No reaction from ESCs on Power On

Archive
1

Today I assembled my first Quadrocopter (so the following may well be some dumb newbie mistake). The components:

  • Pixhawk + 3DR-GPS module + 3DR power module
  • EMAX Simon Series 20A ESCs (they come with SimonK firmware)
  • EMAX 2213 935KV brushless
  • 3S 4000 mAh LiPo
  • FrySky D8R Receiver + PWM to PPM encoder board

I connected everything according to the wiki pages. I was able to connect to the Pixhawk via USB and downloaded a firmware, calibrated accels, gyros and radio.

The problem is, on connecting the battery, the ESCs do not make any beep, the motors do not spin. The Pixhawk passes prearm check and I even can arm it. But still no reaction at all from the ESCs. I tried ESC calibration with no success.

When I connect the ESCs directly to the receiver, everything works fine, the motors spin. I also calibrated the ESCs this way, which did not change anything.

The only reaction when the ESCs are connected to the Pixhawk is with the following procedure: connect the Pixhawk via USB and sometimes later connect the battery. Then the ESCs sometimes go to calibration mode.

I already tried experimenting with RC_SPEED (set to 50). I even cut the + cable between Pixhawk and an ESC. Oh yeah, and I use the safety button :wink:.

Does anybody have an idea what I am doing wrong?

2

A few things to check:

The Safety Button is solid Red (after you pushed it)?
Your GCS shows that Pixhawk is armed after you go through the arming process?
You’ve double checked that the ESCs are not plugged in upside down into Pixhawk?

3

Safety button is solid red, multi color led blinks blue (due to no gps reception in my flat). GCS shows copter is armed. I verified wiring of ESCs (put them directly on receiver module and they work).

I made some more tests:
I attached a servo on one of the Pixhawk’s main out ports. I can arm the copter and when I move the throttle stick, the servo moves, but only a bit. When I check the status screen in mission planner, I can see ch1out to ch4out being 988 in disarmed mode. After arming with no throttle, they are at 1078. When I move the throttle stick up minimally, the values jump to around 1100-1200 and stay there regardless, which throttle value I choose. Also ch3percent is 13 all the time, but ch3in moves from 990 to 2013 on throttle stick movements. I try this in stabilize mode.

Here is my parameter set, perhaps this will help:

#NOTE: 02.05.2014 13:56:01 Frame : ACRO_BAL_PITCH,1 ACRO_BAL_ROLL,1 ACRO_RP_P,4.5 ACRO_TRAINER,2 ACRO_YAW_P,4.5 AHRS_COMP_BETA,0.1 AHRS_GPS_DELAY,1 AHRS_GPS_GAIN,1 AHRS_GPS_MINSATS,6 AHRS_GPS_USE,1 AHRS_ORIENTATION,0 AHRS_RP_P,0.1 AHRS_TRIM_X,0.01870215 AHRS_TRIM_Y,0.003029707 AHRS_TRIM_Z,0 AHRS_WIND_MAX,0 AHRS_YAW_P,0.1 ANGLE_MAX,4500 ANGLE_RATE_MAX,18000 ARMING_CHECK,-9 BATT_AMP_OFFSET,0 BATT_AMP_PERVOLT,18.0018 BATT_CAPACITY,4000 BATT_CURR_PIN,3 BATT_MONITOR,4 BATT_VOLT_MULT,10.1 BATT_VOLT_PIN,2 BRD_PWM_COUNT,4 CAM_DURATION,1 CAM_SERVO_OFF,1100 CAM_SERVO_ON,1300 CAM_TRIGG_DIST,0 CAM_TRIGG_TYPE,0 CH7_OPT,0 CH8_OPT,0 CIRCLE_RADIUS,10 CIRCLE_RATE,20 COMPASS_AUTODEC,1 COMPASS_DEC,0 COMPASS_EXTERNAL,1 COMPASS_LEARN,0 COMPASS_MOT_X,0 COMPASS_MOT_Y,0 COMPASS_MOT_Z,0 COMPASS_MOT2_X,0 COMPASS_MOT2_Y,0 COMPASS_MOT2_Z,0 COMPASS_MOTCT,0 COMPASS_OFS_X,-61.32848 COMPASS_OFS_Y,82.54328 COMPASS_OFS_Z,90.05787 COMPASS_OFS2_X,0 COMPASS_OFS2_Y,0 COMPASS_OFS2_Z,0 COMPASS_ORIENT,0 COMPASS_USE,1 ESC,0 FENCE_ACTION,1 FENCE_ALT_MAX,100 FENCE_ENABLE,1 FENCE_MARGIN,2 FENCE_RADIUS,150 FENCE_TYPE,1 FLOW_ENABLE,0 FLTMODE1,0 FLTMODE2,5 FLTMODE3,3 FLTMODE4,0 FLTMODE5,2 FLTMODE6,6 FRAME,1 FS_BATT_ENABLE,1 FS_BATT_MAH,0 FS_BATT_VOLTAGE,14 FS_GCS_ENABLE,0 FS_GPS_ENABLE,1 FS_THR_ENABLE,1 FS_THR_VALUE,975 GND_ABS_PRESS,101369.5 GND_ALT_OFFSET,0 GND_TEMP,43.09134 GPS_HDOP_GOOD,200 GPSGLITCH_ACCEL,1000 GPSGLITCH_ENABLE,1 GPSGLITCH_RADIUS,200 HLD_LAT_I,0 HLD_LAT_IMAX,0 HLD_LAT_P,1 HLD_LON_I,0 HLD_LON_IMAX,0 HLD_LON_P,1 INAV_TC_XY,2.5 INAV_TC_Z,5 INS_ACC2OFFS_X,0.9559228 INS_ACC2OFFS_Y,0.9395384 INS_ACC2OFFS_Z,1.028423 INS_ACC2SCAL_X,1.021257 INS_ACC2SCAL_Y,0.9795281 INS_ACC2SCAL_Z,0.993031 INS_ACCOFFS_X,-0.05416595 INS_ACCOFFS_Y,-0.1869841 INS_ACCOFFS_Z,-0.2269406 INS_ACCSCAL_X,0.9929308 INS_ACCSCAL_Y,0.9971057 INS_ACCSCAL_Z,0.9886435 INS_GYR2OFFS_X,0.07338392 INS_GYR2OFFS_Y,-0.04784813 INS_GYR2OFFS_Z,-0.01215908 INS_GYROFFS_X,-0.05187701 INS_GYROFFS_Y,0.02652629 INS_GYROFFS_Z,-0.0004091613 INS_MPU6K_FILTER,0 INS_PRODUCT_ID,5 LAND_SPEED,50 LOG_BITMASK,26622 LOITER_LAT_D,0 LOITER_LAT_I,0.5 LOITER_LAT_IMAX,400 LOITER_LAT_P,1 LOITER_LON_D,0 LOITER_LON_I,0.5 LOITER_LON_IMAX,400 LOITER_LON_P,1 MAG_ENABLE,1 MNT_ANGMAX_PAN,4500 MNT_ANGMAX_ROL,4500 MNT_ANGMAX_TIL,0 MNT_ANGMIN_PAN,-4500 MNT_ANGMIN_ROL,-4500 MNT_ANGMIN_TIL,-9000 MNT_CONTROL_X,0 MNT_CONTROL_Y,0 MNT_CONTROL_Z,0 MNT_JSTICK_SPD,0 MNT_MODE,3 MNT_NEUTRAL_X,0 MNT_NEUTRAL_Y,0 MNT_NEUTRAL_Z,0 MNT_RC_IN_PAN,0 MNT_RC_IN_ROLL,0 MNT_RC_IN_TILT,6 MNT_RETRACT_X,0 MNT_RETRACT_Y,0 MNT_RETRACT_Z,0 MNT_STAB_PAN,0 MNT_STAB_ROLL,0 MNT_STAB_TILT,0 MOT_SPIN_ARMED,90 MOT_TCRV_ENABLE,1 MOT_TCRV_MAXPCT,93 MOT_TCRV_MIDPCT,52 OF_PIT_D,0.12 OF_PIT_I,0.5 OF_PIT_IMAX,100 OF_PIT_P,2.5 OF_RLL_D,0.12 OF_RLL_I,0.5 OF_RLL_IMAX,100 OF_RLL_P,2.5 PILOT_VELZ_MAX,250 RATE_PIT_D,0.0055 RATE_PIT_I,0.07999999 RATE_PIT_IMAX,500 RATE_PIT_P,0.07999999 RATE_RLL_D,0.003 RATE_RLL_I,0.08499999 RATE_RLL_IMAX,500 RATE_RLL_P,0.08499999 RATE_YAW_D,0.003 RATE_YAW_I,0.02 RATE_YAW_IMAX,800 RATE_YAW_P,0.17 RC_FEEL_RP,100 RC_SPEED,100 RC1_DZ,30 RC1_MAX,2013 RC1_MIN,987 RC1_REV,1 RC1_TRIM,1511 RC10_DZ,0 RC10_FUNCTION,0 RC10_MAX,1900 RC10_MIN,1100 RC10_REV,1 RC10_TRIM,1500 RC11_DZ,0 RC11_FUNCTION,0 RC11_MAX,1900 RC11_MIN,1100 RC11_REV,1 RC11_TRIM,1500 RC12_DZ,0 RC12_FUNCTION,0 RC12_MAX,1900 RC12_MIN,1100 RC12_REV,1 RC12_TRIM,1500 RC2_DZ,30 RC2_MAX,2012 RC2_MIN,1001 RC2_REV,1 RC2_TRIM,1499 RC3_DZ,30 RC3_MAX,2014 RC3_MIN,988 RC3_REV,1 RC3_TRIM,989 RC4_DZ,40 RC4_MAX,2014 RC4_MIN,989 RC4_REV,1 RC4_TRIM,1502 RC5_DZ,0 RC5_FUNCTION,0 RC5_MAX,2014 RC5_MIN,988 RC5_REV,1 RC5_TRIM,990 RC6_DZ,0 RC6_FUNCTION,0 RC6_MAX,2014 RC6_MIN,988 RC6_REV,1 RC6_TRIM,989 RC7_DZ,0 RC7_FUNCTION,0 RC7_MAX,1502 RC7_MIN,1499 RC7_REV,1 RC7_TRIM,1501 RC8_DZ,0 RC8_FUNCTION,0 RC8_MAX,1503 RC8_MIN,1500 RC8_REV,1 RC8_TRIM,1501 RC9_DZ,0 RC9_FUNCTION,7 RC9_MAX,1900 RC9_MIN,1100 RC9_REV,1 RC9_TRIM,1500 RCMAP_PITCH,2 RCMAP_ROLL,1 RCMAP_THROTTLE,3 RCMAP_YAW,4 RELAY_PIN,55 RELAY_PIN2,-1 RELAY_PIN3,-1 RELAY_PIN4,-1 RSSI_PIN,-1 RSSI_RANGE,5 RTL_ALT,1500 RTL_ALT_FINAL,0 RTL_LOIT_TIME,5000 SCHED_DEBUG,0 SERIAL1_BAUD,57 SERIAL2_BAUD,57 SIMPLE,0 SONAR_ENABLE,0 SONAR_GAIN,0.8 SONAR_TYPE,0 SR0_EXT_STAT,2 SR0_EXTRA1,2 SR0_EXTRA2,2 SR0_EXTRA3,2 SR0_PARAMS,10 SR0_POSITION,2 SR0_RAW_CTRL,2 SR0_RAW_SENS,2 SR0_RC_CHAN,2 SR1_EXT_STAT,2 SR1_EXTRA1,2 SR1_EXTRA2,2 SR1_EXTRA3,2 SR1_PARAMS,0 SR1_POSITION,2 SR1_RAW_CTRL,2 SR1_RAW_SENS,2 SR1_RC_CHAN,2 SR2_EXT_STAT,0 SR2_EXTRA1,0 SR2_EXTRA2,0 SR2_EXTRA3,0 SR2_PARAMS,0 SR2_POSITION,0 SR2_RAW_CTRL,0 SR2_RAW_SENS,0 SR2_RC_CHAN,0 STB_PIT_I,0 STB_PIT_IMAX,0 STB_PIT_P,4.875 STB_RLL_I,0 STB_RLL_IMAX,0 STB_RLL_P,4.875 STB_YAW_I,0 STB_YAW_IMAX,0 STB_YAW_P,4 SUPER_SIMPLE,0 SYSID_MYGCS,255 SYSID_SW_MREV,120 SYSID_SW_TYPE,10 SYSID_THISMAV,1 TELEM_DELAY,0 THR_ACCEL_D,0 THR_ACCEL_I,1.5 THR_ACCEL_IMAX,500 THR_ACCEL_P,0.75 THR_ALT_I,0 THR_ALT_IMAX,300 THR_ALT_P,1 THR_MAX,80 THR_MID,510 THR_MIN,130 THR_RATE_D,0 THR_RATE_I,0 THR_RATE_IMAX,300 THR_RATE_P,6 TRIM_THROTTLE,60 TUNE,0 TUNE_HIGH,1000 TUNE_LOW,0 WP_INDEX,0 WP_TOTAL,0 WP_YAW_BEHAVIOR,2 WPNAV_ACCEL,100 WPNAV_LOIT_SPEED,1000 WPNAV_RADIUS,200 WPNAV_SPEED,500 WPNAV_SPEED_DN,150 WPNAV_SPEED_UP,250

4

@McNumber,
Next time please post your parameters as a parameter file for members to view.
Regards,
TCIII GM

5

Ah, sorry, my fault. Here it is.

6

RC3_TRIM,989?
Same for a few other channels. You might want to try repeating your radio-calibration :slight_smile:.

7

Hm, rc channel 3 is throttle. So when rc calibration ends, I put throttle down to bottom. Isn’t that correct? Or do I have to center throttle as well? Channel 5 and 6 are my 3 way switch, the others are not used.

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I haven’t calibrated my R/C in a while but if I remember right, the instructions said “center all sticks”. I might be wrong but I think, it might be worth a try :slight_smile:. Besides, the Pixhawk kinda needs to know where the throttle stick’s center is - for althold and loiter .
Mis-calibration would explain the small servo movement on throttle channel in stabilize mode…

9

Thanks for the hint. I recalibrated the R/C and left throttle centered (btw. the message states “…all sticks centered and throttle down…”, which is a bit confusing). This did not change anything. Still no beep from the ESCs, still stranges value on chXout.
I attached two screenshots of the status window. Both show the copter armed. The throttle up picture was shot at throttle around 70%. The thing is, as soon as I move the throttle stick away from down position, ch3percent jumps to 13 and stays there all the way up. The chXout values also jump to 1200-1300 and stay there. The chXin values seem reasonable to me.

Just to remove possible error sources, I disconnected the GPS+Compass board, as well as three of the ESCs. The sensors on the Power Module are disabled (I thought, perhaps some sort of failsafe is activated…). After R/C calibration, I tried again to recalibrate the ESCs, also no beeps there.

After three armings and disarmings my messages window shows:

ArduCopter V3.1.3 (92cdd2a3)
PX4: 0a59f216 NuttX: a6686464
PX4v2 2F003400 0C473233 35393334
GROUND START
Initialising APM…
Calibrating barometer
barometer calibration complete
Calibrating barometer
barometer calibration complete
Calibrating barometer
barometer calibration complete

Oh, yes and I use Mission Planner 1.3.1 for configuration.

Oh dear. I am a software developer and to me, this looks either like a hardware failure, a compatibility problem or some stupid mistake I did…

10

Ok, one problem down, one remains. I just reset the firmware by flashing arduplane and then arducopter. After r/c, compass and gyro calibration, the chXout values now make sense. Also ch3percent moves all the way from 0 to 100. So that is settled.

The main problem - no beeps from the ESCs - remains. I can arm, move the throttle up, but absolutely no reaction. Again I connected a servo to one of the main outs. On pressing the safety button, the servo starts to hum. After arming with throttle down its silent. When I move the throttle up, the servo moves from one side to the other.

To summarize:

  • connecting an ESC to the R/C receiver -> working
  • connecting a servo to Pixhawk -> working
  • connecting ESC to Pixhawk -> NOT working

I found this thread: http://ardupilot.com/forum/viewtopic.php?f=21&t=6217
Maybe its a timing issue, like this one? To check this, I removed the power module and connectors between ESCs and Pixhawk. Then I connected the battery and after that, the ESC to Pixhawk. The pixhawk is then powered by the servo rail. Believe it or not, I got beeps from the ESC! Unfortunately after arming, again no motor movements. Also the other ESCs, which where connected after that, also do not work.

So in my opinion, this leaves only one option: the ESCs are somehow not compatible with the Pixhawk. Am I correct here? Is there any way to check this? What options do I have for experimenting?

11

How did you get on with this, any luck?

I was looking to by some of these esc’s as they seem like great value but looking here:
banggood.com/Emax-Simonk-Ser … 18126.html
Someone has said they don’t work with a pixhawk which seems strange.

12

To be honest, I did never find a solution. Instead I just bought 25A Turnigy Plush ESCs, which work like a charm and are easier to set up (with a programmer card). The only downside is their baby pink color :wink:.

My suspicion is, that the delay between power up and getting a signal is too long for the EMAX ESCs. The Turnigy Plush ESCs emit a “no signal”-beep after power on until the arm button is pressed. So the Pixhawk does not emit a signal on the ESC outputs until the arm button is pressed. I do not know why one should set a timeout in the ESC firmware while waiting for a signal, but obviously this is the case.

Another point: I saw a video somewhere explaining who to handle sync issues with the simonk firmware, which also runs on the Emax ESCs. Perhaps the firmware has some issues and should not be used in a multicopter environment…

My advice for you: do not buy the ESCs until someone proves they are working. The Turnigy ESCs work very well and are available everywhere.

13

I just happened to get some EMAX Simon 40A ESC, and was very surprised that they don’t work with Pixhawk. Wish I see McNumber’s post earlier.

Here is a 30 seconds youtube movie, that shows:

  • Pixhawk works perfect cheap brand 30A ESC
  • Openpilot Revo works with EMAX Simon 40A ESC
  • Then, Pixhawk does absolutely nothing with EMAX ESC.

Guess the EMAX got confused with no PWM output?

[youtube] Ap8qlmRjzYc[/youtube]

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[youtube]http://www.youtube.com/watch?v=Ap8qlmRjzYc[/youtube]

(Movie unable to embedded properly on my previous post. Sorry.)

15

I’m having this exact same problem with Emax 12A SimonK escs.
In their description is written that these escs’ have SimonK firmware with “optimizations”.
Have you considered reflashing the original firmware?
This could propably put these escs on the same line with all the other cheap escs.