ModalAI VOXL Flight
Last updated
Last updated
:::warning PX4 does not manufacture this (or any) autopilot. Contact the for hardware support or compliance issues. :::
The ModalAI () is one of the first computing platforms to combine the power and sophistication of Snapdragon with the flexibility and ease of use of PX4 on an STM32F7. Made in the USA, VOXL Flight supports obstacle avoidance and GPS-denied (indoor) navigation fused with a PX4 flight controller on a single PCB.
:::note This flight controller is . :::
Weight
26 g
Base Operation System
Compute
CPU
Quad-core CPU up to 2.15GHz
GPU
Adreno 530 GPU at 624MHz
Compute DSP
Hexagon compute DSP (cDSP) 825MHz
Sensor DSP
Hexagon sensor DSP (sDSP) 700MHz
Video
4k30 Video Capture h.264/5 w/ 720p FPV
Camera Interfaces
Support for MIPI-CSI2, USB UVC, HDMI
Wi-Fi
4G LTE
Microhard pDDL
GNSS
WGR7640 10Hz
I/O
1x USB3.0 OTG (ADB port), 1x USB2.0 (expansion port), 2x UART, 3x I2C, additional GPIO and SPI can be configured
Storage
32GB (UFS 2.0), Micro SD Card
Software
IMUs
ICM-42688 (SPI10), ICM-20948 (SPI1)
Barometer
BMP280
MCU
Memory
256Kb FRAM
2Mbit Flash
512Kbit SRAM
Firmware
IMUs
ICM-42688 (SPI2)
Barometer
Secure Element
microSD Card
Inputs
GPS/Mag
Spektrum
Telemetry
CAN bus
PPM
Outputs
6 LEDs (2xRGB)
8 PWM Channels
Extra Interfaces
3 serial ports
I2C
GPIO
VOXL Flight is fully compatible with the official PX4 Firmware from PX4 v1.11.
This board supported in QGroundControl 4.0 and later.
Note: 1000 Series connectors accessible from the STM32/PX4
J2
Hires 4k Image Sensor (CSI0)
Snapdragon - Linux
J3
Stereo Image Sensor (CSI1)
Snapdragon - Linux
J6
Cooling Fan Connector
Snapdragon - Linux
J7
BLSP6 (GPIO) and BLSP9 (UART)
Snapdragon - Linux
J13
Expansion B2B
Snapdragon - Linux
J14
Integrated GNSS Antenna Connection
Snapdragon - Linux
J1001
Programming and Debug/UART3
STM32 - PX4
J1002
UART ESC, UART2/TELEM3
STM32 - PX4
J1003
PPM RC In
STM32 - PX4
J1004
RC Input, Spektrum/SBus/UART6
STM32 - PX4
J1006
USB 2.0 Connector (PX4/QGroundControl)
STM32 - PX4
J1007
8-Channel PWM/DShot Output
STM32 - PX4
J1008
CAN Bus
STM32 - PX4
J1009
I2C3, UART4
STM32 - PX4
J1010
Telemetry (TELEM1)
STM32 - PX4
J1011
I2C2, Safety Button Input
STM32 - PX4
J1012
External GPS & Mag, UART1, I2C1
STM32 - PX4
J1013
Power Input, I2C3
STM32 - PX4 (powers whole system)
Note: 1000 Series connectors accessible from the STM32/PX4
J4
Tracking/Optic Flow Image Sensor (CSI2)
Snapdragon - Linux
J8
USB 3.0 OTG
Snapdragon - Linux, adb
J10
BLSP7 UART and I2C off-board
Snapdragon - Linux
J11
BLSP12 UART and I2C off-board
Snapdragon - Linux
VOXL microSD
Snapdragon - Linux
PX4 microSD
32Gb Max
STM32 - PX4
Wi-Fi Antennas
Included
Snapdragon - Linux
Note: mappings shown are for the PX4 controlled interfaces only
USART1
/dev/ttyS0
GPS1 (J1012)
USART2
/dev/ttyS1
TELEM3 (J1002)
USART3
/dev/ttyS2
Debug Console (J1001)
UART4
/dev/ttyS3
Expansion UART (J6)
UART5
/dev/ttyS4
UART between PX4 and Companion Computer
USART6
/dev/ttyS5
RC (J1004)
UART7
/dev/ttyS6
TELEM1 (J1010)
UART8
/dev/ttyS7
N/A
Linux Yocto Jethro with 3.18 kernel. Additional Linux Operating Systems can be used by running Docker on VOXL, details
Qualcomm Snapdragon 821 w/ 4GB LPDDR4 1866MHz, Snapdragon 821 ,
Pre-certified Wi-Fi module , QCA6174A modem, 802.11ac 2x2 Dual-band, Bluetooth 4.2 (dual-mode)
Docker, OpenCV 2.4.11, 3.4.6, 4.2, ROS Indigo, Qualcomm Machine Vision SDK, see for lots of open source examples!
216MHz, 32-bit ARM M7
(SPI1)
(SPI6)
(I2C4)
(I2C4)
:::note More detailed hardware documentation can be found . :::
ModalAI maintains a 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 .
(only)
()
()
A quickstart from the vendor is located .
The VOXL Flight runs on the companion computer portion of the hardware serving as a sort of MAVLink proxy. For details, the source code is available
Detailed information about the pinouts can be found .
The full user guide is available .
To for this target:
Please visit the for more information.
