C, CURRENT: 8.800A
  [44.551] (2) RPM: 178, PWR: 0, VOLTAGE: 10.920V, TEMPERATURE: 44.49C, CURRENT: -0.208A
  [44.551] (3) RPM: 7392, PWR: 95, VOLTAGE: 10.914V, TEMPERATURE: 42.74C, CURRENT: 8.856A
  [44.561] (0) RPM: 7398, PWR: 93, VOLTAGE: 10.918V, TEMPERATURE: 44.64C, CURRENT: 7.952A
  [44.561] (1) RPM: 7410, PWR: 95, VOLTAGE: 10.917V, TEMPERATURE: 44.06C, CURRENT: 8.800A
  [44.561] (2) RPM: 178, PWR: 0, VOLTAGE: 10.920V, TEMPERATURE: 44.49C, CURRENT: -0.208A
  [44.561] (3) RPM: 7392, PWR: 95, VOLTAGE: 10.914V, TEMPERATURE: 42.74C, CURRENT: 8.856A
  [44.572] (0) RPM: 7399, PWR: 93, VOLTAGE: 10.920V, TEMPERATURE: 44.71C, CURRENT: 7.904A
  [44.572] (1) RPM: 7410, PWR: 95, VOLTAGE: 10.917V, TEMPERATURE: 44.06C, CURRENT: 8.800A
  [44.572] (2) RPM: 178, PWR: 0, VOLTAGE: 10.920V, TEMPERATURE: 44.49C, CURRENT: -0.208A
  [44.572] (3) RPM: 7385, PWR: 95, VOLTAGE: 10.910V, TEMPERATURE: 42.74C, CURRENT: 8.784A
  [44.581] (0) RPM: 7399, PWR: 93, VOLTAGE: 10.920V, TEMPERATURE: 44.71C, CURRENT: 7.904A
  [44.581] (1) RPM: 7413, PWR: 95, VOLTAGE: 10.931V, TEMPERATURE: 43.93C, CURRENT: 8.760A
  [44.581] (2) RPM: 218, PWR: 0, VOLTAGE: 10.923V, TEMPERATURE: 44.46C, CURRENT: -0.152A
  [44.581] (3) RPM: 7385, PWR: 95, VOLTAGE: 10.910V, TEMPERATURE: 42.74C, CURRENT: 8.784A
  [44.591] (0) RPM: 7399, PWR: 93, VOLTAGE: 10.920V, TEMPERATURE: 44.71C, CURRENT: 7.904A
  [44.591] (1) RPM: 7413, PWR: 95, VOLTAGE: 10.931V, TEMPERATURE: 43.93C, CURRENT: 8.760A
  [44.591] (2) RPM: 218, PWR: 0, VOLTAGE: 10.923V, TEMPERATURE: 44.46C, CURRENT: -0.152A
  [44.591] (3) RPM: 7385, PWR: 95, VOLTAGE: 10.910V, TEMPERATURE: 42.74C, CURRENT: 8.784A
  [44.601] (0) RPM: 7399, PWR: 93, VOLTAGE: 10.920V, TEMPERATURE: 44.71C, CURRENT: 7.904A
  [44.601] (1) RPM: 7413, PWR: 95, VOLTAGE: 10.931V, TEMPERATURE: 43.93C, CURRENT: 8.760A
  [44.601] (2) RPM: 218, PWR: 0, VOLTAGE: 10.923V, TEMPERATURE: 44.46C, CURRENT: -0.152A
  [44.601] (3) RPM: 7380, PWR: 95, VOLTAGE: 10.913V, TEMPERATURE: 42.77C, CURRENT: 8.696A
  [44.611] (0) RPM: 7403, PWR: 93, VOLTAGE: 10.924V, TEMPERATURE: 44.74C, CURRENT: 7.936A
  [44.611] (1) RPM: 7411, PWR: 95, VOLTAGE: 10.937V, TEMPERATURE: 43.87C, CURRENT: 8.744A
  [44.611] (2) RPM: 218, PWR: 0, VOLTAGE: 10.923V, TEMPERATURE: 44.46C, CURRENT: -0.152A
  [44.611] (3) RPM: 7380, PWR: 95, VOLTAGE: 10.913V, TEMPERATURE: 42.77C, CURRENT: 8.696A
  [44.621] (0) RPM: 7403, PWR: 93, VOLTAGE: 10.924V, TEMPERATURE: 44.74C, CURRENT: 7.936A
  [44.621] (1) RPM: 7411, PWR: 95, VOLTAGE: 10.937V, TEMPERATURE: 43.87C, CURRENT: 8.744A
  [44.621] (2) RPM: 218, PWR: 0, VOLTAGE: 10.923V, TEMPERATURE: 44.46C, CURRENT: -0.152A
  [44.621] (3) RPM: 7380, PWR: 95, VOLTAGE: 10.913V, TEMPERATURE: 42.77C, CURRENT: 8.696A
  [44.631] (0) RPM: 7403, PWR: 93, VOLTAGE: 10.924V, TEMPERATURE: 44.74C, CURRENT: 7.936A
  [44.631] (1) RPM: 7411, PWR: 95, VOLTAGE: 10.937V, TEMPERATURE: 43.87C, CURRENT: 8.744A
  [44.631] (2) RPM: 258, PWR: 0, VOLTAGE: 10.920V, TEMPERATURE: 44.53C, CURRENT: -0.144A
  [44.631] (3) RPM: 7380, PWR: 95, VOLTAGE: 10.913V, TEMPERATURE: 42.77C, CURRENT: 8.696A
  [44.641] (0) RPM: 7402, PWR: 93, VOLTAGE: 10.919V, TEMPERATURE: 44.81C, CURRENT: 7.888A
  [44.641] (1) RPM: 7411, PWR: 95, VOLTAGE: 10.937V, TEMPERATURE: 43.87C, CURRENT: 8.744A
  [44.641] (2) RPM: 258, PWR: 0, VOLTAGE: 10.920V, TEMPERATURE: 44.53C, CURRENT: -0.144A
  [44.641] (3) RPM: 7390, PWR: 95, VOLTAGE: 10.914V, TEMPERATURE: 42.82C, CURRENT: 8.680A
  [44.651] (0) RPM: 7402, PWR: 93, VOLTAGE: 10.919V, TEMPERATURE: 44.81C, CURRENT: 7.888A
  [44.651] (1) RPM: 7411, PWR: 95, VOLTAGE: 10.937V, TEMPERATURE: 43.87C, CURRENT: 8.744A
  [44.651] (2) RPM: 258, PWR: 0, VOLTAGE: 10.920V, TEMPERATURE: 44.53C, CURRENT: -0.144A
  [44.651] (3) RPM: 7390, PWR: 95, VOLTAGE: 10.914V, TEMPERATURE: 42.82C, CURRENT: 8.680A
  [44.661] (0) RPM: 7402, PWR: 93, VOLTAGE: 10.919V, TEMPERATURE: 44.81C, CURRENT: 7.888A
  [44.661] (1) RPM: 7411, PWR: 95, VOLTAGE: 10.937V, TEMPERATURE: 43.87C, CURRENT: 8.744A
  [44.661] (2) RPM: 258, PWR: 0, VOLTAGE: 10.920V, TEMPERATURE: 44.53C, CURRENT: -0.144A
  [44.661] (3) RPM: 7390, PWR: 95, VOLTAGE: 10.914V, TEMPERATURE: 42.82C, CURRENT: 8.680A
  [44.671] (0) RPM: 7402, PWR: 93, VOLTAGE: 10.919V, TEMPERATURE: 44.81C, CURRENT: 7.888A
  [44.671] (1) RPM: 7406, PWR: 95, VOLTAGE: 10.926V, TEMPERATURE: 43.96C, CURRENT: 8.688A
  [44.671] (2) RPM: 298, PWR: 0, VOLTAGE: 10.921V, TEMPERATURE: 44.51C, CURRENT: -0.152A
  [44.671] (3) RPM: 7390, PWR: 95, VOLTAGE: 10.914V, TEMPERATURE: 42.82C, CURRENT: 8.680A
  [44.680] (0) RPM: 7402, PWR: 93, VOLTAGE: 10.919V, TEMPERATURE: 44.81C, CURRENT: 7.888A
  [44.680] (1) RPM: 7406, PWR: 95, VOLTAGE: 10.926V, TEMPERATURE: 43.96C, CURRENT: 8.688A
  [44.680] (2) RPM: 298, PWR: 0, VOLTAGE: 10.921V, TEMPERATURE: 44.51C, CURRENT: -0.152A

• Case-2 ./voxl-esc-spin.py --id 255 --rpm 6000 --timeout 180
  [53.921] (3) RPM: 5986, PWR: 81, VOLTAGE: 10.599V, TEMPERATURE: 41.14C, CURRENT: 7.016A
  [53.930] (0) RPM: 5983, PWR: 85, VOLTAGE: 10.588V, TEMPERATURE: 46.06C, CURRENT: 8.576A
  [53.930] (1) RPM: 5987, PWR: 82, VOLTAGE: 10.590V, TEMPERATURE: 47.33C, CURRENT: 7.384A
  [53.930] (2) RPM: 6000, PWR: 80, VOLTAGE: 10.583V, TEMPERATURE: 46.07C, CURRENT: 6.608A
  [53.930] (3) RPM: 5986, PWR: 81, VOLTAGE: 10.599V, TEMPERATURE: 41.14C, CURRENT: 7.016A
  [53.941] (0) RPM: 5983, PWR: 85, VOLTAGE: 10.588V, TEMPERATURE: 46.06C, CURRENT: 8.576A
  [53.941] (1) RPM: 5987, PWR: 82, VOLTAGE: 10.590V, TEMPERATURE: 47.33C, CURRENT: 7.384A
  [53.941] (2) RPM: 6000, PWR: 80, VOLTAGE: 10.583V, TEMPERATURE: 46.07C, CURRENT: 6.608A
  [53.941] (3) RPM: 5986, PWR: 81, VOLTAGE: 10.599V, TEMPERATURE: 41.14C, CURRENT: 7.016A
  [53.951] (0) RPM: 5983, PWR: 85, VOLTAGE: 10.588V, TEMPERATURE: 46.06C, CURRENT: 8.576A
  [53.951] (1) RPM: 5987, PWR: 82, VOLTAGE: 10.590V, TEMPERATURE: 47.33C, CURRENT: 7.384A
  [53.951] (2) RPM: 6022, PWR: 80, VOLTAGE: 10.586V, TEMPERATURE: 46.10C, CURRENT: 6.736A
  [53.951] (3) RPM: 5986, PWR: 81, VOLTAGE: 10.599V, TEMPERATURE: 41.14C, CURRENT: 7.016A
  [53.960] (0) RPM: 5987, PWR: 85, VOLTAGE: 10.590V, TEMPERATURE: 45.99C, CURRENT: 8.600A
  [53.960] (1) RPM: 5987, PWR: 82, VOLTAGE: 10.590V, TEMPERATURE: 47.33C, CURRENT: 7.384A
  [53.960] (2) RPM: 6022, PWR: 80, VOLTAGE: 10.586V, TEMPERATURE: 46.10C, CURRENT: 6.736A
  [53.960] (3) RPM: 5980, PWR: 81, VOLTAGE: 10.580V, TEMPERATURE: 41.28C, CURRENT: 7.096A
  [53.971] (0) RPM: 5987, PWR: 85, VOLTAGE: 10.590V, TEMPERATURE: 45.99C, CURRENT: 8.600A
  [53.971] (1) RPM: 5987, PWR: 82, VOLTAGE: 10.590V, TEMPERATURE: 47.33C, CURRENT: 7.384A
  [53.971] (2) RPM: 6022, PWR: 80, VOLTAGE: 10.586V, TEMPERATURE: 46.10C, CURRENT: 6.736A
  [53.971] (3) RPM: 5980, PWR: 81, VOLTAGE: 10.580V, TEMPERATURE: 41.28C, CURRENT: 7.096A
  [53.981] (0) RPM: 5987, PWR: 85, VOLTAGE: 10.590V, TEMPERATURE: 45.99C, CURRENT: 8.600A
  [53.981] (1) RPM: 5980, PWR: 82, VOLTAGE: 10.594V, TEMPERATURE: 47.33C, CURRENT: 7.464A
  [53.981] (2) RPM: 5981, PWR: 81, VOLTAGE: 10.589V, TEMPERATURE: 46.02C, CURRENT: 6.768A
  [53.981] (3) RPM: 5980, PWR: 81, VOLTAGE: 10.580V, TEMPERATURE: 41.28C, CURRENT: 7.096A
  [53.991] (0) RPM: 5987, PWR: 85, VOLTAGE: 10.590V, TEMPERATURE: 45.99C, CURRENT: 8.600A
  [53.991] (1) RPM: 5980, PWR: 82, VOLTAGE: 10.594V, TEMPERATURE: 47.33C, CURRENT: 7.464A
  [53.991] (2) RPM: 5981, PWR: 81, VOLTAGE: 10.589V, TEMPERATURE: 46.02C, CURRENT: 6.768A
  [53.991] (3) RPM: 5980, PWR: 81, VOLTAGE: 10.580V, TEMPERATURE: 41.28C, CURRENT: 7.096A
  [54.000] (0) RPM: 5987, PWR: 85, VOLTAGE: 10.590V, TEMPERATURE: 45.99C, CURRENT: 8.600A
  [54.000] (1) RPM: 5980, PWR: 82, VOLTAGE: 10.594V, TEMPERATURE: 47.33C, CURRENT: 7.464A
  [54.000] (2) RPM: 5981, PWR: 81, VOLTAGE: 10.589V, TEMPERATURE: 46.02C, CURRENT: 6.768A
  [54.000] (3) RPM: 5989, PWR: 81, VOLTAGE: 10.586V, TEMPERATURE: 41.17C, CURRENT: 6.968A
  [54.011] (0) RPM: 4353, PWR: 89, VOLTAGE: 10.466V, TEMPERATURE: 46.01C, CURRENT: 7.488A
  [54.011] (1) RPM: 827, PWR: 46, VOLTAGE: 10.301V, TEMPERATURE: 47.05C, CURRENT: 15.744A
  [54.011] (2) RPM: 5981, PWR: 81, VOLTAGE: 10.589V, TEMPERATURE: 46.02C, CURRENT: 6.768A
  [54.011] (3) RPM: 5989, PWR: 81, VOLTAGE: 10.586V, TEMPERATURE: 41.17C, CURRENT: 6.968A
  [54.021] (0) RPM: 4353, PWR: 89, VOLTAGE: 10.466V, TEMPERATURE: 46.01C, CURRENT: 7.488A
  [54.021] (1) RPM: 827, PWR: 46, VOLTAGE: 10.301V, TEMPERATURE: 47.05C, CURRENT: 15.744A
  [54.021] (2) RPM: 5981, PWR: 81, VOLTAGE: 10.589V, TEMPERATURE: 46.02C, CURRENT: 6.768A
  [54.021] (3) RPM: 5989, PWR: 81, VOLTAGE: 10.586V, TEMPERATURE: 41.17C, CURRENT: 6.968A
  [54.031] (0) RPM: 4353, PWR: 89, VOLTAGE: 10.466V, TEMPERATURE: 46.01C, CURRENT: 7.488A
  [54.031] (1) RPM: 827, PWR: 46, VOLTAGE: 10.301V, TEMPERATURE: 47.05C, CURRENT: 15.744A
  [54.031] (2) RPM: 5985, PWR: 82, VOLTAGE: 10.376V, TEMPERATURE: 46.08C, CURRENT: 6.968A
  [54.031] (3) RPM: 5989, PWR: 81, VOLTAGE: 10.586V, TEMPERATURE: 41.17C, CURRENT: 6.968A
  [54.041] (0) RPM: 4353, PWR: 89, VOLTAGE: 10.466V, TEMPERATURE: 46.01C, CURRENT: 7.488A
  [54.041] (1) RPM: 827, PWR: 46, VOLTAGE: 10.301V, TEMPERATURE: 47.05C, CURRENT: 15.744A
  [54.041] (2) RPM: 5985, PWR: 82, VOLTAGE: 10.376V, TEMPERATURE: 46.08C, CURRENT: 6.968A
  [54.041] (3) RPM: 5983, PWR: 82, VOLTAGE: 10.414V, TEMPERATURE: 41.18C, CURRENT: 7.376A
  [54.051] (0) RPM: 660, PWR: 48, VOLTAGE: 10.444V, TEMPERATURE: 45.95C, CURRENT: 13.728A
  [54.051] (1) RPM: 827, PWR: 46, VOLTAGE: 10.301V, TEMPERATURE: 47.05C, CURRENT: 15.744A
  [54.051] (2) RPM: 5985, PWR: 82, VOLTAGE: 10.376V, TEMPERATURE: 46.08C, CURRENT: 6.968A
  [54.051] (3) RPM: 5983, PWR: 82, VOLTAGE: 10.414V, TEMPERATURE: 41.18C, CURRENT: 7.376A
  [54.060] (0) RPM: 660, PWR: 48, VOLTAGE: 10.444V, TEMPERATURE: 45.95C, CURRENT: 13.728A
  [54.060] (1) RPM: 827, PWR: 46, VOLTAGE: 10.301V, TEMPERATURE: 47.05C, CURRENT: 15.744A
  [54.060] (2) RPM: 5985, PWR: 82, VOLTAGE: 10.376V, TEMPERATURE: 46.08C, CURRENT: 6.968A
  [54.060] (3) RPM: 5983, PWR: 82, VOLTAGE: 10.414V, TEMPERATURE: 41.18C, CURRENT: 7.376A
  [54.070] (0) RPM: 660, PWR: 48, VOLTAGE: 10.444V, TEMPERATURE: 45.95C, CURRENT: 13.728A
  [54.070] (1) RPM: 628, PWR: 44, VOLTAGE: 10.452V, TEMPERATURE: 47.25C, CURRENT: 12.168A
  [54.070] (2) RPM: 5990, PWR: 82, VOLTAGE: 10.445V, TEMPERATURE: 45.99C, CURRENT: 6.776A
  [54.070] (3) RPM: 5983, PWR: 82, VOLTAGE: 10.414V, TEMPERATURE: 41.18C, CURRENT: 7.376A
  [54.081] (0) RPM: 660, PWR: 48, VOLTAGE: 10.444V, TEMPERATURE: 45.95C, CURRENT: 13.728A
  [54.081] (1) RPM: 628, PWR: 44, VOLTAGE: 10.452V, TEMPERATURE: 47.25C, CURRENT: 12.168A
  [54.081] (2) RPM: 5990, PWR: 82, VOLTAGE: 10.445V, TEMPERATURE: 45.99C, CURRENT: 6.776A
  [54.081] (3) RPM: 5986, PWR: 82, VOLTAGE: 10.442V, TEMPERATURE: 41.23C, CURRENT: 7.176A
  [54.091] (0) RPM: 660, PWR: 48, VOLTAGE: 10.444V, TEMPERATURE: 45.95C, CURRENT: 13.728A
  [54.091] (1) RPM: 628, PWR: 44, VOLTAGE: 10.452V, TEMPERATURE: 47.25C, CURRENT: 12.168A
  [54.091] (2) RPM: 5990, PWR: 82, VOLTAGE: 10.445V, TEMPERATURE: 45.99C, CURRENT: 6.776A
  [54.091] (3) RPM: 5986, PWR: 82, VOLTAGE: 10.442V, TEMPERATURE: 41.23C, CURRENT: 7.176A
  [54.100] (0) RPM: 0, PWR: 0, VOLTAGE: 10.542V, TEMPERATURE: 46.08C, CURRENT: 2.504A
  [54.100] (1) RPM: 0, PWR: 0, VOLTAGE: 10.619V, TEMPERATURE: 47.60C, CURRENT: 12.488A
  [54.100] (2) RPM: 5990, PWR: 82, VOLTAGE: 10.445V, TEMPERATURE: 45.99C, CURRENT: 6.776A
  [54.100] (3) RPM: 5986, PWR: 82, VOLTAGE: 10.442V, TEMPERATURE: 41.23C, CURRENT: 7.176A
  [54.111] (0) RPM: 0, PWR: 0, VOLTAGE: 10.542V, TEMPERATURE: 46.08C, CURRENT: 2.504A
  [54.111] (1) RPM: 0, PWR: 0, VOLTAGE: 10.619V, TEMPERATURE: 47.60C, CURRENT: 12.488A
  [54.111] (2) RPM: 5982, PWR: 80, VOLTAGE: 10.755V, TEMPERATURE: 46.11C, CURRENT: 7.160A
  [54.111] (3) RPM: 5986, PWR: 82, VOLTAGE: 10.442V, TEMPERATURE: 41.23C, CURRENT: 7.176A