diff --git a/boards/modalai/fc-v1/init/rc.board_sensors b/boards/modalai/fc-v1/init/rc.board_sensors
index 0c61baa864..c14d28fc39 100644
--- a/boards/modalai/fc-v1/init/rc.board_sensors
+++ b/boards/modalai/fc-v1/init/rc.board_sensors
@@ -6,7 +6,7 @@
 adc start
 
 # Start Digital power monitors
-voxlpm -X -b 3 -T VBATT start
+voxlpm -X -b 3 -K -T VBATT start
 voxlpm -X -b 3 -T P5VDC start
 
 # Internal SPI bus ICM-20602
diff --git a/src/drivers/power_monitor/voxlpm/voxlpm.cpp b/src/drivers/power_monitor/voxlpm/voxlpm.cpp
index da5a532a55..dc50d63b96 100644
--- a/src/drivers/power_monitor/voxlpm/voxlpm.cpp
+++ b/src/drivers/power_monitor/voxlpm/voxlpm.cpp
@@ -33,54 +33,217 @@
 
 /**
  * @file voxlpm.cpp
- * Driver for the VOXL Power Management unit
+ * Driver for the VOXL Power Module unit
  */
 
 #include "voxlpm.hpp"
 
 /*
- * The VOXLPM has two LTC2946 ICs on it.
+ * The VOXLPM v2 has two LTC2946 ICs on it.
  * Address 0x6A - measures battery voltage and current with a 0.0005 ohm sense resistor
- * Address 0x6B - measures 5VDC ouptut voltage and current
+ * Address 0x6B - measures 5VDC ouptut voltage and current with a 0.005 ohm sense resistor
+ *
+ * The VOXLPM v3 has two INA231 ICs on it.
+ * Address 0x44 - measures battery voltage and current with a 0.0005 ohm sense resistor
+ * Address 0x45 - measures 5VDC/12VDC ouptut voltage and current with a 0.005 ohm sense resistor
  */
 VOXLPM::VOXLPM(I2CSPIBusOption bus_option, const int bus, int bus_frequency, VOXLPM_CH_TYPE ch_type) :
-	I2C(DRV_POWER_DEVTYPE_VOXLPM, MODULE_NAME, bus,
-	    (ch_type == VOXLPM_CH_TYPE_VBATT) ? VOXLPM_LTC2946_ADDR_VBATT : VOXLPM_LTC2946_ADDR_P5VD, bus_frequency),
+	I2C(DRV_POWER_DEVTYPE_VOXLPM, MODULE_NAME, bus, VOXLPM_INA231_ADDR_VBATT, bus_frequency),
 	ModuleParams(nullptr),
 	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
 	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": sample")),
+	_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": comms_errors")),
 	_ch_type(ch_type),
 	_battery(1, this, _meas_interval_us)
 {
-	if (_ch_type == VOXLPM_CH_TYPE_VBATT) {
-		_rsense = VOXLPM_RSENSE_VBATT;
-
-	} else {
-		_rsense = VOXLPM_RSENSE_5VOUT;
-	}
 }
 
 VOXLPM::~VOXLPM()
 {
 	perf_free(_sample_perf);
+	perf_free(_comms_errors);
 }
 
 int
 VOXLPM::init()
 {
+	_initialized = false;
 	int ret = PX4_ERROR;
 
-	/* do I2C init (and probe) first */
+	if (_ch_type == VOXLPM_CH_TYPE_VBATT) {
+		_battery.updateBatteryStatus(
+			hrt_absolute_time(),
+			0.0,
+			0.0,
+			false,
+			battery_status_s::BATTERY_SOURCE_POWER_MODULE,
+			0,
+			0.0
+		);
+	}
+
+	/* do I2C init, it will probe the bus for two possible configurations, LTC2946 or INA231 */
 	if (I2C::init() != OK) {
 		return ret;
 	}
 
-	write_reg(DEFAULT_CTRLA_REG_VAL, VOXLPM_LTC2946_CTRLA_REG);
-	write_reg(DEFAULT_CTRLB_REG_VAL, VOXLPM_LTC2946_CTRLB_REG);
+	/* If we've probed and succeeded we'll have an accurate address here for the VBat addr */
+	uint8_t addr = get_device_address();
 
-	_battery.reset();
+	if (addr == VOXLPM_LTC2946_ADDR_VBATT || addr == VOXLPM_LTC2946_ADDR_P5VD) {
+		_pm_type = VOXLPM_TYPE_V2_LTC;
+		load_params(_pm_type, _ch_type);
+		ret = init_ltc2946();
 
+	} else if (addr == VOXLPM_INA231_ADDR_VBATT || addr == VOXLPM_INA231_ADDR_P5_12VDC) {
+		_pm_type = VOXLPM_TYPE_V3_INA;
+		load_params(_pm_type, _ch_type);
+		ret = init_ina231();
+
+	} else {
+		PX4_ERR("Unkown device address");
+		ret = PX4_ERROR;
+	}
+
+	if (ret == PX4_OK) {
+		_initialized = true;
+		start();
+	}
+
+	return ret;
+}
+
+int
+VOXLPM::force_init()
+{
+	int ret = init();
 	start();
+	return ret;
+}
+
+int
+VOXLPM::probe()
+{
+	int ret = PX4_ERROR;
+	uint8_t data[2];
+
+	uint8_t addr;
+
+	/* Try LTC2946 first */
+	if (_ch_type == VOXLPM_CH_TYPE_VBATT) {
+		addr = VOXLPM_LTC2946_ADDR_VBATT;
+
+	} else {
+		addr = VOXLPM_LTC2946_ADDR_P5VD;
+	}
+
+	set_device_address(addr);
+
+	/* Check status register */
+	ret = read_reg_buf(VOXLPM_LTC2946_STATUS_REG, data, sizeof(data));
+
+	if (ret) {
+		/* Try INA231 next */
+		if (_ch_type == VOXLPM_CH_TYPE_VBATT) {
+			addr = VOXLPM_INA231_ADDR_VBATT;
+
+		} else {
+			addr = VOXLPM_INA231_ADDR_P5_12VDC;
+		}
+
+		set_device_address(addr);
+
+		/* Check config register */
+		ret = read_reg_buf(INA231_REG_CONFIG, data, sizeof(data));
+	}
+
+	return ret;
+}
+
+int
+VOXLPM::load_params(VOXLPM_TYPE pm_type, VOXLPM_CH_TYPE ch_type)
+{
+	if (pm_type == VOXLPM_TYPE_V2_LTC) {
+		/* No configuration needed */
+		_rshunt = (ch_type == VOXLPM_CH_TYPE_VBATT) ? VOXLPM_LTC2946_VBAT_SHUNT : VOXLPM_LTC2946_VREG_SHUNT;
+
+	} else if (pm_type == VOXLPM_TYPE_V3_INA) {
+
+		_rshunt = -1.0f;
+		float fvalue = -1.0f;
+		param_t ph;
+
+		/* Allow for configuration */
+		if (_ch_type == VOXLPM_CH_TYPE_VBATT) {
+			ph = param_find("VOXLPM_SHUNT_BAT");
+
+			if (ph != PARAM_INVALID && param_get(ph, &fvalue) == PX4_OK) {
+				_rshunt = fvalue;
+			}
+
+		} else {
+			ph = param_find("VOXLPM_SHUNT_REG");
+
+			if (ph != PARAM_INVALID && param_get(ph, &fvalue) == PX4_OK) {
+				_rshunt = fvalue;
+			}
+		}
+
+		if (_rshunt < 0) {
+			_rshunt = (_ch_type == VOXLPM_CH_TYPE_VBATT) ? VOXLPM_INA231_VBAT_SHUNT : VOXLPM_INA231_VREG_SHUNT;
+		}
+
+	}
+
+	return PX4_OK;
+}
+
+int
+VOXLPM::init_ltc2946()
+{
+	write_reg(VOXLPM_LTC2946_CTRLA_REG, DEFAULT_LTC2946_CTRLA_REG_VAL);
+	write_reg(VOXLPM_LTC2946_CTRLB_REG, DEFAULT_LTC2946_CTRLB_REG_VAL);
+	return PX4_OK;
+}
+
+int
+VOXLPM::init_ina231()
+{
+	int ret = PX4_OK;
+	uint16_t cmd;
+
+	/* Reset */
+	cmd = INA231_RST_BIT;
+	ret = write_word_swapped(INA231_REG_CONFIG, cmd);
+
+	if (ret) {
+		PX4_ERR("Failed to reset INA231");
+		return ret;
+	}
+
+	/* Config */
+	cmd = INA231_CONFIG;
+	ret = write_word_swapped(INA231_REG_CONFIG, cmd);
+
+	if (ret) {
+		PX4_ERR("Failed to config INA231");
+		return ret;
+	}
+
+	if (_ch_type == VOXLPM_CH_TYPE_VBATT) {
+		_cal = (INA231_CONST / (VOXLPM_INA231_VBAT_I_LSB * _rshunt));
+
+	} else {
+		_cal = (INA231_CONST / (VOXLPM_INA231_VREG_I_LSB * _rshunt));
+	}
+
+	/* Set calibration */
+	ret = write_word_swapped(INA231_REG_CALIBRATION, _cal);
+
+	if (ret) {
+		PX4_ERR("Failed to calibrate INA231");
+		return ret;
+	}
 
 	return PX4_OK;
 }
@@ -90,16 +253,41 @@ VOXLPM::print_status()
 {
 	perf_print_counter(_sample_perf);
 
-	if (_ch_type == VOXLPM_CH_TYPE_VBATT) {
-		printf("- type: BATT\n");
+	switch (_pm_type) {
+	case VOXLPM_TYPE_V2_LTC:
+		printf("- V2 (LTC2964)\n");
+		break;
 
-	} else {
-		printf("- type: P5VDC\n");
+	case VOXLPM_TYPE_V3_INA:
+		printf("- V3 (INA231)\n");
+		break;
+
+	default:
+		break;
 	}
 
-	printf("  - voltage: %9.2f VDC \n", (double)_voltage);
-	printf("  - current: %9.2f ADC \n", (double)_amperage);
-	printf("  - rsense: %9.6f ohm \n", (double)_rsense);
+	switch (_ch_type) {
+	case VOXLPM_CH_TYPE_VBATT:
+		printf("- type: BATT\n");
+		break;
+
+	case VOXLPM_CH_TYPE_P5VDC:
+		printf("- type: P5VDC\n");
+		break;
+
+	case VOXLPM_CH_TYPE_P12VDC:
+		printf("- type: P12VDC\n");
+		break;
+
+	default:
+		printf("- type: UNKOWN\n");
+		break;
+	}
+
+	printf("  - voltage: %9.4f VDC \n", (double)_voltage);
+	printf("  - current: %9.4f ADC \n", (double)_amperage);
+	printf("  - shunt: %9.4f mV, %9.4f mA\n", (double)_vshunt * 1000, (double)_vshuntamps * 1000);
+	printf("  - rsense: %9.6f ohm, cal: %i\n", (double)_rshunt, _cal);
 	printf("  - meas interval:  %u us \n", _meas_interval_us);
 }
 
@@ -118,44 +306,58 @@ VOXLPM::RunImpl()
 int
 VOXLPM::measure()
 {
+	int ret = PX4_ERROR;
+
+	if (!_initialized) {
+		ret = init();
+
+		if (ret) {
+			return ret;
+		}
+	}
+
 	parameter_update_s update;
 
 	if (_parameter_sub.update(&update)) {
 		updateParams();
 	}
 
+	perf_begin(_sample_perf);
 
 	_voltage = 0.0f;
 	_amperage = 0.0f;
-
-	uint8_t vraw[2];
-	uint8_t iraw[2];
-
-	perf_begin(_sample_perf);
-
 	hrt_abstime tnow = hrt_absolute_time();
 
-	int curr_read_ret = read_reg_buf(VOXLPM_LTC2946_DELTA_SENSE_MSB_REG, iraw, sizeof(iraw)); // 0x14
-	int volt_read_ret = read_reg_buf(VOXLPM_LTC2946_VIN_MSB_REG, vraw, sizeof(vraw));         // 0x1E
+	switch (_pm_type) {
+	case VOXLPM_TYPE_V2_LTC:
+		ret = measure_ltc2946();
+		break;
 
-	if ((volt_read_ret == 0) && (curr_read_ret == 0)) {
-		uint16_t volt16 = (((uint16_t)vraw[0]) << 8) | vraw[1];   // MSB first
-		volt16        >>= 4;                                      // data is 12 bit and left-aligned
-		_voltage        = (volt16 / VOXLPM_LTC2946_RESOLUTION) * VOXLPM_LTC2946_VFS_SENSE;
+	case VOXLPM_TYPE_V3_INA:
+		ret = measure_ina231();
+		break;
 
-		uint16_t curr16 = (((uint16_t)iraw[0]) << 8) | iraw[1];   // MSB first
-		curr16        >>= 4;                                      // data is 12 bit and left-aligned
-		_amperage       = curr16 / VOXLPM_LTC2946_RESOLUTION * VOXLPM_LTC2946_VFS_DELTA_SENSE / _rsense;
+	default:
+		break;
+	}
 
+	if (ret == PX4_OK) {
 		switch (_ch_type) {
 		case VOXLPM_CH_TYPE_VBATT: {
-				_battery.updateBatteryStatus(tnow, _voltage, _amperage, true,
-							     battery_status_s::BATTERY_SOURCE_POWER_MODULE, 0, 0);
+				_actuators_sub.copy(&_actuator_controls);
+
+				_battery.updateBatteryStatus(tnow,
+							     _voltage,
+							     _amperage,
+							     true,
+							     battery_status_s::BATTERY_SOURCE_POWER_MODULE,
+							     0,
+							     _actuator_controls.control[actuator_controls_s::INDEX_THROTTLE]);
 			}
 
 		// fallthrough
-
-		case VOXLPM_CH_TYPE_P5VDC: {
+		case VOXLPM_CH_TYPE_P5VDC:
+		case VOXLPM_CH_TYPE_P12VDC: {
 				memset(&_pm_status, 0x00, sizeof(_pm_status));
 				_pm_status.timestamp = tnow;
 				_pm_status.voltage_v = (float) _voltage;
@@ -169,10 +371,17 @@ VOXLPM::measure()
 		}
 
 	} else {
+		perf_count(_comms_errors);
+
 		switch (_ch_type) {
 		case VOXLPM_CH_TYPE_VBATT: {
-				_battery.updateBatteryStatus(tnow, 0.0, 0.0, true,
-							     battery_status_s::BATTERY_SOURCE_POWER_MODULE, 0, 0);
+				_battery.updateBatteryStatus(tnow,
+							     0.0,
+							     0.0,
+							     true,
+							     battery_status_s::BATTERY_SOURCE_POWER_MODULE,
+							     0,
+							     0.0);
 			}
 			break;
 
@@ -183,7 +392,73 @@ VOXLPM::measure()
 
 	perf_end(_sample_perf);
 
-	return OK;
+	return ret;
+}
+
+int
+VOXLPM::measure_ltc2946()
+{
+	int ret = PX4_ERROR;
+	uint8_t vraw[2];
+	uint8_t iraw[2];
+
+	int amp_ret = read_reg_buf(VOXLPM_LTC2946_DELTA_SENSE_MSB_REG, iraw, sizeof(iraw));  // 0x14
+	int volt_ret = read_reg_buf(VOXLPM_LTC2946_VIN_MSB_REG, vraw, sizeof(vraw));         // 0x1E
+
+	if ((amp_ret == 0) && (volt_ret == 0)) {
+		uint16_t volt16 = (((uint16_t)vraw[0]) << 8) | vraw[1];   // MSB first
+		volt16        >>= 4;                                      // data is 12 bit and left-aligned
+		_voltage        = (volt16 / VOXLPM_LTC2946_RESOLUTION) * VOXLPM_LTC2946_VFS_SENSE;
+
+		uint16_t curr16 = (((uint16_t)iraw[0]) << 8) | iraw[1];   // MSB first
+		curr16        >>= 4;                                      // data is 12 bit and left-aligned
+		_amperage       = curr16 / VOXLPM_LTC2946_RESOLUTION * VOXLPM_LTC2946_VFS_DELTA_SENSE / _rshunt;
+		ret = PX4_OK;
+	}
+
+	return ret;
+}
+
+int
+VOXLPM::measure_ina231()
+{
+	int ret = PX4_ERROR;
+
+	uint8_t raw_vshunt[2];
+	uint8_t raw_vbus[2];
+	uint8_t raw_amps[2];
+
+	int16_t vshunt = -1;
+	uint16_t vbus = -1;
+	uint16_t amps = 0;
+
+	int vshunt_ret = read_reg_buf(INA231_REG_SHUNTVOLTAGE, raw_vshunt, sizeof(raw_vshunt));
+	int vbus_ret = read_reg_buf(INA231_REG_BUSVOLTAGE, raw_vbus, sizeof(raw_vbus));
+	int amp_ret = read_reg_buf(INA231_REG_CURRENT, raw_amps, sizeof(raw_amps));
+
+	if ((vshunt_ret == 0) && (vbus_ret == 0) && (amp_ret == 0)) {
+		vshunt = (((int16_t)raw_vshunt[0]) << 8) | raw_vshunt[1];  // MSB first
+		vbus   = (((uint16_t)raw_vbus[0]) << 8) | raw_vbus[1];  // MSB first
+		amps   = (((uint16_t)raw_amps[0]) << 8) | raw_amps[1];  // MSB first
+
+		_voltage = (float) vbus * INA231_VBUSSCALE;
+		_vshunt = (float) vshunt * INA231_VSHUNTSCALE;
+
+		if (_ch_type == VOXLPM_CH_TYPE_VBATT) {
+			/* vshunt is in microvolts, convert to AMPs */
+			_vshuntamps = ((float) _vshunt / VOXLPM_INA231_VBAT_SHUNT);
+			_amperage = (float) amps * VOXLPM_INA231_VBAT_I_LSB;
+
+		} else {
+			/* vshunt is in microvolts, convert to AMPs */
+			_vshuntamps = ((float) _vshunt / VOXLPM_INA231_VREG_SHUNT);
+			_amperage = (float) amps * VOXLPM_INA231_VREG_I_LSB;
+		}
+
+		ret = PX4_OK;
+	}
+
+	return ret;
 }
 
 uint8_t
@@ -191,7 +466,6 @@ VOXLPM::read_reg(uint8_t addr)
 {
 	uint8_t cmd[2] = { (uint8_t)(addr), 0};
 	transfer(&cmd[0], 1, &cmd[1], 1);
-
 	return cmd[1];
 }
 
@@ -203,8 +477,18 @@ VOXLPM::read_reg_buf(uint8_t addr, uint8_t *buf, uint8_t len)
 }
 
 int
-VOXLPM::write_reg(uint8_t value, uint8_t addr)
+VOXLPM::write_reg(uint8_t addr, uint8_t value)
 {
 	uint8_t cmd[2] = { (uint8_t)(addr), value};
 	return transfer(cmd, sizeof(cmd), nullptr, 0);
 }
+
+int
+VOXLPM::write_word_swapped(uint8_t addr, uint16_t value)
+{
+	uint8_t data[3] = {};
+	data[0] = addr;
+	data[1] = (value & 0xFF00) >> 8;
+	data[2] = (value & 0x00FF);
+	return transfer(data, sizeof(data), nullptr, 0);
+}
diff --git a/src/drivers/power_monitor/voxlpm/voxlpm.hpp b/src/drivers/power_monitor/voxlpm/voxlpm.hpp
index b010ed9167..29b0d07bc0 100644
--- a/src/drivers/power_monitor/voxlpm/voxlpm.hpp
+++ b/src/drivers/power_monitor/voxlpm/voxlpm.hpp
@@ -34,10 +34,12 @@
 /**
  * @file voxlpm.hpp
  *
- * Shared defines for the voxlpm (QTY2 LTC2946) driver.
+ * Shared defines for the voxlpm driver.
  *
  * This is roughly what's goin on:
  *
+ * - VOXLPM v2 (QTY2 LTC2946) -
+ *
  *             +~~~~~~~~~~~~~~+
  *  VBATT -----| RSENSE_VBATT | ----------+---------------------> VBATT TO ESCS
  *     |       +~~~~~~~~~~~~~~+           |
@@ -52,6 +54,24 @@
  *     #################              #################
  *     # LTC2946, 0x6a #              # LTC2946, 0x6b #
  *     #################              #################
+ *
+  * - VOXLPM v3 (QTY2 INA231) -
+ *
+ *             +~~~~~~~~~~~~~~+
+ *  VBATT -----| RSENSE_VBATT | ----------+---------------------> VBATT TO ESCS
+ *     |       +~~~~~~~~~~~~~~+           |
+ *     |              |          +--------+------+
+ *     +----+    +----+          | 5/12V REGULATOR  |
+ *          |    |               +--------+------+
+ *          |    |                        |   +~~~~~~~~~~~~~~+
+ *          |    |                        +---| RSENSE_5VOUT |---> 5/12VDC TO COMPUTE/PERIPHERAL
+ *          |    |                        |   +~~~~~~~~~~~~~~+
+ *          |    |                        |         |
+ *         V|    |A                      V|         |A
+ *     #################              #################
+ *     # INA231, 0x44  #              # INA231, 0x45  #
+ *     #################              #################
+ *
  *
  *     Publishes:                     Publishes:
  *     - ORB_ID(battery_status)
@@ -69,6 +89,7 @@
 
 #include <uORB/PublicationMulti.hpp>
 #include <uORB/Subscription.hpp>
+#include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/battery_status.h>
 #include <uORB/topics/power_monitor.h>
 #include <uORB/topics/parameter_update.h>
@@ -76,7 +97,7 @@
 using namespace time_literals;
 
 /*
- * Note that these are unshifted addresses.
+ * VOXLPM v2 - Note that these are unshifted addresses.
  */
 #define VOXLPM_LTC2946_ADDR_VBATT		0x6a // 0x6a  = 0xd4 >> 1
 #define VOXLPM_LTC2946_ADDR_P5VD		0x6b // 0x6b  = 0xd6 >> 1
@@ -87,6 +108,7 @@ using namespace time_literals;
 #define VOXLPM_LTC2946_POWER_MSB2_REG		0x05
 #define VOXLPM_LTC2946_CTRLB_MSG1_REG		0x06
 #define VOXLPM_LTC2946_CTRLB_LSB_REG		0x07
+#define VOXLPM_LTC2946_STATUS_REG		0x80
 
 #define VOXLPM_LTC2946_DELTA_SENSE_MSB_REG	0x14
 #define VOXLPM_LTC2946_DELTA_SENSE_LSB_REG	0x15
@@ -106,7 +128,7 @@ using namespace time_literals;
  * 2:0 - [Channel Configuration]
  *       000 --> Alternate Voltage, Current Measurement
  */
-#define DEFAULT_CTRLA_REG_VAL			0x18
+#define DEFAULT_LTC2946_CTRLA_REG_VAL		0x18
 
 /*
  * CTRLB (Address 0x01 - LTC2946_CTRLA_REG)
@@ -124,7 +146,7 @@ using namespace time_literals;
  * 1:0 - [Auto-Reset Mode/Reset]
  *       01 --> Enable Auto-Reset
  */
-#define DEFAULT_CTRLB_REG_VAL			0x01
+#define DEFAULT_LTC2946_CTRLB_REG_VAL		0x01
 
 /* 12 bits */
 #define VOXLPM_LTC2946_RESOLUTION 		4095.0f
@@ -136,14 +158,67 @@ using namespace time_literals;
 #define VOXLPM_LTC2946_VFS_DELTA_SENSE 		0.1024f
 
 /* Power sense resistor for battery current */
-#define VOXLPM_RSENSE_VBATT			0.0005f
+#define VOXLPM_LTC2946_VBAT_SHUNT		0.0005f
 
 /* Power sense resistor for 5VDC output current */
-#define VOXLPM_RSENSE_5VOUT			0.005f
+#define VOXLPM_LTC2946_VREG_SHUNT		0.005f
+
+/*
+ * VOXLPM v3 - Coniguration from SBOS644C –FEBRUARY 2013–REVISED MARCH 2018
+ *             http://www.ti.com/lit/ds/symlink/ina231.pdf
+ */
+#define VOXLPM_INA231_ADDR_VBATT		0x44
+#define VOXLPM_INA231_ADDR_P5_12VDC		0x45
+
+/* INA231 Registers addresses */
+#define INA231_REG_CONFIG			0x00
+#define INA231_REG_SHUNTVOLTAGE			0x01
+#define INA231_REG_BUSVOLTAGE			0x02
+#define INA231_REG_POWER			0x03
+#define INA231_REG_CURRENT			0x04
+#define INA231_REG_CALIBRATION			0x05
+#define INA231_REG_MASKENABLE			0x06
+#define INA231_REG_ALERTLIMIT			0x07
+
+/* [0:2] Mode - Shunt and bus, 111, continuous (INA231A default) */
+#define INA231_CONFIG_MODE			(0x07 << 0)
+/* [5:3] Shunt Voltage Conversion Time, 100, 1.1ms (INA231A default) */
+#define INA231_CONFIG_SHUNT_CT			(0x04 << 3)
+/* [8:6] Shunt Voltage Conversion Time, 100, 1.1ms (INA231A default) */
+#define INA231_CONFIG_BUS_CT			(0x04 << 6)
+/* [11:9] Averaging Mode, 010, 16 */
+#define INA231_CONFIG_AVG			(0x02 << 9)
+/* [1] Reset bit */
+#define INA231_RST_BIT				(0x01 << 15)
+/* Configuration register settings */
+#define INA231_CONFIG				(INA231_CONFIG_MODE+INA231_CONFIG_SHUNT_CT+INA231_CONFIG_BUS_CT+INA231_CONFIG_AVG)
+
+#define INA231_CONST				0.00512f  /* is an internal fixed value used to ensure scaling is maintained properly  */
+#define INA231_VBUSSCALE			0.00125f  /* LSB of bus voltage is 1.25 mV  */
+#define INA231_VSHUNTSCALE			0.0000025f /* LSB of shunt voltage is 2.5 uV  */
+
+/* From SCH-M00041 REVB */
+#define VOXLPM_INA231_VBAT_SHUNT		0.0005f   /* VBAT shunt is 500 micro-ohm */
+#define VOXLPM_INA231_VREG_SHUNT		0.005f    /* VREG output shunt is 5 milli-ohm */
+#define VOXLPM_INA231_VBAT_MAX_AMPS		90.0f     /* 90.0 Amps max through VBAT sense resistor */
+#define VOXLPM_INA231_VREG_MAX_AMPS		6.0f      /* 6.0 Amps max through VREG sense resistor */
+
+/* ina231.pdf section 8.5 */
+#define VOXLPM_INA231_VBAT_I_LSB		(VOXLPM_INA231_VBAT_MAX_AMPS/32768.0f)
+#define VOXLPM_INA231_VREG_I_LSB		(VOXLPM_INA231_VREG_MAX_AMPS/32768.0f)
+
+#define swap16(w)				__builtin_bswap16((w))
+
+enum VOXLPM_TYPE {
+	VOXLPM_UNKOWN,
+	VOXLPM_TYPE_V2_LTC,
+	VOXLPM_TYPE_V3_INA
+};
 
 enum VOXLPM_CH_TYPE {
 	VOXLPM_CH_TYPE_VBATT = 0,
-	VOXLPM_CH_TYPE_P5VDC
+	VOXLPM_CH_TYPE_P5VDC,
+	VOXLPM_CH_TYPE_P12VDC
 };
 
 class VOXLPM : public device::I2C, public ModuleParams, public I2CSPIDriver<VOXLPM>
@@ -157,29 +232,46 @@ public:
 	static void print_usage();
 
 	virtual int		init();
+	int			force_init();
 	void			print_status() override;
 
 	void 			RunImpl();
+
 private:
+	int			probe() override;
 	void 			start();
 	int 			measure();
+	int 			load_params(VOXLPM_TYPE pm_type, VOXLPM_CH_TYPE ch_type);
+	int 			init_ltc2946();
+	int 			init_ina231();
+	int 			measure_ltc2946();
+	int 			measure_ina231();
 
+	bool			_initialized;
 	static constexpr unsigned _meas_interval_us{100_ms};
 	perf_counter_t		_sample_perf;
+	perf_counter_t		_comms_errors;
 
 	uORB::PublicationMulti<power_monitor_s>		_pm_pub_topic{ORB_ID(power_monitor)};
 	uORB::Subscription _parameter_sub{ORB_ID(parameter_update)};
 
 	power_monitor_s 	_pm_status{};
 
+	VOXLPM_TYPE		_pm_type{VOXLPM_UNKOWN};
 	const VOXLPM_CH_TYPE	_ch_type;
 	float			_voltage{0.0f};
 	float			_amperage{0.0f};
-	float			_rsense{0.0f};
+	float			_rshunt{0.0005f};
+	float			_vshunt{0.0f};
+	float			_vshuntamps{0.0f};
+	int16_t			_cal{0};
 
 	Battery 		_battery;
+	uORB::Subscription	_actuators_sub{ORB_ID(actuator_controls_0)};
+	actuator_controls_s	_actuator_controls{};
 
 	uint8_t 		read_reg(uint8_t addr);
 	int 			read_reg_buf(uint8_t addr, uint8_t *buf, uint8_t len);
-	int 			write_reg(uint8_t value, uint8_t addr);
+	int 			write_reg(uint8_t addr, uint8_t value);
+	int 			write_word_swapped(uint8_t addr, uint16_t value);
 };
diff --git a/src/drivers/power_monitor/voxlpm/voxlpm_main.cpp b/src/drivers/power_monitor/voxlpm/voxlpm_main.cpp
index 1306a82787..14d81375a0 100644
--- a/src/drivers/power_monitor/voxlpm/voxlpm_main.cpp
+++ b/src/drivers/power_monitor/voxlpm/voxlpm_main.cpp
@@ -47,7 +47,13 @@ I2CSPIDriverBase *VOXLPM::instantiate(const BusCLIArguments &cli, const BusInsta
 		return nullptr;
 	}
 
-	if (OK != instance->init()) {
+	if (cli.custom1 == 1) {
+		if (OK != instance->force_init()) {
+			PX4_INFO("Failed to init voxlpm type: %d on bus: %d, but will try again periodically.", (VOXLPM_CH_TYPE)cli.type,
+				 iterator.bus());
+		}
+
+	} else if (OK != instance->init()) {
 		delete instance;
 		return nullptr;
 	}
@@ -62,7 +68,8 @@ VOXLPM::print_usage()
 
 	PRINT_MODULE_USAGE_COMMAND("start");
 	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
-	PRINT_MODULE_USAGE_PARAM_STRING('T', "VBATT", "VBATT|P5VDC", "Type", true);
+	PRINT_MODULE_USAGE_PARAM_STRING('T', "VBATT", "VBATT|P5VDC|P12VDC", "Type", true);
+	PRINT_MODULE_USAGE_PARAM_FLAG('K', "if initialization (probing) fails, keep retrying periodically", true);
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 }
 
@@ -75,7 +82,7 @@ voxlpm_main(int argc, char *argv[])
 	cli.default_i2c_frequency = 400000;
 	cli.type = VOXLPM_CH_TYPE_VBATT;
 
-	while ((ch = cli.getopt(argc, argv, "T:")) != EOF) {
+	while ((ch = cli.getopt(argc, argv, "KT:")) != EOF) {
 		switch (ch) {
 		case 'T':
 			if (strcmp(cli.optarg(), "VBATT") == 0) {
@@ -84,12 +91,19 @@ voxlpm_main(int argc, char *argv[])
 			} else if (strcmp(cli.optarg(), "P5VDC") == 0) {
 				cli.type = VOXLPM_CH_TYPE_P5VDC;
 
+			} else if (strcmp(cli.optarg(), "P12VDC") == 0) {
+				cli.type = VOXLPM_CH_TYPE_P12VDC; //  same as P5VDC
+
 			} else {
 				PX4_ERR("unknown type");
 				return -1;
 			}
 
 			break;
+
+		case 'K': // keep retrying
+			cli.custom1 = 1;
+			break;
 		}
 	}
 
diff --git a/src/drivers/power_monitor/voxlpm/voxlpm_params.c b/src/drivers/power_monitor/voxlpm/voxlpm_params.c
new file mode 100644
index 0000000000..5bfee0c07f
--- /dev/null
+++ b/src/drivers/power_monitor/voxlpm/voxlpm_params.c
@@ -0,0 +1,58 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * VOXL Power Monitor Shunt, Battery
+ *
+ * @reboot_required true
+ *
+ * @min 0.000000001
+ * @max 0.1
+ * @decimal 10
+ * @increment .000000001
+ * @group Sensors
+ */
+PARAM_DEFINE_FLOAT(VOXLPM_SHUNT_BAT, 0.00063f);
+
+/**
+ * VOXL Power Monitor Shunt, Regulator
+ *
+ * @reboot_required true
+ *
+ * @min 0.000000001
+ * @max 0.1
+ * @decimal 10
+ * @increment .000000001
+ * @group Sensors
+ */
+PARAM_DEFINE_FLOAT(VOXLPM_SHUNT_REG, 0.0056f);