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docs: Remove all discontinued FCs (#26642)

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Hamish Willee
2026-03-05 08:03:07 +11:00
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docs/en/flight_controller/modalai_fc_v1.md
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# ModalAI Flight Core v1
<Redirect to="../flight_controller/autopilot_discontinued" />
<Badge type="info" text="Discontinued" /> <Badge type="tip" text="PX4 v1.11" />
<!--
# ModalAI Flight Core v1 (Discontinued)
::: warning
This frame has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available.
:::
::: 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_ ([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 for obstacle avoidance and GPS-denied navigation, or used independently as a standalone flight controller.
![FlightCoreV1](../../assets/flight_controller/modalai/fc_v1/main.jpg)
Flight Core is identical to the PX4 Flight Controller portion of [VOXL Flight](https://www.modalai.com/pages/eol) ([Datasheet](https://docs.modalai.com/voxl-flight-datasheet/)) which integrates the VOXL Companion Computer and Flight Core into a single PCB.
::: info
This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
:::
## Specification
| Feature | Details |
| :--------------- | :--------------------------------------------------------------- |
| Weight | 6 g |
| MCU | 216MHz, 32-bit ARM M7 [STM32F765II][stm32f765ii] |
| Memory | 256Kb FRAM |
| | 2Mbit Flash |
| | 512Kbit SRAM |
| Firmware | [PX4][px4] |
| IMUs | [ICM-20602][icm-20602] (SPI1) |
| | ICM-42688 (SPI2) |
| | [BMI088][bmi088] (SPI6) |
| Barometer | [BMP388][bmp388] (I2C4) |
| Secure Element | [A71CH][a71ch] (I2C4) |
| microSD Card | [Information on supported cards](../dev_log/logging.md#sd-cards) |
| Inputs | GPS/Mag |
| | Spektrum |
| | Telemetry |
| | CAN bus |
| | PPM |
| Outputs | 6 LEDs (2xRGB) |
| | 8 PWM Channels |
| Extra Interfaces | 3 serial ports |
| | I2C |
| | GPIO |
::: info
More detailed hardware documentation can be found [here](https://docs.modalai.com/flight-core-datasheet/).
:::
<!-- reference links for table above (improve layout) -->
[stm32f765ii]: https://www.st.com/en/microcontrollers-microprocessors/stm32f765ii.html
[bmp388]: https://www.adafruit.com/product/3966
[icm-20602]: https://invensense.tdk.com/products/motion-tracking/6-axis/icm-20602/
[bmi088]: https://www.bosch-sensortec.com/products/motion-sensors/imus/bmi088/
[px4]: https://github.com/PX4/PX4-Autopilot/tree/main/boards/modalai/fc-v1
[a71ch]: https://www.nxp.com/products/security-and-authentication/authentication/plug-and-trust-the-fast-easy-way-to-deploy-secure-iot-connections:A71CH
## Dimensions
![FlightCoreV1Dimensions](../../assets/flight_controller/modalai/fc_v1/dimensions.png)
## 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 is supported in QGroundControl 4.0 and later.
## Availability
- No longer available
## Quick Start
### Orientation
The diagram below shows the recommended orientation, which corresponds to `ROTATION_NONE` starting with PX4 v1.11.
![FlightCoreV1Orientation](../../assets/flight_controller/modalai/fc_v1/orientation.png)
### Connectors
Detailed information about the pinouts can be found [here](https://docs.modalai.com/flight-core-datasheet-connectors/).
![FlightCoreV1Top](../../assets/flight_controller/modalai/fc_v1/top.png)
| 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](../../assets/flight_controller/modalai/fc_v1/bottom.png)
### User Guide
The full user guide is available [here](https://docs.modalai.com/flight-core/).
### How to Build
To [build PX4](../dev_setup/building_px4.md) for this target:
```sh
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 |
<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
## Support
Please visit the [ModalAI Forum](https://forum.modalai.com/category/10/flight-core) for more information.
DOC REMOVED: 202603
-->