# ModalAI VOXL 2
:::warning PX4 does not manufacture this (or any) autopilot. Contact the [manufacturer](https://forum.modalai.com/) for hardware support or compliance issues. :::
The ModalAI [VOXL 2](https://modalai.com/voxl-2) ([Datasheet](https://docs.modalai.com/voxl2-datasheets/)) 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!
:::note This flight controller is [manufacturer supported](https://px4.gitbook.io/px4-user-guide/drone_parts/flight_controller/autopilot_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 |
:::note More detailed hardware documentation can be found [here](https://docs.modalai.com/voxl-flight-datasheet/). :::
## Dimensions
### 2D Dimensions
### 3D Dimensions
[3D STEP File](https://storage.googleapis.com/modalai_public/modal_drawings/M0054_VOXL2_PVT_SIP_REVA.step)
## PX4 Firmware Compatibility
### voxl-dev branch
ModalAI is actively working on a [branched PX4 version](https://github.com/modalai/px4-firmware/tree/voxl-dev) that can be used.
As VOXL 2 runs Ubuntu, the production releases of PX4 for VOXL 2 are distributed through [apt package management](https://docs.modalai.com/configure-pkg-manager/) and the [VOXL SDK](https://docs.modalai.com/voxl-sdk/).
More information about the firmware can be found [here](https://docs.modalai.com/voxl2-px4-developer-guide/).
### main branch
PX4 mainline support is a work in progress (currently started [here](https://github.com/PX4/PX4-Autopilot/tree/main/boards/modalai/voxl2)).
## QGroundControl Support
This board supported in QGroundControl 4.0 and later.
## Availability
* [Sentinel Development Drone powered by VOXL 2](https://www.modalai.com/pages/sentinel)
* [Demo Video](https://www.youtube.com/watch?v=hMhQgWPLGXo)
* [VOXL 2 Flight Deck, ready to mount, tune and fly](https://www.modalai.com/collections/ready-to-mount/products/voxl-2-flight-deck)
* [VOXL 2 Development Kits](https://www.modalai.com/products/voxl-2)
* [Demo Video](https://www.youtube.com/watch?v=aVHBWbwp488)
## Quick Start
Quickstarts from the vendor are located [here](https://docs.modalai.com/voxl2-quickstarts/).
### VOXL SDK
VOXL SDK (Software Development Kit) consists of the open source [voxl-px4](https://docs.modalai.com/voxl-px4/), [core libraries](https://docs.modalai.com/core-libs/), [services](https://docs.modalai.com/mpa-services/), [tools](https://docs.modalai.com/inspect-tools/), [utilities](https://docs.modalai.com/sdk-utilities/), and [build environments](https://docs.modalai.com/build-environments/) 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 , alongside build instructions.
### Connectors
Detailed information about the pinouts can be found [here](https://docs.modalai.com/voxl2-connectors/) along with a [video overview here](https://www.youtube.com/watch?v=xmqI3msjqdo)
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 | with 2 CS\_N pins, 32kHz |
| J18 | ESC (SLPI Access) | SM04B-GHS-TB(LF)(SN) | GHR-04V-S | Cable Header, 4-pin R/A | ESC , 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 , Magnetometer , 5V, RC UART, Spare I2C |
### User Guide
The PX4 user guide for VOXL 2 is available [here](https://docs.modalai.com/voxl-px4/).
### Developer Guide
The PX4 developer guide for VOXL 2 is available [here](https://docs.modalai.com/voxl-px4-developer-guide/).
### How to Build
See the [VOXL PX4 Build Guide](https://docs.modalai.com/voxl2-px4-build-guide/) on how to build.
## Support
Please visit the [ModalAI Forum](https://forum.modalai.com/category/26/voxl-2) for more information.
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