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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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## 产品规格
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### 系统
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| 特性 | Details |
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| :- | :------ |
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| 重量 | 26 g |
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### Companion Computer
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| 特性 | Details |
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| :-------------------- | :----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| Base Operation System | Linux Yocto Jethro with 3.18 kernel. 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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| Compute | 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 | Quad-core CPU up to 2.15GHz |
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| GPU | Adreno 530 GPU at 624MHz |
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| Compute DSP | Hexagon compute DSP (cDSP) 825MHz |
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| Sensor DSP | Hexagon sensor DSP (sDSP) 700MHz |
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| 视频 | 4k30 Video Capture h.264/5 w/ 720p FPV |
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| Camera Interfaces | Support for MIPI-CSI2, USB UVC, HDMI |
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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 port), 1x USB2.0 (expansion port), 2x UART, 3x I2C, additional GPIO and SPI can be configured |
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| Storage | 32GB (UFS 2.0), Micro SD Card |
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| Software | 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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| IMUs | ICM-42688 (SPI10), ICM-20948 (SPI1) |
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| Barometer | BMP280 |
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### Flight Controller
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| 特性 | Details |
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| :--------------- | :--------------------------------------------------------------- |
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| MCU | 216MHz, 32-bit ARM M7 [STM32F765II][stm32f765ii] |
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| 内存 | 256Kb FRAM |
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| | 2Mbit Flash |
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| | 512Kbit SRAM |
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| 固件 | [PX4][px4] |
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| IMUs | [ICM-20602][icm-20602] (SPI1) |
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| | ICM-42688 (SPI2) |
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| | [BMI088][bmi088] (SPI6) |
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| Barometer | [BMP388][bmp388] (I2C4) |
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| Secure Element | [A71CH][a71ch] (I2C4) |
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| microSD Card | [Information on supported cards](../dev_log/logging.md#sd-cards) |
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| 输入 | GPS/Mag |
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| | Spektrum |
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| | Telemetry |
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| | CAN bus |
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| | PPM |
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| Outputs | 6 LEDs (2xRGB) |
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| | 8 PWM Channels |
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| Extra Interfaces | 3 serial ports |
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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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## 尺寸
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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支持
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This board supported in QGroundControl 4.0 and later.
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## 访问链接
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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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## Quick Start
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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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### 连接器
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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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#### Top
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_Note: 1000 Series connectors accessible from the STM32/PX4_
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| Connector | 概要 | Used By |
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| --------- | ------------------------------------------------------------------------- | ---------------------------------------------------- |
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| J2 | Hires 4k Image Sensor (CSI0) | Snapdragon - Linux |
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| J3 | Stereo Image Sensor (CSI1) | Snapdragon - Linux |
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| J6 | Cooling Fan Connector | Snapdragon - Linux |
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| J7 | BLSP6 (GPIO) and BLSP9 (UART) | Snapdragon - Linux |
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| J13 | Expansion B2B | Snapdragon - Linux |
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| J14 | Integrated GNSS Antenna Connection | Snapdragon - Linux |
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| J1001 | Programming and Debug/UART3 | STM32 - PX4 |
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| J1002 | UART ESC, UART2/TELEM3 | STM32 - PX4 |
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| J1003 | PPM RC In | STM32 - PX4 |
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| J1004 | RC Input, Spektrum/SBus/UART6 | STM32 - PX4 |
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| J1006 | USB 2.0 Connector (PX4/QGroundControl) | STM32 - PX4 |
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| J1007 | 8-Channel PWM/DShot Output | STM32 - PX4 |
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| J1008 | CAN Bus | STM32 - PX4 |
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| J1009 | I2C3, UART4 | STM32 - PX4 |
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| J1010 | Telemetry (TELEM1) | STM32 - PX4 |
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| J1011 | I2C2, Safety Button Input | STM32 - PX4 |
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| J1012 | External GPS & Mag, UART1, I2C1 | STM32 - PX4 |
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| J1013 | Power Input, I2C3 | STM32 - PX4 (powers whole system) |
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#### Bottom
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_Note: 1000 Series connectors accessible from the STM32/PX4_
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| Connector | 概要 | Used By |
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| -------------- | ---------------------------------------------------------- | --------------------------- |
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| J4 | Tracking/Optic Flow Image Sensor (CSI2) | Snapdragon - Linux |
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| J8 | USB 3.0 OTG | Snapdragon - Linux, **adb** |
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| J10 | BLSP7 UART and I2C off-board | Snapdragon - Linux |
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| J11 | BLSP12 UART and I2C off-board | Snapdragon - Linux |
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| VOXL microSD | | Snapdragon - Linux |
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| PX4 microSD | 32Gb Max | STM32 - PX4 |
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| Wi-Fi Antennas | Included | Snapdragon - Linux |
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### User Guide
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The full user guide is available [here](https://docs.modalai.com/voxl-flight-quickstart).
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### How to Build
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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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## 串口映射
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_Note: mappings shown are for the PX4 controlled interfaces only_
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| UART | 设备 | Port |
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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 | Debug Console (J1001) |
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| UART4 | /dev/ttyS3 | Expansion UART (J6) |
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| UART5 | /dev/ttyS4 | UART between PX4 and Companion Computer |
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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 | N/A |
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<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
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## 技术支持
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Please visit the [ModalAI Forum](https://forum.modalai.com/category/8/voxl-flight) for more information.
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