# Power boards diagnostics

## .Power board status verification

Assumed that the complete DroneCore.Suite with the provided Jetson system image is used. The ROS package *ae\_powerboard\_control contains* functionality to display .Power board status. This status output contains info about DroneCore.Power board and diagnostic info about all ESCs on the board.

### Run status command (ROS)

* Open console on Jetson Xavier NX
* Run command `roslaunch ae_powerboard_control control.launch`
* Wait for status info
  * It is displayed **immediately** after the node is started, ie, **several seconds**
* Exit command `Ctrl + C`

### Output description

* Contain
  * Status
    * Value = 0 - correct reception of the packet
    * Value = 1 - error during reception of the packet
  * I2C address of PowerBoard
  * Error and warning log of ESCs
    * From the last power-cycle (*Actual run*)
    * From previous power-cycle
    * From all power-cycles before clean
  * Data of ESCs
    * Max and average current
    * Max motor and ESC temperature
  * Info of ESCs
    * Fw version
    * Device address
    * Hw build
    * Serial number
  * Resistances of the motor
    * Global resistance
    * Resistance of phases
  * Info of PowerBoard
    * Fw version
    * Hw build
    * Serial number
* Example of status info

This example output illustrates a situation where there are issues with Motor1 / Motor2, and Motor3 / Motor4 works properly.

```
[ INFO] [1646212132.552673930]: I2C address: /dev/i2c-8
[ INFO] [1646212132.593450481]: ESC1 ERROR LOG - Status: 0, Last E: 0x2 W: 0x0, Prev E: 0x2 W: 0x0, All E: 0x2 W: 0x2
[ INFO] [1646212132.596354627]: ESC2 ERROR LOG - Status: 0, Last E: 0x2 W: 0x0, Prev E: 0x2 W: 0x0, All E: 0x2 W: 0x2
[ INFO] [1646212132.599261750]: ESC3 ERROR LOG - Status: 0, Last E: 0x0 W: 0x0, Prev E: 0x0 W: 0x0, All E: 0x0 W: 0x2
[ INFO] [1646212132.602140264]: ESC4 ERROR LOG - Status: 0, Last E: 0x0 W: 0x0, Prev E: 0x0 W: 0x0, All E: 0x0 W: 0x2
[ INFO] [1646212132.603665123]: ESC1 DATA - Status: 0, Is_max: 1.000000, Is_avg: 0.100000, Esc_temp_max: 45, Motor_temp_max: 10
[ INFO] [1646212132.605076091]: ESC2 DATA - Status: 0, Is_max: 0.000000, Is_avg: 0.100000, Esc_temp_max: 48, Motor_temp_max: 0
[ INFO] [1646212132.606477780]: ESC3 DATA - Status: 0, Is_max: 0.000000, Is_avg: 0.100000, Esc_temp_max: 48, Motor_temp_max: 0
[ INFO] [1646212132.607886156]: ESC4 DATA - Status: 0, Is_max: 0.000000, Is_avg: 0.100000, Esc_temp_max: 48, Motor_temp_max: 0
[ INFO] [1646212132.609661099]: ESC1 INFO - Status: 0, Fw: 0.0.0, Address: 0, Hw build: 256, Sn: 4294967295
[ INFO] [1646212132.611445770]: ESC2 INFO - Status: 0, Fw: 0.0.0, Address: 1, Hw build: 256, Sn: 4294967295
[ INFO] [1646212132.613418285]: ESC3 INFO - Status: 0, Fw: 0.0.0, Address: 2, Hw build: 256, Sn: 4294967295
[ INFO] [1646212132.615471216]: ESC4 INFO - Status: 0, Fw: 0.0.0, Address: 3, Hw build: 256, Sn: 4294967295
[ INFO] [1646212132.617679287]: ESC1 RESISTANCE - Status: 0, Ph A: 0.000000, Ph B: 0.000000, Ph C: 0.000000, Rs: 0.000000
[ INFO] [1646212132.619911838]: ESC2 RESISTANCE - Status: 0, Ph A: 0.000000, Ph B: 0.000000, Ph C: 0.000000, Rs: 0.000000
[ INFO] [1646212132.622141029]: ESC3 RESISTANCE - Status: 0, Ph A: 0.050600, Ph B: 0.050355, Ph C: 0.058235, Rs: 0.051593
[ INFO] [1646212132.624318187]: ESC4 RESISTANCE - Status: 0, Ph A: 0.056032, Ph B: 0.048504, Ph C: 0.046156, Rs: 0.051481
[ INFO] [1646212132.626024072]: BOARD INFO - Fw: 0.0.5, Hw build: 2, Sn: 163880
```


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