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Hamish WilleeandRamon Roche
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* Add vitepress tree * Update existing workflows so they dont trigger on changes in the docs path * Add nojekyll, package.json, LICENCE etc * Add crowdin docs upload/download scripts * Add docs flaw checker workflows * Used docs prefix for docs workflows * Crowdin obvious fixes * ci: docs move to self hosted runner runs on a beefy server for faster builds Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: don't run build action for docs or ci changes Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: update runners Signed-off-by: Ramon Roche <mrpollo@gmail.com> * Add docs/en * Add docs assets and scripts * Fix up editlinks to point to PX4 sources * Download just the translations that are supported * Add translation sources for zh, uk, ko * Update latest tranlsation and uorb graphs * update vitepress to latest --------- Signed-off-by: Ramon Roche <mrpollo@gmail.com> Co-authored-by: Ramon Roche <mrpollo@gmail.com>
202 lines
16 KiB
Markdown
202 lines
16 KiB
Markdown
# ModalAI VOXL Flight
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<Badge type="tip" text="PX4 v1.11" />
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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 Flight](https://modalai.com/voxl-flight) ([Datasheet](https://docs.modalai.com/voxl-flight-datasheet)) 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.
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Made in the USA, VOXL Flight supports obstacle avoidance and GPS-denied (indoor) navigation fused with a PX4 flight controller on a single PCB.
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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 | 세부 정보 |
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| :- | :---- |
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| 중량 | 26 g |
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### 보조 컴퓨터
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| 기능 | 세부 정보 |
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| :---------------- | :----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| 기본 운영 시스템 | 3.18 커널을 사용하는 Linux Yocto Jethro. Additional Linux Operating Systems can be used by running Docker on VOXL, details [here](https://docs.modalai.com/docker-on-voxl/) |
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| 계산 | Qualcomm Snapdragon 821 w/ 4GB LPDDR4 1866MHz, Snapdragon 821 [Datasheet](https://developer.qualcomm.com/download/sd820e/qualcomm-snapdragon-820e-processor-apq8096sge-device-specification.pdf), [Docs](https://developer.qualcomm.com/hardware/apq-8096sg/tools) |
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| CPU | 최대 2.15GHz의 쿼드 코어 CPU |
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| GPU | 624MHz의 Adreno 530 GPU |
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| DSP 컴퓨팅 | Hexagon compute DSP (cDSP) 825MHz |
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| 센서 DSP | Hexagon 센서 DSP (sDSP) 700MHz |
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| 비디오 | 4k30 비디오 캡처 h.264/5 w/ 720p FPV |
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| Camera Interfaces | MIPI-CSI2, USB UVC, HDMI 지원 |
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| Wi-Fi | Pre-certified Wi-Fi module [QCNFA324 FCC ID:PPD-QCNFA324](https://fccid.io/PPD-QCNFA324), QCA6174A modem, 802.11ac 2x2 Dual-band, Bluetooth 4.2 (dual-mode) |
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| 4G LTE | [Optional add-on module](https://www.modalai.com/collections/voxl-add-ons/products/voxl-lte) |
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| Microhard pDDL | [Optional add-on module](https://www.modalai.com/collections/voxl-add-ons/products/voxl-microhard-modem-usb-hub) |
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| GNSS | WGR7640 10Hz |
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| I/O | 1x USB3.0 OTG (ADB 포트), 1x USB2.0 (확장 포트), 2x UART, 3x I2C, 추가 GPIO 및 SPI 설정 가능 |
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| 저장 장치 | 32GB (UFS 2.0), Micro SD 카드 |
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| 소프트웨어 | Docker, OpenCV 2.4.11, 3.4.6, 4.2, ROS Indigo, Qualcomm Machine Vision SDK, see [GitLab](https://gitlab.com/voxl-public) for lots of open source examples! |
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| 관성계 | ICM-42688 (SPI10), ICM-20948 (SPI1) |
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| 기압계 | BMP280 |
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### 비행 콘트롤러
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| 기능 | 세부 정보 |
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| :--------- | :--------------------------------------------------------------- |
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| MCU | 216MHz, 32-bit ARM M7 [STM32F765II][stm32f765ii] |
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| 메모리 | 256Kb FRAM |
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| | 2Mbit Flash |
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| | 512Kbit SRAM |
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| 펌웨어 | [PX4][px4] |
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| 관성계 | [ICM-20602][icm-20602] (SPI1) |
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| | ICM-42688 (SPI2) |
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| | [BMI088][bmi088] (SPI6) |
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| 기압계 | [BMP388][bmp388] (I2C4) |
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| 보안 요소 | [A71CH][a71ch] (I2C4) |
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| microSD 카드 | [Information on supported cards](../dev_log/logging.md#sd-cards) |
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| 입력 | GPS/자력계 |
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| | Spektrum |
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| | 텔레메트리 |
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| | CAN 버스 |
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| | PPM |
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| 출력 | LED 6 개 (2xRGB) |
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| | PWM 채널 8개 |
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| 추가 인터페이스 | 시리얼포트 3개 |
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| | I2C |
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| | GPIO |
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<!-- reference links for above table (improve layout) -->
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[stm32f765ii]: https://www.st.com/en/microcontrollers-microprocessors/stm32f765ii.html
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[px4]: https://github.com/PX4/PX4-Autopilot/tree/main/boards/modalai/fc-v1
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[icm-20602]: https://www.invensense.com/products/motion-tracking/6-axis/icm-20602/
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[bmi088]: https://www.bosch-sensortec.com/bst/products/all_products/bmi088_1
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[bmp388]: https://www.bosch-sensortec.com/products/environmental-sensors/pressure-sensors/bmp388/
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[a71ch]: https://www.nxp.com/products/security-and-authentication/authentication/plug-and-trust-the-fast-easy-way-to-deploy-secure-iot-connections:A71CH
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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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[3D STEP File](https://storage.googleapis.com/modalai_public/modal_drawings/M0019_VOXL-Flight.zip)
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## PX4 Firmware Compatibility
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_VOXL Flight_ is fully compatible with the official PX4 Firmware from PX4 v1.11.
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ModalAI maintains a [branched PX4 version](https://github.com/modalai/px4-firmware/tree/modalai-1.11) for PX4 v1.11.
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This includes UART ESC support and improvements in VIO and VOA that are planned to be upstreamed.
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More information about the firmware can be found [here](https://docs.modalai.com/flight-core-firmware/).
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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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- [VOXL Flight Complete Kit](https://modalai.com/voxl-flight)
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- [VOXL Flight Board](https://www.modalai.com/products/voxl-flight?variant=31707275362355) (only)
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- [VOXL Flight integrated with Obstacle Avoidance Cameras (VOXL Flight Deck)](https://modalai.com/flight-deck) ([Datasheet](https://docs.modalai.com/voxl-flight-deck-platform-datasheet/))
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- [VOXL Flight in a ready to fly VOXL m500 Development Drone](https://www.modalai.com/collections/development-drones/products/voxl-m500) ([Datasheet](https://docs.modalai.com/voxl-m500-reference-drone-datasheet/))
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## 빠른 시작
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A quickstart from the vendor is located [here](https://docs.modalai.com/voxl-flight-quickstart/).
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### voxl-vision-px4
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The VOXL Flight runs [voxl-vision-px4](https://gitlab.com/voxl-public/modal-pipe-architecture/voxl-vision-px4) on the companion computer portion of the hardware serving as a sort of MAVLink proxy.
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For details, the source code is available [here](https://gitlab.com/voxl-public/modal-pipe-architecture/voxl-vision-px4)
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### 커넥터
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Detailed information about the pinouts can be found [here](https://docs.modalai.com/voxl-flight-datasheet-connectors/).
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#### 상단
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_Note: 1000 Series connectors accessible from the STM32/PX4_
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| 커넥터 | 요약 | 사용처 |
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| ----- | ------------------------------------------------------------------- | ---------------------------------------------------- |
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| J2 | 4k 이미지 센서 (CSI0) 고용 | Snapdragon - 리눅스 |
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| J3 | 스테레오 이미지 센서 (CSI1) | Snapdragon - 리눅스 |
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| J6 | 냉각 팬 커넥터 | Snapdragon - 리눅스 |
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| J7 | BLSP6 (GPIO) and BLSP9 (UART) | Snapdragon - 리눅스 |
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| J13 | 확장 B2B | Snapdragon - 리눅스 |
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| J14 | 통합 GNSS 안테나 연결 | Snapdragon - 리눅스 |
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| J1001 | 프로그래밍 및 디버그/UART3 | STM32 - PX4 |
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| J1002 | UART ESC, UART2/TELEM3 | STM32 - PX4 |
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| J1003 | PPM RC 입력 | STM32 - PX4 |
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| J1004 | RC 입력, Spektrum/SBus/UART6 | STM32 - PX4 |
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| J1006 | USB 2.0 커넥터(PX4/QGroundControl) | STM32 - PX4 |
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| J1007 | 8 채널 PWM/DShot 출력 | STM32 - PX4 |
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| J1008 | CAN 버스 | STM32 - PX4 |
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| J1009 | I2C3, UART4 | STM32 - PX4 |
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| J1010 | 텔레메트리 (TELEM1) | STM32 - PX4 |
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| J1011 | I2C2, 안전 버튼 입력 | STM32 - PX4 |
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| J1012 | External GPS & Mag, UART1, I2C1 | STM32 - PX4 |
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| J1013 | 전원 입력, I2C3 | STM32 - PX4 (powers whole system) |
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#### 하단
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_Note: 1000 Series connectors accessible from the STM32/PX4_
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| 커넥터 | 요약 | 사용처 |
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| ------------ | -------------------------------------- | --------------------------- |
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| J4 | 추적/광류 이미지 센서 (CSI2) | Snapdragon - 리눅스 |
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| J8 | USB 3.0 OTG | Snapdragon - Linux, **adb** |
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| J10 | BLSP7 UART 및 I2C 오프보드 | Snapdragon - 리눅스 |
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| J11 | BLSP12 UART 및 I2C 오프보드 | Snapdragon - 리눅스 |
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| VOXL microSD | | Snapdragon - 리눅스 |
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| PX4 microSD | 32Gb Max | STM32 - PX4 |
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| Wi-Fi 안테나 | 포함됨. | Snapdragon - 리눅스 |
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### 사용자 가이드
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The full user guide is available [here](https://docs.modalai.com/voxl-flight-quickstart).
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### 빌드 방법
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To [build PX4](../dev_setup/building_px4.md) for this target:
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```
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make modalai_fc-v1
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```
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## 시리얼 포트 매핑
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_Note: mappings shown are for the PX4 controlled interfaces only_
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| UART | 장치 | 포트 |
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| ------ | ---------- | --------------------------------- |
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| USART1 | /dev/ttyS0 | GPS1 (J1012) |
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| USART2 | /dev/ttyS1 | TELEM3 (J1002) |
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| USART3 | /dev/ttyS2 | 디버그 콘솔(J1001) |
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| UART4 | /dev/ttyS3 | 확장 UART (J6) |
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| UART5 | /dev/ttyS4 | PX4와 보조 컴퓨터간의 UART |
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| USART6 | /dev/ttyS5 | RC (J1004) |
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| UART7 | /dev/ttyS6 | TELEM1 (J1010) |
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| UART8 | /dev/ttyS7 | 해당없음 |
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<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
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## 지원
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Please visit the [ModalAI Forum](https://forum.modalai.com/category/8/voxl-flight) for more information.
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