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PX4 Build Bot
135 lines
15 KiB
Markdown
135 lines
15 KiB
Markdown
# ModalAI VOXL 2
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:::warning
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PX4 does not manufacture this (or any) autopilot.
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Contact the [manufacturer](https://forum.modalai.com/) for hardware support or compliance issues.
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:::
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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!
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:::info
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This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
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:::
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## 사양
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### 시스템
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| 기능 | VOXL 2 |
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| ------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------- |
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| CPU | QRB5165 <br>8 cores up to 3.091GHz <br>8GB LPDDR5<br>128GB Flash |
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| OS | Ubuntu 18.04 - Linux Kernel v4.19 |
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| GPU | Adreno 650 GPU – 1024 ALU |
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| NPU | 15 TOPS |
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| Flight Controller Embedded | Yes (Sensors DSP, PX4) |
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| Built in WiFi | No |
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| Add-on Connectivity | WiFi, 5G, 4G/LTE, Microhard |
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| Video Encoding | 8K30 h.264/h.265 108MP still images |
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| Computer Vision Sensors | QTY 6 4-lane CSI, QTY4 CCI (e.g. 2 stereo pair, hires, tracking) |
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| Tracking Sensor | Yes |
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| 크기 | 70mm x 36mm |
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| 중량 | 16g |
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| VOXL SDK: GPS-denied nav., SLAM, obstacle avoidance, object recognition | Yes |
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| ROS | ROS 1 & 2 |
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| QGroundControl | Yes |
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| ATAK | Yes |
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| NDAA ’20 Section 848 Compliant | Yes, Assembled in USA |
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| PMD TOF | Yes (SDK 1.0 and newer) |
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| FLIR Boson | USB |
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| FLIR Lepton | USB, SPI |
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:::info
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More detailed hardware documentation can be found [here](https://docs.modalai.com/voxl-flight-datasheet/).
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:::
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## 크기
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### 2D Dimensions
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### 3D Dimensions
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[3D STEP File](https://storage.googleapis.com/modalai_public/modal_drawings/M0054_VOXL2_PVT_SIP_REVA.step)
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## PX4 Firmware Compatibility
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### voxl-dev branch
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ModalAI is actively maintaining a [branched PX4 version](https://github.com/modalai/px4-firmware/tree/voxl-dev) that can be used.
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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/).
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More information about the firmware can be found [here](https://docs.modalai.com/voxl2-px4-developer-guide/).
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### main branch
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PX4 mainline supports VOXL 2 (board documentation [here](https://github.com/PX4/PX4-Autopilot/tree/main/boards/modalai/voxl2)).
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## QGroundControl 지원
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아래 다이어그램은 PX4 v1.11(및 <a href="https://github.com/modalai/px4-firmware/tree/modalai-1.10">ModalAI가 유지하는 PX4 v1.10 브랜치</a>)부터 <code>ROTATION_NONE</code> 권장 방향을 나타냅니다.
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## 구매처
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- [Starling 2](https://www.modalai.com/products/starling-2)
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- [Starling 2 MAX](https://www.modalai.com/products/starling-2-max)
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- [Sentinel Development Drone powered by VOXL 2](https://www.modalai.com/pages/sentinel)
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- [Demo Video](https://www.youtube.com/watch?v=hMhQgWPLGXo)
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- [VOXL 2 Flight Deck, ready to mount, tune and fly](https://www.modalai.com/collections/ready-to-mount/products/voxl-2-flight-deck)
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- [VOXL 2 Development Kits](https://www.modalai.com/products/voxl-2)
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- [Demo Video](https://www.youtube.com/watch?v=aVHBWbwp488)
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## 빠른 시작
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Quickstarts from the vendor are located [here](https://docs.modalai.com/voxl2-quickstarts/).
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### VOXL SDK
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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.
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VOXL SDK runs on VOXL, VOXL 2 and RB5 Flight!
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The source code for projects within VOXL SDK can be found at https://gitlab.com/voxl-public, alongside build instructions.
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### 커넥터
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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)
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All single ended signals on B2B connectors J3, J5, J6, J7, and J8 are 1.8V CMOS unless explicitly noted.
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All single ended signals on cable-to-board connectors J10, J18, & J19 are 3.3V CMOS unless explicitly noted.
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| 커넥터 | 설명 | MPN (Board Side) | Mating MPN (Board/Cable Side) | 형식 | Signal Feature Summary |
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| --- | ------------------------------------------------ | ----------------------------------------------------------- | ------------------------------------------------ | ---------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| 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) |
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| 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) |
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| J4 | Prime Power In | 22057045 | 0050375043 | Cable Connector, 4-pin R/A | +5V main DC power in + GND, I2C@5V for power monitors |
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| 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 |
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| 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 |
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| 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 |
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| 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 |
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| 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) |
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| 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 |
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| 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 |
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| 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 |
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### 사용자 가이드
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The PX4 user guide for VOXL 2 is available [here](https://docs.modalai.com/voxl-px4/).
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### Developer Guide
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The PX4 developer guide for VOXL 2 is available [here](https://docs.modalai.com/voxl-px4-developer-guide/).
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### 빌드 방법
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See the [VOXL PX4 Build Guide](https://docs.modalai.com/voxl2-px4-build-guide/) on how to build.
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## 지원
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Please visit the [ModalAI Forum](https://forum.modalai.com/category/26/voxl-2) for more information.
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