# ModalAI Flight Core v1 :::warning PX4 does not manufacture this (or any) autopilot. Contact the [manufacturer](https://forum.modalai.com/) for hardware support or compliance issues. ::: The ModalAI [Flight Core v1](https://modalai.com/flight-core) ([Datasheet](https://docs.modalai.com/flight-core-datasheet)) is a flight controller for PX4, made in the USA. The Flight Core can be paired with ModalAI [VOXL](https://modalai.com/voxl) ([Datasheet](https://docs.modalai.com/voxl-datasheet/)) for obstacle avoidance and GPS-denied navigation, or used independently as a standalone flight controller. ![FlightCoreV1](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-4edb9f3d2be9a1c17b485244638798eaf3daf48c%2Fmain.jpg?alt=media) Flight Core is identical to the PX4 Flight Controller portion of [VOXL Flight](https://www.modalai.com/voxl-flight) ([Datasheet](https://docs.modalai.com/voxl-flight-datasheet/)) which integrates the VOXL Companion Computer and Flight Core into a single PCB. :::note This flight controller is [manufacturer supported](https://px4.gitbook.io/px4-user-guide/drone_parts/flight_controller/autopilot_manufacturer_supported). ::: ## Specification | Feature | Details | | ---------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------- | | Weight | 6 g | | MCU | 216MHz, 32-bit ARM M7 [STM32F765II](https://www.st.com/en/microcontrollers-microprocessors/stm32f765ii.html) | | Memory | 256Kb FRAM | | | 2Mbit Flash | | | 512Kbit SRAM | | Firmware | [PX4](https://github.com/PX4/PX4-Autopilot/tree/main/boards/modalai/fc-v1) | | IMUs | [ICM-20602](https://www.invensense.com/products/motion-tracking/6-axis/icm-20602/) (SPI1) | | | ICM-42688 (SPI2) | | | [BMI088](https://www.bosch-sensortec.com/bst/products/all_products/bmi088_1) (SPI6) | | Barometer | [BMP388](https://www.bosch-sensortec.com/products/environmental-sensors/pressure-sensors/bmp388/) (I2C4) | | Secure Element | [A71CH](https://www.nxp.com/products/security-and-authentication/authentication/plug-and-trust-the-fast-easy-way-to-deploy-secure-iot-connections:A71CH) (I2C4) | | microSD Card | [Information on supported cards](https://px4.gitbook.io/px4-user-guide/development/debug/logging#sd-cards) | | Inputs | GPS/Mag | | | Spektrum | | | Telemetry | | | CAN bus | | | PPM | | Outputs | 6 LEDs (2xRGB) | | | 8 PWM Channels | | Extra Interfaces | 3 serial ports | | | I2C | | | GPIO | :::note More detailed hardware documentation can be found [here](https://docs.modalai.com/flight-core-datasheet/). ::: ## Dimensions ![FlightCoreV1Dimensions](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-c3b535cffa35bf78c205cebd863d28c9652ccfbd%2Fdimensions.png?alt=media) ## PX4 Firmware Compatibility *Flight Core v1* is fully compatible with the official PX4 Firmware from PX4 v1.11. ModalAI maintains a [branched PX4 version](https://github.com/modalai/px4-firmware/tree/modalai-1.11) for PX4 v1.11. This includes UART ESC support and improvements in VIO and VOA that are planned to be upstreamed. More information about the firmware can be found [here](https://docs.modalai.com/flight-core-firmware/). ## QGroundControl Support This board supported in QGroundControl 4.0 and later. ## Availability * [Flight Core Complete Kit](https://modalai.com/flight-core) * [Flight Core integrated with VOXL Companion Computer on a single PCB](https://modalai.com/flight-core) * [Flight Core integrated with VOXL Companion Computer and Obstacle Avoidance Cameras (VOXL Flight Deck)](https://modalai.com/flight-deck) ([Datasheet](https://docs.modalai.com/voxl-flight-deck-platform-datasheet/)) * [Flight Core assembled with VOXL and cameras](https://shop.modalai.com/products/voxl-flight-deck-r1) ## Quick Start ### Orientation The diagram below shows the recommended orientation, which corresponds to `ROTATION_NONE` starting with PX4 v1.11 (and on the [ModalAI-maintained PX4 v1.10 branch](https://github.com/modalai/px4-firmware/tree/modalai-1.10)) ![FlightCoreV1Orientation](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-289504fd7d0b5090d968ad22f5ad350e5afa84c6%2Forientation.png?alt=media) :::warning For *PX4 v1.10* stable releases from *QGroundControl* use `ROTATION_YAW_180` for the above orientation. ::: ### Connectors Detailed information about the pinouts can be found [here](https://docs.modalai.com/flight-core-datasheet-connectors). ![FlightCoreV1Top](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-ebda38e94495b8005f8c5c4d708b71780740af1e%2Ftop.png?alt=media) | Connector | Summary | | --------- | ---------------------------------------------------------- | | J1 | VOXL Communications Interface Connector (TELEM2) | | J2 | Programming and Debug Connector | | J3 | USB Connector | | J4 | UART2, UART ESC (TELEM3) | | J5 | Telemetry Connector (TELEM1) | | J6 | VOXL-Power Management Input / Expansion | | J7 | 8-Channel PWM Output Connector | | J8 | CAN Bus Connector | | J9 | PPM RC In | | J10 | External GPS & Magnetometer Connector | | J12 | RC input, Spektrum/SBus/UART Connector | | J13 | I2C Display (Spare Sensor Connector) / Safety Button Input | ![FlightCoreV1Bottom](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-3ae89e230a4321d7f5447b9a815e0821f735b73c%2Fbottom.png?alt=media) ### User Guide The full user guide is available [here](https://docs.modalai.com/flight-core-manual/). ### How to Build To [build PX4](https://px4.gitbook.io/px4-user-guide/development/getting_started/building_px4) for this target: ``` make modalai_fc-v1 ``` ## Serial Port Mapping | UART | Device | Port | | ------ | ---------- | ---------------------------------------- | | USART1 | /dev/ttyS0 | GPS1 (J10) | | USART2 | /dev/ttyS1 | TELEM3 (J4) | | USART3 | /dev/ttyS2 | Debug Console (J2) | | UART4 | /dev/ttyS3 | Expansion UART (J6) | | UART5 | /dev/ttyS4 | TELEM2, Primary VOXL Communications (J1) | | USART6 | /dev/ttyS5 | RC (J12) | | UART7 | /dev/ttyS6 | TELEM1 (J5) | | UART8 | /dev/ttyS7 | N/A | ## Support Please visit the [ModalAI Forum](https://forum.modalai.com/category/10/flight-core) for more information. --- # Agent Instructions: Querying This Documentation If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question. Perform an HTTP GET request on the current page URL with the `ask` query parameter: ``` GET https://px4.gitbook.io/px4-user-guide/drone_parts/flight_controller/autopilot_manufacturer_supported/modalai_fc_v1.md?ask= ``` The question should be specific, self-contained, and written in natural language. The response will contain a direct answer to the question and relevant excerpts and sources from the documentation. Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.