OXS with ESC

[Klippeneck]

Hello Mstrens, Firstly, many thanks for your great work. I have already set up 3 sensors with Vario and GPS, they all work perfectly. Now I am trying to integrate a Hobbywing Fly Fun V5 ESC into a vario. Unfortunately I can't get any telemetry data from the ESC on the transmitter. The sensor only registers with vario and altitude. Is the attached configuration correct? I use Jeti. Version = 2.9.18 Function GPIO Change entering XXX=yyy (yyy=255 to disable) Primary channels input = 5 (PRI = 5, 9, 21, 25) Secondary channels input = 255 (SEC = 1, 13, 17, 29) Telemetry . . . . . . . . = 255 (TLM = 0, 1, 2, ..., 29) GPS Rx . . . . . . . . . = 255 (GPS_RX = 0, 1, 2, ..., 29) GPS Tx . . . . . . . . . = 255 (GPS_TX = 0, 1, 2, ..., 29) Sbus OUT . . . . . . . . = 255 (SBUS_OUT= 0, 1, 2, ..., 29) RPM . . . . . . . . . . = 255 (RPM = 0, 1, 2, ..., 29) SDA (I2C sensors) . . . . = 2 (SDA = 2, 6, 10, 14, 18, 22, 26) SCL (I2C sensors) . . . . = 3 (SCL = 3, 7, 11, 15, 19, 23, 27) PWM Channels 1, 2, 3 ,4 = 255 255 255 255 (C1 / C16= 0, 1, 2, ..., 15) PWM Channels 5, 6, 7 ,8 = 255 255 255 255 PWM Channels 9,10,11,12 = 255 255 255 255 PWM Channels 13,14,15,16 = 255 255 255 255 Voltage 1, 2, 3, 4 = 255 255 255 255 (V1 / V4 = 26, 27, 28, 29) RGB led . . . . . . . . . = 16 (RGB = 0, 1, 2, ..., 29) Logger . . . . . . . . . = 255 (LOG = 0, 1, 2, ..., 29) ESC . . . . . . . . . . . = 1 (ESC_PIN= 0, 1, 2, ..., 29)

Esc type is HW4 (Hobbywing V4)

Protocol is Jeti (Exbus) CRSF baudrate = 420000 Logger baudrate = 115200 PWM is generated at = 50 Hz Voltage parameters: Scales : 1.000000 , 1.000000 , 1.000000 , 1.000000 Offsets: 0.000000 , 0.000000 , 0.000000 , 0.000000 No temperature sensors are connected on V3 and V4 RPM multiplier = 1.000000 Baro sensor is detected using MS5611 Sensitivity min = 100 (at 100) , max = 300 (at 1000) Hysteresis = 5 Acc/Gyro is not detected Airspeed sensor is not detected No Vspeed compensation channel defined; oXs uses default settings First analog to digital sensor is not detected Second analog to digital sensor is not detected Foreseen GPS type is Ublox (configured by oXs) :GPS is not (yet) detected Led color is normal (not inverted) Failsafe type is HOLD

Gyro is not configured

No sequencers are defined

Config parameters are OK Press ? + Enter to get help about the commands

[Satcomix]

Hello Klippeneck, According to the description, Mstrens has implemented the Hobbywing V4 telemetry protocol in the oXsRP2040, not the V5. - an ESC from Hobbywing (using V4 telemetry protocol), ZTW Mantis or from Kontronik. Those ESC provide one voltage, one current (+ current consumption) + RPM + 2 temperatures._ There are also some tips on how to use the V5 on the MSRC page: (1) HW V5 = HW FlyFun. If ESC doesn't arm, enable ESC Init Delay or connect MSRC after the ESC is armed https://github.com/dgatf/msrc Greetings, Torsten

[Klippeneck]

Hello Thorsten, if I interpret the documents from dgat correctly, V4 and V5 should use the same protocol. My controller also offers voltage, current and 2 temperatures and capacity. What makes me suspicious is that the controller does not appear at all. Greetings Jürgen

[mstrens]

I think the ESC option has never been tested. I do not have such an ESC. The first point would be to check if oXs get some data from the ESC. I put on github a version 2.9.22 that is supposed to print (in hexadecimal) one line with each character received from the ESC. Can you try this version and see if you get some data displayed on the PC (in the serial monitor). Take care that you should avoid powering on the RP2040 from 2 sources. So when it is connected to the USB, the RP2040 should not be powered by the receiver nor by the ESC. Let me know if you get messages on the pc and make a copy paste of 100 or 200 lines (so I can look if the frame matches what I expect)

[Satcomix]

Hello Mstrens, m0p3d confirmed at 29.09.23 in "Support Hobbywing ESC telemetry" Version 2.8.8 Confirmed works for -RPM, TEMP1,2 ,Current Strange VFAS=2,58V ADC2=0V Greetings, Torsten

[mstrens]

Indeed. I forgot that it had been tested and that it works. Anyway with latest version, it should be possible to check if oXs get frames from ESC and if the content of HW5 frames is indeed similar to frames from HW4

[Klippeneck]

Hello Mstrens, Test with SW 2.9.22 gives the following result: Greetings Jürgen processing cmd

Cmd to execute:

Version = 2.9.22 Function GPIO Change entering XXX=yyy (yyy=255 to disable) Primary channels input = 5 (PRI = 5, 9, 21, 25) Secondary channels input = 255 (SEC = 1, 13, 17, 29) Telemetry . . . . . . . . = 255 (TLM = 0, 1, 2, ..., 29) GPS Rx . . . . . . . . . = 255 (GPS_RX = 0, 1, 2, ..., 29) GPS Tx . . . . . . . . . = 255 (GPS_TX = 0, 1, 2, ..., 29) Sbus OUT . . . . . . . . = 255 (SBUS_OUT= 0, 1, 2, ..., 29) RPM . . . . . . . . . . = 255 (RPM = 0, 1, 2, ..., 29) SDA (I2C sensors) . . . . = 2 (SDA = 2, 6, 10, 14, 18, 22, 26) SCL (I2C sensors) . . . . = 3 (SCL = 3, 7, 11, 15, 19, 23, 27) PWM Channels 1, 2, 3 ,4 = 255 255 255 255 (C1 / C16= 0, 1, 2, ..., 15) PWM Channels 5, 6, 7 ,8 = 255 255 255 255 PWM Channels 9,10,11,12 = 255 255 255 255 PWM Channels 13,14,15,16 = 255 255 255 255 Voltage 1, 2, 3, 4 = 255 255 255 255 (V1 / V4 = 26, 27, 28, 29) RGB led . . . . . . . . . = 16 (RGB = 0, 1, 2, ..., 29) Logger . . . . . . . . . = 255 (LOG = 0, 1, 2, ..., 29) ESC . . . . . . . . . . . = 1 (ESC_PIN= 0, 1, 2, ..., 29) Esc type is HW4 (Hobbywing V4)

Protocol is Jeti (Exbus) CRSF baudrate = 420000 Logger baudrate = 115200 PWM is generated at = 50 Hz Voltage parameters: Scales : 1.000000 , 1.000000 , 1.000000 , 1.000000 Offsets: 0.000000 , 0.000000 , 0.000000 , 0.000000 No temperature sensors are connected on V3 and V4 RPM multiplier = 1.000000 Baro sensor is detected using MS5611 Sensitivity min = 100 (at 100) , max = 300 (at 1000) Hysteresis = 5 Acc/Gyro is not detected Airspeed sensor is not detected No Vspeed compensation channel defined; oXs uses default settings First analog to digital sensor is not detected Second analog to digital sensor is not detected Foreseen GPS type is Ublox (configured by oXs) :GPS is not (yet) detected Led color is normal (not inverted) Failsafe type is HOLD

Gyro is not configured

No sequencers are defined

Config parameters are OK Press ? + Enter to get help about the commands

0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 I think the V4 protocol and V5 are not the same but according to dgat it should work.

[mstrens]

Thanks. Having the lines with 0 shows that the ESC sent some characters. I expect I made a small mistake in the code I added for the message that explains why it is always 0. I put version 2.9.23 on github. Please make the same test with this new version (I hope to see other codes than 0).

[Klippeneck]

Hello mstrens, Test with 2.9.23, result slightly different. Greetings Jürgen processing cmd

Cmd to execute:

Version = 2.9.23 Function GPIO Change entering XXX=yyy (yyy=255 to disable) Primary channels input = 5 (PRI = 5, 9, 21, 25) Secondary channels input = 255 (SEC = 1, 13, 17, 29) Telemetry . . . . . . . . = 255 (TLM = 0, 1, 2, ..., 29) GPS Rx . . . . . . . . . = 255 (GPS_RX = 0, 1, 2, ..., 29) GPS Tx . . . . . . . . . = 255 (GPS_TX = 0, 1, 2, ..., 29) Sbus OUT . . . . . . . . = 255 (SBUS_OUT= 0, 1, 2, ..., 29) RPM . . . . . . . . . . = 255 (RPM = 0, 1, 2, ..., 29) SDA (I2C sensors) . . . . = 2 (SDA = 2, 6, 10, 14, 18, 22, 26) SCL (I2C sensors) . . . . = 3 (SCL = 3, 7, 11, 15, 19, 23, 27) PWM Channels 1, 2, 3 ,4 = 255 255 255 255 (C1 / C16= 0, 1, 2, ..., 15) PWM Channels 5, 6, 7 ,8 = 255 255 255 255 PWM Channels 9,10,11,12 = 255 255 255 255 PWM Channels 13,14,15,16 = 255 255 255 255 Voltage 1, 2, 3, 4 = 255 255 255 255 (V1 / V4 = 26, 27, 28, 29) RGB led . . . . . . . . . = 16 (RGB = 0, 1, 2, ..., 29) Logger . . . . . . . . . = 255 (LOG = 0, 1, 2, ..., 29) ESC . . . . . . . . . . . = 1 (ESC_PIN= 0, 1, 2, ..., 29) Esc type is HW4 (Hobbywing V4)

Protocol is Jeti (Exbus) CRSF baudrate = 420000 Logger baudrate = 115200 PWM is generated at = 50 Hz Voltage parameters: Scales : 1.000000 , 1.000000 , 1.000000 , 1.000000 Offsets: 0.000000 , 0.000000 , 0.000000 , 0.000000 No temperature sensors are connected on V3 and V4 RPM multiplier = 1.000000 Baro sensor is detected using MS5611 Sensitivity min = 100 (at 100) , max = 300 (at 1000) Hysteresis = 5 Acc/Gyro is not detected Airspeed sensor is not detected No Vspeed compensation channel defined; oXs uses default settings First analog to digital sensor is not detected Second analog to digital sensor is not detected Foreseen GPS type is Ublox (configured by oXs) :GPS is not (yet) detected Led color is normal (not inverted) Failsafe type is HOLD

Gyro is not configured

No sequencers are defined

Config parameters are OK Press ? + Enter to get help about the commands

8000 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0

[mstrens]

It is very strange. The first 8000 says that the first char received after some delay without signal is 0. And then all others char received are 0.

For sure this is not a valid frame.

Do you have a logical analyser to capture the signal provided by the ESC (and so be sure there is no bug in the way oXs read the frame)?

[Klippeneck]

Hello mstrens, thank you for your efforts, unfortunately I don't have a logic analyser available, before I retired this would have been possible.

[mstrens]

I will try to make a test where I use another RP2040 to generate dummy data (similar to an ESC HW4) and I will apply this signal to oXs. So I can check if the "0" are the result of an oXs bug or are really sent by the ESC.

I will try to do it to morrow.

[Satcomix]

Hello Mstrens, For my future oXs tests, an ESC RP2040 dummy would be a very good solution, since I don't have a HobbyWing V4/V5 ESC either. If it is possible, could I get a v4_v5_dummy_esc.uf2 from you? Thank you, Greetings, Torsten

[aepub]

My electrical regulator is also Hobbywing FLYFUN 80A 3-6S V5 Feiteng series electrical regulator, I'm not sure if it supports OXS.

[mstrens]

I had a look at this manual https://www.towerhobbies.com/on/demandware.static/-/Sites-horizon-master/default/dwaee8da49/Manuals/HWI30214002-Manual-EN.pdf

I expect it is the manual of your ESC. I do not find any reference saying that it can provide telemetry data. To work with oXs, it has to provide on one wire telemetry data via an UART signal at 19200 bauds 8N1.

It is not clear for me which HW models can provide such a signal.

[mstrens]

I also found this doc https://cdn.shopify.com/s/files/1/0109/9702/files/HW-FOC_Communication_Protocol-20200326.pdf?v=1616086642 It says that when motor is running the data are provide every 50ms. Perhaps there is no data when the motor does not run(?)

[Satcomix]

Hello everyone, Normally you can say that the ESCs from HobbyWing, which are programmed with the old LED box, also have no possibility of transmitting telemetry data. Those programmed with the new display box with USB connection could also send telemetry. Unfortunately I only have ESCs (also new models) for the LED box, that`s HobbyWing. Greetings, Torsten

[Klippeneck]

Hello everyone, the Hobbywing V5/80A definitely has telemetry, I made a test with the Arduino based converter from dgat. However, the controller only sends data after a successful initialisation, recognisable by the acoustic signals. For this, the ESC needs a delay of 2-3sec in the telemetry converter after switching on, otherwise only zeros are sent. Greetings Jürgen

[Satcomix]

Hence dgatf's reference to the MSRC: (1) HW V5 = HW FlyFun. If ESC doesn't arm, enable ESC Init Delay or connect MSRC after the ESC is armed https://github.com/dgatf/msrc

[mstrens]

I put a version 2.9.25 on github. I had no time to test it at all. It is supposed to print the frames received from the ESC after that the ESC starts to send something else than "0". so you should not have many 0 at the power on.

With this version, all parameters already defined with USB commands are lost because I also added some parameters for the gyro.. Once edited with usb commands, the parameters will be kept (up to a new "major" change in config).

[Mike-HRC]

Mstrens - I used a HW40 with some of the early work that Daniel did on MSRC, from memory the HW80 was a tricky ESC (I can't remember why - I'll try and find the info) if you look here https://github.com/dgatf/msrc Daniel explains the HW Telemetry structure for the ESCs towards the bottom of the page.

Also some of the HW FunFly ESCs have the telemetry as an undocumented feature (presumably so that you buy the more expensive Platinum range) - I have a FunFly 30a that provides Teletry even though all of the information on the HW web-site says that it does not.

[Satcomix]

Hello Mike, "Also some of the HW FunFly ESCs have the telemetry as an undocumented feature". Thank you for this information. Now I'll check my HobbyWing ESCs for telemetry data. Greetings, Torsten

[mstrens]

I wrote the code for ESC HW V4 reusing the work of Daniel (on MSRC). One user reports that it works with a HW V4 ESC. The issue is that now another user says it does not work with a HW V5. I made some changes to try to debug the issue (printing the characters received from the ESC). The latest oXs version should provide those characters after that the ESC sent all "0"

[Satcomix]

Hello Mstrens, I did a lot of research about the MSRC project today. Most of the time you hear that the old MSRC works on Arduino and the new one has never worked properly. I searched for HobbyWing realtime data, but Daniel's explanations match HobbyWing's, which can be found at the bottom of his page, such as every 20ms.... I will have a HW Platinum Pro V4 60A with LCD box for testing next week. Greetings, Torsten

[mstrens]

I think this link provide also a good explanation

https://cdn.shopify.com/s/files/1/0109/9702/files/HW-FOC_Communication_Protocol-20200326.pdf?v=1616086642

I wait to see if the HW5 send frames and if the format is the same as HW4. The current version of oXs should allow this check (because I skip the 0 at power on.

[Satcomix]

I had already saved this .pdf this morning. At HobbyWing you can also find some things for V3 well explained in the instructions: "For developers only" V3 differs in the number of bytes =10 for the values ​​and V4/V5 have 19 bytes. Also the explanations for: Before throttle is raised from 0, signature packets are sent between telemetry packets. This is used to identify the hardware and firmware of the ESC, is very helpful. Next week i can make tests with the new hardware and logs with my LogicAnalyzer

[Satcomix]

First Test with HobbyWing Platinum V4 60A and oXs Ver.2.9.26 At Handset i can see VFAS, FASS, Capacity, TEMP1,TEMP2, RPM FASS=0 and Capacity=0 because the V4 60A has no Current telemetry.

processing cmd

Version = 2.9.26 Function GPIO Change entering XXX=yyy (yyy=255 to disable) Primary channels input = 5 (PRI = 5, 9, 21, 25) Secondary channels input = 255 (SEC = 1, 13, 17, 29) Telemetry . . . . . . . . = 255 (TLM = 0, 1, 2, ..., 29) GPS Rx . . . . . . . . . = 12 (GPS_RX = 0, 1, 2, ..., 29) GPS Tx . . . . . . . . . = 13 (GPS_TX = 0, 1, 2, ..., 29) Sbus OUT . . . . . . . . = 2 (SBUS_OUT= 0, 1, 2, ..., 29) RPM . . . . . . . . . . = 255 (RPM = 0, 1, 2, ..., 29) SDA (I2C sensors) . . . . = 14 (SDA = 2, 6, 10, 14, 18, 22, 26) SCL (I2C sensors) . . . . = 15 (SCL = 3, 7, 11, 15, 19, 23, 27) PWM Channels 1, 2, 3 ,4 = 255 255 255 255 (C1 / C16= 0, 1, 2, ..., 15) PWM Channels 5, 6, 7 ,8 = 255 255 255 255 PWM Channels 9,10,11,12 = 255 255 255 255 PWM Channels 13,14,15,16 = 255 255 255 255 Voltage 1, 2, 3, 4 = 255 255 255 29 (V1 / V4 = 26, 27, 28, 29) RGB led . . . . . . . . . = 18 (RGB = 0, 1, 2, ..., 29) Logger . . . . . . . . . = 255 (LOG = 0, 1, 2, ..., 29) ESC . . . . . . . . . . . = 1 (ESC_PIN= 0, 1, 2, ..., 29) Esc type is HW4 (Hobbywing V4)

Protocol is Fbus(Frsky) CRSF baudrate = 420000 Logger baudrate = 115200 PWM is generated at = 50 Hz Voltage parameters: Scales : 1.000000 , 1.000000 , 0.100000 , 1.000000 Offsets: 0.000000 , 0.000000 , 2.000000 , 0.000000 No temperature sensors are connected on V3 and V4 RPM multiplier = 1.000000 Baro sensor is detected using MS5611 Sensitivity min = 100 (at 100) , max = 300 (at 1000) Hysteresis = 5 Acc/Gyro is detected using MP6050 Acceleration offsets X, Y, Z = 1319 , 263 , -2756 Gyro offsets X, Y, Z = 17 , -162 , -192 Orientation = 0 Aispeed sensor is detected using MS4525 Vspeed compensation channel = 7 First analog to digital sensor is detected using ads1115 Measurement setup: 4 , 5 , 6 ,7 Gains: 1 , 1 , 1 ,1 Rates: 5 , 5 , 5 ,5 Offsets: 0.000000 , 0.000000 , 0.000000 ,0.000000 Scales: 1.000000 , 1.000000 , 1.000000 ,1.000000 Averaged on: 10 , 10 , 10 ,10 Second analog to digital sensor is detected using ads1115 Measurement setup: 4 , 5 , 6 ,7 Gains: 1 , 1 , 1 ,1 Rates: 5 , 5 , 5 ,5 Offsets: 0.000000 , 0.000000 , 0.000000 ,0.000000 Scales: 1.000000 , 1.000000 , 1.000000 ,1.000000 Averaged on: 10 , 10 , 10 ,10 Foreseen GPS type is Ublox (configured by oXs) :GPS is detected and has a fix Led color is normal (not inverted) Failsafe uses predefined values Chan 1...4 = 1500 1500 1500 1500 Chan 5...8 = 2012 2012 1500 1500 Chan 9...12 = 1500 1500 1500 1500 Chan 13...16= 1500 1500 1500 1500

Gyro configuration is: Channels for : mode/gain=5 , Ail stick=1 , Elv stick=2 , Rud stick=4 Gain per axis (-128/127): Roll=127 Pitch=127 Yaw=127 Gain on throw is 1 (1=on full throw, 2=on half, 3=on quater) Max rotate is 3 (1=Very low , 2=low , 3=medium , 4=high) Stick rotate enabled in rate mode is 1 (1=disabled , 2=enabled) Stabilize mode is OFF (Hold mode is enabled) PID Roll(aileron) Pitch(elevator) Yaw(rudder) Mode Kp Ki Kd Kp Ki Kd Kp Ki Kd Normal PIDN= 1000 0 500 1000 0 500 1000 0 500
Hold PIDH= 500 500 500 500 500 500 500 500 500
Stab. PIDS= 500 0 500 500 0 500 500 0 500

Gyro mixers are calibrated: Sticks centered at: Ail=0% Elv=0% Rud=0% Gyro corrections (from center pos in %) on:

Number of: sequencers=2 sequences=4 steps= 6 Sequencer = [ Gpio Type(0=servo,1=analog) Clock(msec) ChannelNr Default Min Max ] Sequence = ( RC_value(-100...100) to_Repeat Uninterrupted Only_priority_interrupted is_a_Priority_seq ) Step = { Smooth(clocks) Pwm(-100...100) Keep(clocks) } SEQ= [ 6 0 20 9 -100 -100 100 ] ( 50 P ) {0 -100 20} ( 100 O ) {0 100 20} {0 -100 20} [ 7 0 20 9 -100 -100 100 ] ( 50 P ) {0 -100 20} ( 100 O ) {0 100 20} {0 -100 20}

Config parameters are OK Press ? + Enter to get help about the commands 80FF 80FF 8000 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 809C 0 3F 0 45 0 3F 0 0 5 78 8030 31 30 34 30 38 34 35 809B 9B 3 E8 1 8 5B 0 1 0 21 21 B9 809B 0 0 1 0 0 0 14 0 0 0 5 73 0 0 D 68 D 96 Esc Volt=1395 current=0 consumed=0 temp1=3432 temp2=3478 809B 9B 3 E8 1 8 5B 0 1 0 21 21 B9 809B 0 0 2 0 0 0 14 0 0 0 5 6D 0 0 D 64 D 95 Esc Volt=1389 current=0 consumed=0 temp1=3428 temp2=3477 809B 9B 3 E8 1 8 5B 0 1 0 21 21 B9 809B 0 0 3 0 0 0 14 0 0 0 5 70 0 0 D 65 D 9A Esc Volt=1392 current=0 consumed=0 temp1=3429 temp2=3482 809B 9B 3 E8 1 8 5B

[Satcomix]

After ten seconds, the ESC connection hangs and the telemetry values ​​for the ESC are no longer transmitted and the ESC debug output on Terminal stops. All other values ​​ok and transmitted. As long as the stick is at 0% everything works normally. As soon as I go to 50% or higher, the ESC telemetry freezes after 10 seconds. Maybe it has something to do with the fact that I don't have a brushless motor connected to the ESC, it won't be delivered until next week.

[Satcomix]

Hello Mstrens, Second Test with X20S TD-R10 and FBUS Protocol. oXs_RP2040 Version: 2.9.26 ESC: Hobbywing Platinum V4 60A Motor: SPMXAM1100 Telemetry Handset: VFAS: ok FASS: ok Capacity: ok TEMP1: ok TEMP2: ok RPM: ok With the Hobbywing V4 protocol everything seems to work for me.

processing cmd

Version = 2.9.26 Function GPIO Change entering XXX=yyy (yyy=255 to disable) Primary channels input = 5 (PRI = 5, 9, 21, 25) Secondary channels input = 255 (SEC = 1, 13, 17, 29) Telemetry . . . . . . . . = 255 (TLM = 0, 1, 2, ..., 29) GPS Rx . . . . . . . . . = 12 (GPS_RX = 0, 1, 2, ..., 29) GPS Tx . . . . . . . . . = 13 (GPS_TX = 0, 1, 2, ..., 29) Sbus OUT . . . . . . . . = 2 (SBUS_OUT= 0, 1, 2, ..., 29) RPM . . . . . . . . . . = 255 (RPM = 0, 1, 2, ..., 29) SDA (I2C sensors) . . . . = 14 (SDA = 2, 6, 10, 14, 18, 22, 26) SCL (I2C sensors) . . . . = 15 (SCL = 3, 7, 11, 15, 19, 23, 27) PWM Channels 1, 2, 3 ,4 = 255 255 8 255 (C1 / C16= 0, 1, 2, ..., 15) PWM Channels 5, 6, 7 ,8 = 255 255 255 255 PWM Channels 9,10,11,12 = 255 255 9 255 PWM Channels 13,14,15,16 = 255 255 255 255 Voltage 1, 2, 3, 4 = 255 255 28 29 (V1 / V4 = 26, 27, 28, 29) RGB led . . . . . . . . . = 18 (RGB = 0, 1, 2, ..., 29) Logger . . . . . . . . . = 0 (LOG = 0, 1, 2, ..., 29) ESC . . . . . . . . . . . = 1 (ESC_PIN= 0, 1, 2, ..., 29) Esc type is HW4 (Hobbywing V4)

Protocol is Fbus(Frsky) CRSF baudrate = 420000 Logger baudrate = 115200 PWM is generated at = 50 Hz Voltage parameters: Scales : 1.000000 , 1.000000 , 0.100000 , 1.000000 Offsets: 0.000000 , 0.000000 , 2.000000 , 0.000000 No temperature sensors are connected on V3 and V4 RPM multiplier = 1.000000 Baro sensor is detected using MS5611 Sensitivity min = 100 (at 100) , max = 300 (at 1000) Hysteresis = 5 Acc/Gyro is detected using MP6050 Acceleration offsets X, Y, Z = 1319 , 263 , -2756 Gyro offsets X, Y, Z = 17 , -162 , -192 Orientation = 0 Aispeed sensor is detected using MS4525 Vspeed compensation channel = 7 First analog to digital sensor is detected using ads1115 Measurement setup: 4 , 5 , 6 ,7 Gains: 1 , 1 , 1 ,1 Rates: 5 , 5 , 5 ,5 Offsets: 0.000000 , 0.000000 , 0.000000 ,0.000000 Scales: 1.000000 , 1.000000 , 1.000000 ,1.000000 Averaged on: 10 , 10 , 10 ,10 Second analog to digital sensor is detected using ads1115 Measurement setup: 4 , 5 , 6 ,7 Gains: 1 , 1 , 1 ,1 Rates: 5 , 5 , 5 ,5 Offsets: 0.000000 , 0.000000 , 0.000000 ,0.000000 Scales: 1.000000 , 1.000000 , 1.000000 ,1.000000 Averaged on: 10 , 10 , 10 ,10 Foreseen GPS type is Ublox (configured by oXs) :GPS is detected and has a fix Led color is normal (not inverted) Failsafe uses predefined values Chan 1...4 = 1500 1500 1500 1500 Chan 5...8 = 2012 2012 1500 1500 Chan 9...12 = 1500 1500 1500 1500 Chan 13...16= 1500 1500 1500 1500

Gyro is not configured

Number of: sequencers=2 sequences=4 steps= 6 Sequencer = [ Gpio Type(0=servo,1=analog) Clock(msec) ChannelNr Default Min Max ] Sequence = ( RC_value(-100...100) to_Repeat Uninterrupted Only_priority_interrupted is_a_Priority_seq ) Step = { Smooth(clocks) Pwm(-100...100) Keep(clocks) } SEQ= [ 6 0 20 9 -100 -100 100 ] ( 50 P ) {0 -100 20} ( 100 O ) {0 100 20} {0 -100 20} [ 7 0 20 9 -100 -100 100 ] ( 50 P ) {0 -100 20} ( 100 O ) {0 100 20} {0 -100 20}

Config parameters are OK Press ? + Enter to get help about the commands 8000 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 809C 0 41 0 41 0 42 0 0 5 83 8030 31 30 34 30 38 34 35 809B 9B 3 E8 1 8 5B 0 1 0 21 21 B9 809B 0 0 1 0 0 0 14 0 0 0 5 80 0 0 C 44 C 78 Esc Volt=1408 current=0 consumed=0 temp1=3140 temp2=3192 809B 9B 3 E8 1 8 5B 0 1 0 21 21 B9 809B 0 0 2 0 0 0 14 0 0 0 5 83 0 0 C 46 C 77 Esc Volt=1411 current=0 consumed=0 temp1=3142 temp2=3191 809B

[mstrens]

Thanks. FYI, it seems that the ESC sent several types of frame (begin with 0X9B) I use the frame that contains 19 bytes.

[Satcomix]

Hello Mstrens, Different frames could be related to the function of the port. The telemetry connection of the Platinum V4 60A is also the configuration connection of the USB LCD programming box. If Jürgen (Klippeneck) would now confirm the functions of the Hobbywing V5 protocol with all telemetry values, the ESC debug messages could be removed from the next oXs_RP2040-test version. Greetings, Torsten

[Satcomix]

Hello Mstrens: FYI: I just looked at the transferred frames again. Everything is exactly as Daniel described on his MSRC page. 1.Frame with 19bytes 2.Frame with 13bytes Before throttle is raised from 0, signature packets are sent between telemetry packets. This is used to identify the hardware and firmware of the ESC. Telemetry packets: Byte | 1 | 2 | 3 | 4 | 5 | 6 | Value | Package Head (0x9B) | Package Number 1 | Package Number 2 | Package Number 3 | Rx Throttle 1 | Rx Throttle 2 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | Output PWM 1 | Output PWM 2 | RPM 1 | RPM 2 | RPM 3 | Voltage 1 | Voltage 2 | Current 1 | Current 2 | TempFET 1 | 17 | 18 | 19 TempFET 2 | Temp 1 | Temp 2 Signature packets: Byte | 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 V4LV25/60/80A | 0x9B | 0x9B | 0x03 | 0xE8 | 0x01 | 0x08 | 0x5B | 0x00 | 0x01 | 0x00 | 0x21 | 0x21 | 0xB9

HobbyWing Platinum V4 60A: Byte Frame1 Frame2 1 809B 809B 2 0 9B 3 0 3 4 2 E8 5 0 1 6 0 8 7 0 5B 8 14 0 9 0 1 10 0 0 11 0 21 12 5 21 13 83 B9 14 0 15 0 16 C 17 46 18 C 19 77 Esc Volt=1411 current=0 consumed=0 temp1=3142 temp2=3191

[Klippeneck]

Hello Mstrens, Satcomics, I have tested with ESC Hobbywing V5/80A. The result is as follows :processing cmd

Cmd to execute:

Version = 2.9.26 Function GPIO Change entering XXX=yyy (yyy=255 to disable) Primary channels input = 5 (PRI = 5, 9, 21, 25) Secondary channels input = 255 (SEC = 1, 13, 17, 29) Telemetry . . . . . . . . = 255 (TLM = 0, 1, 2, ..., 29) GPS Rx . . . . . . . . . = 255 (GPS_RX = 0, 1, 2, ..., 29) GPS Tx . . . . . . . . . = 255 (GPS_TX = 0, 1, 2, ..., 29) Sbus OUT . . . . . . . . = 255 (SBUS_OUT= 0, 1, 2, ..., 29) RPM . . . . . . . . . . = 255 (RPM = 0, 1, 2, ..., 29) SDA (I2C sensors) . . . . = 2 (SDA = 2, 6, 10, 14, 18, 22, 26) SCL (I2C sensors) . . . . = 3 (SCL = 3, 7, 11, 15, 19, 23, 27) PWM Channels 1, 2, 3 ,4 = 255 255 255 255 (C1 / C16= 0, 1, 2, ..., 15) PWM Channels 5, 6, 7 ,8 = 255 255 255 255 PWM Channels 9,10,11,12 = 255 255 255 255 PWM Channels 13,14,15,16 = 255 255 255 255 Voltage 1, 2, 3, 4 = 255 255 255 255 (V1 / V4 = 26, 27, 28, 29) RGB led . . . . . . . . . = 16 (RGB = 0, 1, 2, ..., 29) Logger . . . . . . . . . = 255 (LOG = 0, 1, 2, ..., 29) ESC . . . . . . . . . . . = 1 (ESC_PIN= 0, 1, 2, ..., 29) Esc type is HW4 (Hobbywing V4)

Protocol is Jeti (Exbus) CRSF baudrate = 420000 Logger baudrate = 115200 PWM is generated at = 50 Hz Voltage parameters: Scales : 1.000000 , 1.000000 , 1.000000 , 1.000000 Offsets: 0.000000 , 0.000000 , 0.000000 , 0.000000 No temperature sensors are connected on V3 and V4 RPM multiplier = 1.000000 Baro sensor is detected using MS5611 Sensitivity min = 100 (at 100) , max = 300 (at 1000) Hysteresis = 5 Acc/Gyro is not detected Airspeed sensor is not detected No Vspeed compensation channel defined; oXs uses default settings First analog to digital sensor is not detected Second analog to digital sensor is not detected Foreseen GPS type is Ublox (configured by oXs) :GPS is not (yet) detected Led color is normal (not inverted) Failsafe type is HOLD

Gyro is not configured

No sequencers are defined

Config parameters are OK Press ? + Enter to get help about the commands

809B 0 0 2 0 0 0 32 0 0 0 3 9A 0 0 D A7 D AE Esc Volt=922 current=0 consumed=0 temp1=3495 temp2=3502 809B 9B 3 E8 1 21 FF 21 67 78 21 21 B9 809B 0 0 3 0 0 0 32 0 0 0 3 9A 0 0 D A4 D AD Esc Volt=922 current=0 consumed=0 temp1=3492 temp2=3501 On the transmitter I only see vario and altitude, no ESC data, also no fields for ESC data. In addition, the ESC only initialises when I switch the sensor to the RP 2040 after initialising the ESC. This behaviour is also described by dgat and recommends a delay of 2-3 seconds for initialisation. Jürgen

[Satcomix]

Hello Jürgen, your values ​​from the terminal ESC debug output look the same as mine, with the HW Platinum V4 60A Have you only taken the telemetry wire, GND and PWM from receiver for the ESC? The red wire with the BEC voltage from the ESC should not be used. greetings, Torsten

[Klippeneck]

Hello Thorsten, only ground and signal go from the RP 2040 to the receiver, I have removed the plus wire. I don't currently use PWM. Can you see telemetry values on the transmitter with your ESC setup? Jürgen

[Satcomix]

Hello Jürgen, I also had to put my ESC into a certain mode with my USB LCD programming box to even receive telemetry values. Helicopter (store governor), in fixed Wing i get no data. I see all telemetry values at my handset display VFAS, FASS, Capacity, TEMP1, TEMP2, RPM greetings, Torsten

[mstrens]

Based on the values you provided, it is clear that oXs can decode the frames sent by ESC. For Exbus, oXs has to build at power up a list of all fields that can be transmitted (based on the config) even if some sensors (like GPS) does not provide immediately their data. This list is mainly build based on the pin being used. I forgot to adapt it when a pin was defined for ESC. This explain why you did not got the ESC data. I put on github a version 2.10.0 that should fix the issue.

[Satcomix]

Ver. 2.10.0 works with FBUS protocol and HW V4

Esc Volt=1334 current=0 consumed=0 temp1=3319 temp2=3428 809B 0 1 1B 1 CD 1 C8 0 D8 36 5 36 0 0 C F6 D 6A Esc Volt=1334 current=0 consumed=0 temp1=3318 temp2=3434 809B 0 1 1C 1 CD 1 C9 0 D6 D3 5 35 0 0 C F6 D 70 Esc Volt=1333 current=0 consumed=0 temp1=3318 temp2=3440 809B 0 1 1D 1 CD 1 C4 0 D7 38 5 37 0 0 C F6 D 69 Esc Volt=1335 current=0 consumed=0 temp1=3318 temp2=3433 809B 0 1 1E 1 CD 1 C3 0 D7 6B 5 3C 0 0 C F3 D 6D Esc Volt=1340 current=0 consumed=0 temp1=3315 temp2=3437

[Klippeneck]

Hello Mstrens, Test with 2.10.0 has the problem with the missing telemetry windows has been fixed. Function is fine so far. Only the problem with the missing initialisation of the ESC when the ESC telemetry pins are permanently connected to the PR 2040 still needs to be solved. Temperatures are already correct, for current and voltage some factors should still be adjustable, possibly in the configuration via USB. Jürgen

[mstrens]

About the missing initialisation of the ESC: Sorry but at this stage, it is not clear for me what has to be done. Is it so that you have to start the RP2040 without connecting the ESC telemetry wire and only after some delay you can connect the ESC telemetry wire?

About some factors : for voltage, you can use scaleVolt1 and for current scaleVolt2.

[Klippeneck]

Hello Mstrens, in my test setup I use the BEC of the controller as power supply the receiver and the RP2040. When I connect the battery to the ESC with the telemetry input of the RP 2040 connected, the ESC the receiver and the RP 2040 receive power simultaneously. Then the ESC does not initialise, only if I disconnect the telemetry input of the RP for 2-3 seconds when connecting the power supply and then connect it, the initialisation works. Dgat solves the problem with an "Init Delay", presumably the telemetry input of the RP is switched to high impedance for 2-3 seconds. Thanks for the tip with the factors. Jürgen

[Satcomix]

Hello Jürgen, to adjust V1=Voltage and V2=Current, you must set SCALE1=, OFFSET1= and SCALE2=, OFFSET2=. Greetings, Torsten

[mstrens]

The ESC was configured with a pullup resistor (by oXs). I removed this in 2.10.1. You can test this version and see if it works. I hope that HobbyWing drives the line High. If this is not the case, it could be that oXs does not get anymore a valid signal. Then I would have to implement a delay in oXs but it is more complex.

[Satcomix]

Good morning Mstrens, I just tested version 2.10.1 with X20S and FBUS protocol. Some telemetry sensors are missing! V.Speed ​​02 0110 (MP6050) is missing. The comp V.Speed ​​02 011F from the MS4525 is available. Furthermore, ESC telemetry values ​​are no longer displayed due to the change of the resistor (pullup)

processing cmd

Version = 2.10.1 Function GPIO Change entering XXX=yyy (yyy=255 to disable) Primary channels input = 5 (PRI = 5, 9, 21, 25) Secondary channels input = 255 (SEC = 1, 13, 17, 29) Telemetry . . . . . . . . = 255 (TLM = 0, 1, 2, ..., 29) GPS Rx . . . . . . . . . = 12 (GPS_RX = 0, 1, 2, ..., 29) GPS Tx . . . . . . . . . = 13 (GPS_TX = 0, 1, 2, ..., 29) Sbus OUT . . . . . . . . = 2 (SBUS_OUT= 0, 1, 2, ..., 29) RPM . . . . . . . . . . = 255 (RPM = 0, 1, 2, ..., 29) SDA (I2C sensors) . . . . = 14 (SDA = 2, 6, 10, 14, 18, 22, 26) SCL (I2C sensors) . . . . = 15 (SCL = 3, 7, 11, 15, 19, 23, 27) PWM Channels 1, 2, 3 ,4 = 255 255 8 255 (C1 / C16= 0, 1, 2, ..., 15) PWM Channels 5, 6, 7 ,8 = 255 255 255 255 PWM Channels 9,10,11,12 = 255 255 9 255 PWM Channels 13,14,15,16 = 255 255 255 255 Voltage 1, 2, 3, 4 = 255 255 28 29 (V1 / V4 = 26, 27, 28, 29) RGB led . . . . . . . . . = 18 (RGB = 0, 1, 2, ..., 29) Logger . . . . . . . . . = 0 (LOG = 0, 1, 2, ..., 29) ESC . . . . . . . . . . . = 1 (ESC_PIN= 0, 1, 2, ..., 29) Esc type is HW4 (Hobbywing V4)

Protocol is Fbus(Frsky) CRSF baudrate = 420000 Logger baudrate = 115200 PWM is generated at = 50 Hz Voltage parameters: Scales : 1.000000 , 1.000000 , 0.100000 , 1.000000 Offsets: 0.000000 , 0.000000 , 2.000000 , 0.000000 No temperature sensors are connected on V3 and V4 RPM multiplier = 1.000000 Baro sensor is detected using MS5611 Sensitivity min = 100 (at 100) , max = 300 (at 1000) Hysteresis = 5 Aispeed sensor is detected using MS4525 Vspeed compensation channel = 7 First analog to digital sensor is detected using ads1115 Measurement setup: 4 , 5 , 6 ,7 Gains: 1 , 1 , 1 ,1 Rates: 5 , 5 , 5 ,5 Offsets: 0.000000 , 0.000000 , 0.000000 ,0.000000 Scales: 1.000000 , 1.000000 , 1.000000 ,1.000000 Averaged on: 10 , 10 , 10 ,10 Second analog to digital sensor is detected using ads1115 Measurement setup: 4 , 5 , 6 ,7 Gains: 1 , 1 , 1 ,1 Rates: 5 , 5 , 5 ,5 Offsets: 0.000000 , 0.000000 , 0.000000 ,0.000000 Scales: 1.000000 , 1.000000 , 1.000000 ,1.000000 Averaged on: 10 , 10 , 10 ,10 Foreseen GPS type is Ublox (configured by oXs) :GPS is detected and has a fix Led color is normal (not inverted) Failsafe uses predefined values Chan 1...4 = 1500 1500 1500 1500 Chan 5...8 = 2012 2012 1500 1500 Chan 9...12 = 1500 1500 1500 1500 Chan 13...16= 1500 1500 1500 1500 Acc/Gyro is detected using MP6050 Acceleration offsets X, Y, Z = 1319 , 263 , -2756 Gyro offsets X, Y, Z = 1 , -9 , -12 Orientation Horizontal is FRONT(X+) Vertical is WRONG

Gyro is not configured

Number of: sequencers=2 sequences=4 steps= 6 Sequencer = [ Gpio Type(0=servo,1=analog) Clock(msec) ChannelNr Default Min Max ] Sequence = ( RC_value(-100...100) to_Repeat Uninterrupted Only_priority_interrupted is_a_Priority_seq ) Step = { Smooth(clocks) Pwm(-100...100) Keep(clocks) } SEQ= [ 6 0 20 9 -100 -100 100 ] ( 50 P ) {0 -100 20} ( 100 O ) {0 100 20} {0 -100 20} [ 7 0 20 9 -100 -100 100 ] ( 50 P ) {0 -100 20} ( 100 O ) {0 100 20} {0 -100 20} Error in parameters: gyro vertical orientation (0) is not valid

Config parameters are OK Press ? + Enter to get help about the commands 8041 0 41 0 42 0 0 5 82 808A 82 A2 82 C2 A2 AA 80B3 B3 8 5B 0 1 0 21 21 B9 8000 1 0 0 0 14 0 0 0 5 83 0 0 D 61 D 97 B9 80B3 B3 8 5B 0 1 0 21 21 B9 8000 2 0 0 0 14 0 0 0 5 84 0 0 D 63 D 9A B9 80B3 B3 8 5B 0 1 0 21 21 B9 8000 3 0 0 0 14 0 0 0 5 86 0 0 D 60 D 95 B9 80B3

[Satcomix]

The new 2 step calibration prozess ??? Force MPU6050 calibration MPUCAL=Y Y = H (Horizontal and still) or V (Vertical=nose up)

Acc/Gyro is detected using MP6050 Acceleration offsets X, Y, Z = -64 , 373 , -2756 Gyro offsets X, Y, Z = 0 , -9 , -12 Orientation Horizontal is UP(Z+) Vertical is UP(Z+)

Orientation(Hoz./Vert.)GOH = X or GOV = X 0(front X+), 1(back X-), 2(left Y+), 3(right Y-), 4(up Z+), 5(down Z-)

What do I have to adjust when installing the MP6050 horizontally with X axis (to the nose) and Y axis (to the wing) orientation.

[mstrens]

Can you test 2.10.2. I tried to activate pullup only after a delay of 3 sec. So the first bytes read by oXs would probably be wrong but after 3 sec, it should be OK.

[Satcomix]

Telemetry can be seen again on the handset V.Speed 02 0110 is still missing. Test with Ver.2.10.2 and X20S TD-R10 with FBUS protocol. HobbyWing Platinum V4 60A

Config parameters are OK Press ? + Enter to get help about the commands 809C 0 41 0 41 0 41 0 0 5 82 8030 31 30 34 30 38 34 35 809B 9B 3 E8 1 8 5B 0 1 0 21 21 B9 809B 0 0 1 0 0 0 14 0 0 0 5 87 0 0 D 63 D 89 Esc Volt=1415 current=0 consumed=0 temp1=3427 temp2=3465 809B 9B 3 E8 1 8 5B 0 1 0 21 21 B9 809B 0 0 2 0 0 0 14 0 0 0 5 83 0 0 D 58 D 87 Esc Volt=1411 current=0 consumed=0 temp1=3416 temp2=3463 809B 9B 3 E8 1 8 5B 0 1 0 21 21 B9 809B 0 0 3 0 0 0 14 0 0 0 5 87 0 0 D 5B D 86 Esc Volt=1415 current=0 consumed=0 temp1=3419 temp2=3462 809B 9B 3 E8 1 8 5B 0 1 0 21 21 B9 809B 0 0 4 0 0 0 14 0 0 0 5 84 0 0 D 52 D 8C Esc Volt=1412 current=0 consumed=0 temp1=3410 temp2=3468 809B 9B 3 E8 1 8 5B 0 1 0 21 21 B9 809B 0 0 5 0 0 0 14 0 0 0 5 84 0 0 D 4F D 87 Esc Volt=1412 current=0 consumed=0 temp1=3407 temp2=3463 809B 9B 3 E8 1 8 5B 0 1 0 21 21 B9 809B 0 0 6 0 0 0 14 0 0 0 5 86 0 0 D 50 D 84 Esc Volt=1414 current=0 consumed=0 temp1=3408 temp2=3460 809B 9B 3 E8 1 8 5B 0 1 0 21 21 B9 809B 0 0 7 0 0 0 14 0 0 0 5 84 0 0 D 47 D 88 Esc Volt=1412 current=0 consumed=0 temp1=3399 temp2=3464 809B 9B 3 E8 1 8 5B 0 1 0 21 21 B9 809B 0 0 8 0 0 0 14 0 0 0 5 85 0 0 D 48 D 84 Esc Volt=1413 current=0 consumed=0 temp1=3400 temp2=3460 809B 9B 3 E8 1 8 5B 0 1 0 21 21 B9 809B 0 0 9 0 EB 0 14 0 0 0 5 84 0 0 D 41 D 84 Esc Volt=1412 current=0 consumed=0 temp1=3393 temp2=3460 809B 9B 3 E8 1 8 5B 0 1 0 21 21 B9 809B 0 0 A 1 22 0 14 0 0 0 5 87 0 0 D 44 D 88 Esc Volt=1415 current=0 consumed=0 temp1=3396 temp2=3464 809B 9B 3 E8 1 8 5B 0 1 0 21 21 B9 809B 0 0 B 1 90 0 14 0 0 0 5 85 0 0 D 40 D 88 Esc Volt=1413 current=0 consumed=0 temp1=3392 temp2=3464 809B 0 0 C 1 94 0 14 0 0 0 5 85 0 0 D 40 D 88 Esc Volt=1413 current=0 consumed=0 temp1=3392 temp2=3464 809B 0 0 D 1 95 0 14 0 0 0 5 85 0 0 D 40 D 88 Esc Volt=1413 current=0 consumed=0 temp1=3392 temp2=3464 809B 0 0 E 1 97 0 14 0 5 35 5 85 0 0 D 40 D 88 Esc Volt=1413 current=0 consumed=0 temp1=3392 temp2=3464 809B 0 0 F 1 99 0 14 0 3 E9 5 85 0 0 D 40 D 88 Esc Volt=1413 current=0 consumed=0 temp1=3392 temp2=3464 809B 0 0 10 1 99 0 14 0 4 8F 5 85

[mstrens]

The new 2 step calibration prozess ??? Force MPU6050 calibration MPUCAL=Y Y = H (Horizontal and still) or V (Vertical=nose up)

Acc/Gyro is detected using MP6050 Acceleration offsets X, Y, Z = -64 , 373 , -2756 Gyro offsets X, Y, Z = 0 , -9 , -12 Orientation Horizontal is UP(Z+) Vertical is UP(Z+)

Orientation(Hoz./Vert.)GOH = X or GOV = X 0(front X+), 1(back X-), 2(left Y+), 3(right Y-), 4(up Z+), 5(down Z-)

What do I have to adjust when installing the MP6050 horizontally with X axis (to the nose) and Y axis (to the wing) orientation.

Note: best is to discuss gyro in a specific issue. The easier (also can be part of testing) is to use the 2 usb commands: While the mp6050 is horizontal (X and Y axis horizontal) and still, enter the command MPUCAL=H and wait a few seconds (result will be displayed. Then hold the MP6050 in such a way that X axis (the arrow) point to the sky (so nearly vertically) and while in this position enter the command MPUCAL=V. After this, if you ask the config, you should get something like : horizontal = UP vertical = front

[mstrens]

About vspeed: Vspeed is probably missing because the mpu6050 did not had a valid orientation. In this case, oXs can't calculate the vertical acceleration. I suggest that you first calibrate the MP6050.

[Satcomix]

Thanks, the V.Speed ​​0110 is back in telemetry. MPUCAL=H at bottom and MPUCAL=V while X points to the horizon brought the solution.

[mstrens]

Thanks, the V.Speed ​​0110 is back in telemetry. MPUCAL=H at bottom and MPUCAL=V while X points to the horizon brought the solution.

The configuration you had previously (both horizontal and vertical in the same direction - or opposite) is not possible (physically). In principe this is detected by oXs and gives a message when the config is printed. Still it does not set the config as invalid because this should block all oXs functions and so it would not be possible to make the MPUCAL to fix the orientation.