# ModalAI VOXL 2
注意
PX4 does not manufacture this (or any) autopilot. Contact the manufacturer (opens new window) for hardware support or compliance issues.
The ModalAI VOXL 2 (opens new window) (Datasheet (opens new window)) is ModalAI’s next-gen autonomous computing platform built around the Qualcomm QRB5165 processor. VOXL 2 boasts 8 cores, integrated PX4, seven camera concurrency, advanced onboard AI up to 15+ TOPS, and 5G connectivity. At 16 grams, VOXL 2 is the future of fully autonomous and connected drones!
注解
This flight controller is manufacturer supported.
# Specifications
# System
| Feature | VOXL 2 |
|---|---|
| CPU | QRB5165 8 cores up to 3.091GHz 8GB LPDDR5 128GB Flash |
| OS | Ubuntu 18.04 - Linux Kernel v4.19 |
| GPU | Adreno 650 GPU – 1024 ALU |
| NPU | 15 TOPS |
| Flight Controller Embedded | Yes (Sensors DSP, PX4) |
| Built in WiFi | No |
| Add-on Connectivity | WiFi, 5G, 4G/LTE, Microhard |
| Video Encoding | 8K30 h.264/h.265 108MP still images |
| Computer Vision Sensors | QTY 6 4-lane CSI, QTY4 CCI (e.g. 2 stereo pair, hires, tracking) |
| Tracking Sensor | Yes |
| Dimensions | 70mm x 36mm |
| Weight | 16g |
| VOXL SDK: GPS-denied nav., SLAM, obstacle avoidance, object recognition | Yes |
| ROS | ROS 1 & 2 |
| QGroundControl | Yes |
| ATAK | Yes |
| NDAA ’20 Section 848 Compliant | Yes, Assembled in USA |
| PMD TOF | Yes (SDK 1.0 and newer) |
| FLIR Boson | USB |
| FLIR Lepton | USB, SPI in development |
注解
More detailed hardware documentation can be found here (opens new window).
# Dimensions
# 2D Dimensions
# 3D Dimensions
3D STEP File (opens new window)
# PX4 Firmware Compatibility
# voxl-dev branch
ModalAI is actively working on a branched PX4 version (opens new window) that can be used.
As VOXL 2 runs Ubuntu, the production releases of PX4 for VOXL 2 are distributed through apt package management (opens new window) and the VOXL SDK (opens new window).
More information about the firmware can be found here (opens new window).
# main branch
PX4 mainline support is a work in progress (currently started here (opens new window)).
# QGroundControl Support
This board supported in QGroundControl 4.0 and later.
# Availability
- Sentinel Development Drone powered by VOXL 2 (opens new window)
- VOXL 2 Flight Deck, ready to mount, tune and fly (opens new window)
- VOXL 2 Development Kits (opens new window)
# Quick Start
Quickstarts from the vendor are located here (opens new window).
# VOXL SDK
VOXL SDK (Software Development Kit) consists of the open source voxl-px4 (opens new window), core libraries (opens new window), services (opens new window), tools (opens new window), utilities (opens new window), and build environments (opens new window) that ModalAI provide to accelerate the use and development of VOXL compute boards and accessories.
VOXL SDK runs on VOXL, VOXL 2 and RB5 Flight!
The source code for projects within VOXL SDK can be found at https://gitlab.com/voxl-public, alongside build instructions.
# Connectors
Detailed information about the pinouts can be found here (opens new window) along with a video overview here (opens new window)
All single ended signals on B2B connectors J3, J5, J6, J7, and J8 are 1.8V CMOS unless explicitly noted. All single ended signals on cable-to-board connectors J10, J18, & J19 are 3.3V CMOS unless explicitly noted.
| Connector | Description | MPN (Board Side) | Mating MPN (Board/Cable Side) | Type | Signal Feature Summary |
|---|---|---|---|---|---|
| J2 | Fan | SM02B-SRSS-TB(LF)(SN) | SHR-02V-S | Cable Header, 2-pin R/A | 5V DC for FAN + PWM Controlled FAN-Return (GND) |
| J3 | Legacy B2B | QSH-030-01-L-D-K-TR | QTH-030-01-L-D-A-K-TR | B2B Receptacle, 60-pin | 5V/3.8V/3.3V/1.8V power for plug-in boards, JTAG and Debug Signals, QUP expansion, GPIOs, USB3.1 Gen 2 (USB1) |
| J4 | Prime Power In | 22057045 | 0050375043 | Cable Connector, 4-pin R/A | +5V main DC power in + GND, I2C@5V for power monitors |
| J5 | High Speed B2B | ADF6-30-03.5-L-4-2-A-TR | ADM6-30-01.5-L-4-2-A-TR | B2B Socket, 120-pin | More 3.8V/3.3V/1.8V power for plug-in boards, 5V power in for “SOM Mode”, QUP expansion, GPIOS (including I2S), SDCC (SD Card V3.0), UFS1 (secondary UFS Flash), 2L PCIe Gen 3, AMUX and SPMI PMIC signals |
| J6 | Camera Group 0 | DF40C-60DP-0.4V(51) | DF40C-60DS-0.4V | B2B Plug, 60-pin | Qty-2 4L MIPI CSI ports, CCI and camera control signals, 8 power rails (from 1.05V up to 5V) for cameras and other sensors, dedicated SPI (QUP) port |
| J7 | Camera Group 1 | DF40C-60DP-0.4V(51) | DF40C-60DS-0.4V | B2B Plug, 60-pin | Qty-2 4L MIPI CSI ports, CCI and camera control signals, 8 power rails (from 1.05V up to 5V) for cameras and other sensors, dedicated SPI (QUP) port |
| J8 | Camera Group 2 | DF40C-60DP-0.4V(51) | DF40C-60DS-0.4V | B2B Plug, 60-pin | Qty-2 4L MIPI CSI ports, CCI and camera control signals, 8 power rails (from 1.05V up to 5V) for cameras and other sensors, dedicated SPI (QUP) port |
| J9 | USB-C (ADB) | UJ31-CH-3-SMT-TR | USB Type-C | Cable Receptacle, 24-pin R/A | ADB USB-C with re-driver and display port alternate mode (USB0) |
| J10 | SPI Expansion | SM08B-GHS-TB(LF)(SN) | GHR-08V-S | Cable Header, 8-pin R/A | SPI@3.3V with 2 CS_N pins, 32kHz CLK_OUT@3.3V |
| J18 | ESC (SLPI Access) | SM04B-GHS-TB(LF)(SN) | GHR-04V-S | Cable Header, 4-pin R/A | ESC UART@3.3V, 3.3V reference voltage |
| J19 | GNSS/MAG/RC/I2C (SLPI Access) | SM12B-GHS-TB(LF)(SN) | GHR-12V-S | Cable Header, 6-pin R/A | GNSS UART@3.3V, Magnetometer I2C@3.3V, 5V, RC UART, Spare I2C |
# User Guide
The PX4 user guide for VOXL 2 is available here (opens new window).
# Developer Guide
The PX4 developer guide for VOXL 2 is available here (opens new window).
# How to Build
See the VOXL PX4 Build Guide (opens new window) on how to build.
# Support
Please visit the ModalAI Forum (opens new window) for more information.