# 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! ![VOXL-2](../../assets/flight_controller/modalai/voxl_2/voxl-2-hero.jpg) :::info This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md). ::: ## 사양 ### 시스템 | 기능 | 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 | | 크기 | 70mm x 36mm | | 중량 | 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 | :::info More detailed hardware documentation can be found [here](https://docs.modalai.com/voxl-flight-datasheet/). ::: ## 크기 ### 2D Dimensions ![VOXL2Dimensions](../../assets/flight_controller/modalai/voxl_2/voxl-2-dimensions.jpg) ### 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 maintaining 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 supports VOXL 2 (board documentation [here](https://github.com/PX4/PX4-Autopilot/tree/main/boards/modalai/voxl2)). ## QGroundControl 지원 아래 다이어그램은 PX4 v1.11(및 ModalAI가 유지하는 PX4 v1.10 브랜치)부터 ROTATION_NONE 권장 방향을 나타냅니다. ## 구매처 - [Starling 2](https://www.modalai.com/products/starling-2) - [Starling 2 MAX](https://www.modalai.com/products/starling-2-max) - [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) ## 빠른 시작 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 https://gitlab.com/voxl-public, alongside build instructions. ### 커넥터 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) ![VOXLConnectors](../../assets/flight_controller/modalai/voxl_2/voxl-2-connectors.jpg) 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. | 커넥터 | 설명 | MPN (Board Side) | Mating MPN (Board/Cable Side) | 형식 | 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 | SPI@3.3V with 2 CS_N pins, 32kHz CLK_OUT@3.3V | | J18 | ESC (SLPI Access) | SM04B-GHS-TB(LF)(SN) | GHR-04V-S | Cable Header, 4-pin R/A | ESC UART@3.3V, 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 UART@3.3V, Magnetometer I2C@3.3V, 5V, RC UART, Spare I2C | ### 사용자 가이드 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/). ### 빌드 방법 See the [VOXL PX4 Build Guide](https://docs.modalai.com/voxl2-px4-build-guide/) on how to build. ## 지원 Please visit the [ModalAI Forum](https://forum.modalai.com/category/26/voxl-2) for more information.