# ModalAI Technical Docs

> ModalAI technical documentation for VOXL and VOXL 2 Companion Computers for PX4 and ArduPilot Obstacle Avoidance and GPS-denied navigation, assembled in the USA

The complete documentation is also available as a single Markdown file at https://docs.modalai.com/llms-full.txt.

Community questions and answers, including replies from ModalAI engineers, are on the ModalAI Forum: https://forum.modalai.com (machine-readable index: https://forum.modalai.com/llms.txt).

## VOXL Developer Bootcamp

- [1. ESD Safety](https://docs.modalai.com/esd-safety/)
- [2. Hardware Quickstart](https://docs.modalai.com/hardware-quickstart/)
- [2.1 VOXL 2](https://docs.modalai.com/voxl-2-hardware-quickstart/)
- [2.2 VOXL 2 Mini](https://docs.modalai.com/voxl-2-mini-hardware-quickstart/)
- [2.3 Starling 2 & Starling 2 Max](https://docs.modalai.com/starling-2-hardware-quickstart/)
- [2.4 Starling (Legacy)](https://docs.modalai.com/starling-hardware-quickstart/)
- [2.6 VOXL](https://docs.modalai.com/voxl-hardware-quickstart/)
- [3. Setting Up ADB](https://docs.modalai.com/setting-up-adb/)
- [4. WiFi Setup](https://docs.modalai.com/wifi-setup/)
- [4.1 VOXL 2 WiFi](https://docs.modalai.com/voxl-2-wifi-setup/)
- [4.2 VOXL WiFi](https://docs.modalai.com/voxl-wifi-setup/)
- [5. Inspect and Configure SKU](https://docs.modalai.com/sku/)
- [6. Modal Pipe Architecture](https://docs.modalai.com/mpa/)
- [7. Basic Tools and Utilities](https://docs.modalai.com/basic-functionalities/)
- [8. Check Calibration](https://docs.modalai.com/check-calibration/)
- [9. VOXL Version](https://docs.modalai.com/voxl-version/)
- [10. Upgrading VOXL SDK](https://docs.modalai.com/flash-system-image/): Download the right SDK for your hardware and flash it with the installer.
- [11. VOXL Portal](https://docs.modalai.com/voxl-portal/)
- [12. Installing QGC](https://docs.modalai.com/installing-qgc/)
- [13. Connect to QGC](https://docs.modalai.com/qgc-wifi/)
- [14. First Flight](https://docs.modalai.com/first-flight/)
- [Starling First Flight](https://docs.modalai.com/starling-first-flight/)
- [Sentinel First Flight](https://docs.modalai.com/sentinel-user-guide-first-flight/)
- [15. Write Apps for VOXL](https://docs.modalai.com/voxl-docker-and-cross-installation/)
- [16. voxl-cross-template](https://docs.modalai.com/voxl-cross-template/)
- [17. Graduation](https://docs.modalai.com/bootcamp-graduation/)
- [VOXL Developer Bootcamp](https://docs.modalai.com/voxl-developer-bootcamp/)

## VOXL SDK

- [VOXL SDK](https://docs.modalai.com/voxl-sdk/)
- [SDK 1.7 Release Notes](https://docs.modalai.com/sdk-1.7-release-notes/): SDK 1.7.0 is in development, currently in beta.
- [SDK 1.6 Release Notes](https://docs.modalai.com/sdk-1.6-release-notes/)
- [SDK 1.5 Release Notes](https://docs.modalai.com/sdk-1.5-release-notes/)
- [SDK 1.4 Release Notes](https://docs.modalai.com/sdk-1.4-release-notes/)
- [SDK 1.3 Release Notes](https://docs.modalai.com/sdk-1.3-release-notes/)
- [SDK 1.2 Release Notes](https://docs.modalai.com/sdk-1.2-release-notes/)
- [SDK 1.1 Release Notes](https://docs.modalai.com/sdk-1.1-release-notes/)
- [SDK 1.0 Release Notes](https://docs.modalai.com/sdk-1.0-release-notes/)
- [SDK 0.9 Release Notes](https://docs.modalai.com/sdk-0.9-release-notes/)
- [Old Releases](https://docs.modalai.com/old-release-notes/)
- [VOXL SDK Release Notes](https://docs.modalai.com/voxl-suite/): Which SDK to flash on your drone, plus what's new across SDK releases.
- [SDK Configuration](https://docs.modalai.com/configuration/): Set up MPA services and system settings with voxl-configure.
- [Config Conventions](https://docs.modalai.com/mpa-configuration-conventions/)
- [voxl-configure-mpa](https://docs.modalai.com/voxl-configure-mpa/)
- [Configure Extrinsics](https://docs.modalai.com/configure-extrinsics/)
- [Configure Package Manager](https://docs.modalai.com/configure-pkg-manager/): Point VOXL's package manager at a different release section - for experienced developers only.
- [Calibration](https://docs.modalai.com/calibration/): Calibrate cameras, IMUs, ESCs, and level the horizon.
- [Calibrate Cameras](https://docs.modalai.com/calibrate-cameras/): Calibrate camera intrinsics and stereo extrinsics on-board with voxl-calibrate-camera.
- [Calibrate Camera Focus](https://docs.modalai.com/voxl-focus-camera/)
- [Calibrate IMU](https://docs.modalai.com/calibrate-imu/)
- [Calibrate Barometer](https://docs.modalai.com/calibrate-baro/)
- [Calibrate Horizon](https://docs.modalai.com/calibrate-horizon/)
- [Feature Guides](https://docs.modalai.com/high-level-features/): VIO, obstacle avoidance, deep learning, and other high-level features.
- [Mavlink Routing](https://docs.modalai.com/mavlink/)
- [VIO](https://docs.modalai.com/flying-with-vio/)
- [Open-VINS server](https://docs.modalai.com/voxl-open-vins-server/)
- [Pipe Interface](https://docs.modalai.com/voxl-open-vins-pipes/): Every pipe in and out of the server — data packets, control commands, states, quality, and error codes.
- [Async & Mixed-Shutter Cameras](https://docs.modalai.com/voxl-open-vins-async/): Unsynchronized multi-camera VIO — epoch-anchored cloning, the ACI² preintegration bridge, and rolling-shutter support.
- [Initialization & Resets](https://docs.modalai.com/voxl-open-vins-init/): How VIO starts, how it recovers — structure-from-motion initialization without Ceres, any-attitude resets, and the auto-reset policy.
- [voxl-benchmark-vio](https://docs.modalai.com/voxl-benchmark-vio/): Repeatable replay-based benchmarking of VIO accuracy and CPU cost across recorded logs.
- [VOA](https://docs.modalai.com/voa/)
- [Apriltag Detection](https://docs.modalai.com/voxl-tag-detector/)
- [Relocalization](https://docs.modalai.com/voxl-vision-hub-apriltag-relocalization/)
- [AOI Yaw Tracking](https://docs.modalai.com/aoi-yaw-tracking/)
- [Depth From Stereo](https://docs.modalai.com/voxl-dfs-server/)
- [Deep Learning](https://docs.modalai.com/voxl-tflite-server/)
- [Mapping and Path Planning](https://docs.modalai.com/voxl-mapper/)
- [Setting up VOXL Mapper](https://docs.modalai.com/setting-up-voxl-mapper/)
- [Interacting with VOXL Mapper](https://docs.modalai.com/interacting-with-voxl-mapper/)
- [Improving VOXL Mapper's performance](https://docs.modalai.com/improving-performance/)
- [ELRS](https://docs.modalai.com/voxl-elrs/)
- [Remote ID](https://docs.modalai.com/voxl-remote-id/)
- [VOXL Modems](https://docs.modalai.com/voxl-modem/)
- [Connect to QGC over 4G/5G](https://docs.modalai.com/connect-gcs-4g5g/)
- [Logging](https://docs.modalai.com/voxl-logger/)
- [Replaying](https://docs.modalai.com/voxl-replay/)
- [Rangefinders](https://docs.modalai.com/rangefinders/)
- [Cameras & Video](https://docs.modalai.com/camera-video/): Camera server, image pipelines, and RTSP video streaming.
- [MPA Camera Interface](https://docs.modalai.com/mpa-camera-interface/)
- [VOXL Camera Drivers](https://docs.modalai.com/voxl-camera-drivers/)
- [Camera Server](https://docs.modalai.com/voxl-camera-server/)
- [Configure Cameras](https://docs.modalai.com/configure-cameras/)
- [Electronic Image Stabilization](https://docs.modalai.com/camera-video/electronic-image-stabilization/)
- [FLIR Lepton](https://docs.modalai.com/voxl-lepton-server/)
- [FLIR Hadron](https://docs.modalai.com/voxl2-hadron/)
- [UVC Camera Support](https://docs.modalai.com/voxl-uvc-server/)
- [RTSP Video Stream](https://docs.modalai.com/voxl-streamer/)
- [Low Latency Video Streaming](https://docs.modalai.com/camera-video/low-latency-video-streaming/)
- [MAVCam Manager](https://docs.modalai.com/voxl-mavcam-manager/)
- [voxl-osd](https://docs.modalai.com/voxl-osd/): Renders the on-screen telemetry overlay for FPV video as MSP DisplayPort text, sent to voxl-vtx or an HDZero VTX.
- [Record Video](https://docs.modalai.com/voxl-record-video/)
- [Debugging Camera Issues](https://docs.modalai.com/debugging-camera-issues/)
- [Sensors](https://docs.modalai.com/sensors/): Configure and read IMUs, ToF, GPS, and other sensors.
- [VOXL IMU Server](https://docs.modalai.com/voxl-imu-server/)
- [Voxl Mini Tof Server](https://docs.modalai.com/mini-tof-server/)
- [GPS & Magnetometer](https://docs.modalai.com/gps-magnetometer/): GPS and compass setup, verification, and troubleshooting on VOXL platforms
- [Voxl IIM Server](https://docs.modalai.com/voxl-iim-server/)
- [Core Services](https://docs.modalai.com/mpa-services/): Core MPA services like voxl-vision-hub, camera-server, and mavlink.
- [VOXL Vision Hub](https://docs.modalai.com/voxl-vision-hub/)
- [Wait For FS](https://docs.modalai.com/voxl-wait-for-fs/)
- [voxl-mavlink-server](https://docs.modalai.com/voxl-mavlink-server/)
- [Debugging Services](https://docs.modalai.com/debugging-services/): How to check, restart, and debug VOXL's MPA services
- [VOXL ArduPilot](https://docs.modalai.com/voxl-ardupilot/): Run and configure ArduPilot on VOXL flight controllers.
- [VOXL PX4](https://docs.modalai.com/voxl-px4/): Run and configure PX4 on VOXL flight controllers.
- [Hardware](https://docs.modalai.com/voxl-px4-hardware/)
- [System Architecture](https://docs.modalai.com/voxl-px4-system-architecture/)
- [Param Files and Log Files](https://docs.modalai.com/voxl-px4-files/)
- [Configuration and Startup Script](https://docs.modalai.com/voxl-px4-config-and-startup/)
- [Connectivity](https://docs.modalai.com/voxl-px4-connectivity/)
- [VOXL 2 PX4 Developer and Build Guide](https://docs.modalai.com/voxl-px4-dev-build-guide/)
- [VOXL2 PX4 HITL](https://docs.modalai.com/voxl2-PX4-hitl/)
- [M0197-FPV Hardware-in-the-Loop](https://docs.modalai.com/m0197-fpv-hil/): Hardware-in-the-loop simulation for VOXL2 FPV platforms using Gazebo Sim
- [PX4 Simulation in Hardware (SIH)](https://docs.modalai.com/px4-sih/)
- [Custom VOXL Applications](https://docs.modalai.com/build-environments/): Build environments and templates for CPU, GPU, DSP, and NPU code.
- [Developing Applications for VOXL SDK](https://docs.modalai.com/developing-applications/)
- [Example Code](https://docs.modalai.com/example-code/): Working example code across the VOXL SDK to start your own application from.
- [Developing in Modal Pipe Architecture](https://docs.modalai.com/mpa-development/)
- [VOXL Emulator](https://docs.modalai.com/voxl-emulator/)
- [Developing Hexagon Applications](https://docs.modalai.com/voxl-hexagon/)
- [Software Packaging Standards](https://docs.modalai.com/packaging-on-voxl/)
- [VS Code User Guide](https://docs.modalai.com/voxl2-vs-code-user-guide/)
- [OpenCV Guide](https://docs.modalai.com/opencv/)
- [OpenCL Guide](https://docs.modalai.com/build-for-gpu-opencl/)
- [TFLite Guide](https://docs.modalai.com/voxl-tflite-guide/)
- [MAVSDK](https://docs.modalai.com/mavsdk/)
- [Figure 8](https://docs.modalai.com/voxl-figure-8/)
- [Custom ROS Applications](https://docs.modalai.com/ros/): Bridge MPA to ROS and ROS 2 for robotics applications.
- [ROS2 Installation VOXL 2](https://docs.modalai.com/ros2-installation-voxl2/)
- [ROS Installation VOXL 2](https://docs.modalai.com/ros-installation-voxl2/)
- [ROS Installation VOXL 1](https://docs.modalai.com/ros-installation-voxl/)
- [Building ROS Nodes](https://docs.modalai.com/building-ros-nodes/)
- [Building ROS2 Nodes](https://docs.modalai.com/building-ros2-nodes/)
- [MAVROS](https://docs.modalai.com/mavros/)
- [Misc. User Guides](https://docs.modalai.com/misc-user-guides/): Assorted how-tos and advanced configuration guides.
- [Customizing Your SDK Installer](https://docs.modalai.com/customize-sdk-installer/)
- [Enabling File Encryption](https://docs.modalai.com/enabling-file-encryption/)
- [Libgphoto2](https://docs.modalai.com/voxl-libgphoto2/)
- [VOXL 2 Offboard Sensors](https://docs.modalai.com/voxl-px4-user-guide-offboard-sensors/)
- [VOXL 2 Thermal Performance](https://docs.modalai.com/voxl2-thermal-performance/)
- [Other Software](https://docs.modalai.com/voxl-other-software/)
- [Setting up a C/C++ Dev Environment](https://docs.modalai.com/cpp-dev-environment/)
- [Accessing VOXL Portal via. ADB](https://docs.modalai.com/voxl-portal-via-adb/)
- [Accessing QGC via ADB](https://docs.modalai.com/qgc-via-adb/)
- [Using OpenCL inside a Docker Container on VOXL2](https://docs.modalai.com/voxl-2-opencl-in-docker/)
- [EMI Mitigation for GNSS Applications](https://docs.modalai.com/emi-mitigation-for-gnss/)
- [Using WSL2 for Upgrading VOXL SDK](https://docs.modalai.com/wsl2-sdk-install/)
- [Core SDK Libraries](https://docs.modalai.com/core-libs/): The open-source C libraries the SDK is built on, like Modal Pipe.
- [libmodal_pipe](https://docs.modalai.com/libmodal-pipe/)
- [libmodal_json](https://docs.modalai.com/libmodal-json/)
- [libvoxl_cutils](https://docs.modalai.com/libvoxl-cutils/)
- [libvoxl_io](https://docs.modalai.com/libvoxl-io/)
- [librc_math](https://docs.modalai.com/librc-math/)
- [libmodal_exposure](https://docs.modalai.com/libmodal-exposure/)
- [libmodal-cv](https://docs.modalai.com/libmodal-cv/)
- [libmodal-flow](https://docs.modalai.com/libmodal-flow/)
- [Pipe Utilities](https://docs.modalai.com/pipe-utilities/)
- [VOXL Inspect Services](https://docs.modalai.com/voxl-inspect-services/)
- [VOXL Inspect CPU](https://docs.modalai.com/voxl-inspect-cpu/)
- [VOXL Inspect IMU](https://docs.modalai.com/voxl-inspect-imu/)
- [VOXL Inspect Camera](https://docs.modalai.com/voxl-inspect-cam/)
- [VOXL Inspect VIO](https://docs.modalai.com/voxl-inspect-vio/)
- [VOXL Inspect qVIO](https://docs.modalai.com/voxl-inspect-qvio/)
- [VOXL Inspect Battery](https://docs.modalai.com/voxl-inspect-battery/)
- [VOXL Inspect GPS](https://docs.modalai.com/voxl-inspect-gps/)
- [VOXL Inspect Extrinsics](https://docs.modalai.com/voxl-inspect-extrinsics/)
- [VOXL Inspect VIO Cams](https://docs.modalai.com/voxl-inspect-vio-cams/)
- [VOXL Inspect Pose](https://docs.modalai.com/voxl-inspect-pose/)
- [VOXL Inspect Points](https://docs.modalai.com/voxl-inspect-points/)
- [VOXL Inspect TOF](https://docs.modalai.com/voxl-inspect-tof/)
- [VOXL Inspect Tags](https://docs.modalai.com/voxl-inspect-tags/)
- [VOXL Inspect Vibration](https://docs.modalai.com/voxl-inspect-vibration/)
- [VOXL Inspect Detections](https://docs.modalai.com/voxl-inspect-detections/)
- [VOXL Inspect Mavlink](https://docs.modalai.com/voxl-inspect-mavlink/)
- [VOXL Inspect Barometer](https://docs.modalai.com/voxl-inspect-baro/)
- [Command Index](https://docs.modalai.com/voxl-commands/): Every voxl-* command on target in one table — what it does and where it's documented.
- [Software Process & Safety](https://docs.modalai.com/voxl-sdk-software-process/): How VOXL SDK software is configuration-managed, tested, analyzed, and released, and how anomalies are handled.
- [Configuration Management](https://docs.modalai.com/voxl-sdk-configuration-management/): How VOXL SDK software is identified, versioned, change-controlled, built, tested, and released.
- [Software Anomaly Reporting](https://docs.modalai.com/voxl-sdk-anomaly-reporting/): How software anomalies and trouble reports are received, triaged, fixed, verified, and delivered.
- [Software Safety](https://docs.modalai.com/voxl-sdk-software-safety/): Flight-control architecture, failsafe behaviors, static analysis, QA testing, and AI use in the VOXL SDK.
- [SDK Build Pipeline](https://docs.modalai.com/voxl-sdk-build-pipeline/): How VOXL SDK releases and nightly builds are assembled, from package tagging through platform tarballs, using the publishing-tools repository.
- [Previous SDKs](https://docs.modalai.com/previous-sdks/): Documentation for older SDK releases.
- [VOXL SDK 0.9](https://docs.modalai.com/voxl-sdk-0_9/)

## VOXL Autopilot & Compute

- [VOXL Autopilot & Compute](https://docs.modalai.com/voxl-computers/)
- [VOXL 2](https://docs.modalai.com/voxl-2/): VOXL 2 is ModalAI's next-gen autonomous computing platform built around the Qualcomm Flight RB5 5G Platform using the QRB5165 processor.
- [VOXL 2 User Guides](https://docs.modalai.com/voxl2-user-guides/): Power, RC and ESC configuration, sensors, modems, and recovery how-tos.
- [VOXL 2 Power](https://docs.modalai.com/voxl2-power/): Power input on J4, the VOXL Power Module v3, and battery status in PX4.
- [VOXL 2 RC Configs](https://docs.modalai.com/voxl2-rc-configs/): Supported RC receivers and how to wire them to VOXL 2.
- [VOXL 2 ESC Configs](https://docs.modalai.com/voxl2-esc-configs/): Supported ESC configurations and wiring for VOXL 2.
- [VOXL 2 Onboard Sensors](https://docs.modalai.com/voxl2-user-guides-onboard-sensors/): IMUs, barometer, and other sensors built into VOXL 2, and how to read them.
- [VOXL 2 Offboard Sensors](https://docs.modalai.com/voxl2-guides-onboard-offboard-sensors/): Connect GPS, magnetometer, and other external sensors to VOXL 2.
- [VOXL 2 External Devices](https://docs.modalai.com/voxl2-external-devices/): How to connect your own I2C, SPI, UART, and GPIO devices to VOXL 2
- [VOXL 2 Image Sensors](https://docs.modalai.com/voxl2-image-sensors/): Select and configure image sensors for VOXL 2 and VOXL 2 Mini.
- [VOXL 2 Modems](https://docs.modalai.com/voxl2-modems/): Modem options for VOXL 2: LTE, 5G, Wi-Fi, Microhard, Doodle Labs, and DTC.
- [VOXL 2 External Flight Controller](https://docs.modalai.com/voxl2-external-flight-controller/): Use VOXL 2 as a companion computer to an external PX4 or ArduPilot flight controller.
- [VOXL 2 Unbricking](https://docs.modalai.com/voxl2-unbricking/): Recover a VOXL 2 that no longer boots or appears over ADB.
- [VOXL 2 Datasheets](https://docs.modalai.com/voxl2-datasheets/): Feature matrix, connector pinouts, mechanical drawings, and hardware versions.
- [VOXL 2 Feature Matrix](https://docs.modalai.com/voxl2-feature-matrix/)
- [VOXL 2 Connectors](https://docs.modalai.com/voxl2-connectors/)
- [VOXL 2 Mechanical Drawings](https://docs.modalai.com/voxl2-mechanical-drawings/)
- [VOXL 2 Camera Configs](https://docs.modalai.com/voxl2-camera-configs/)
- [VOXL 2 Onboard Sensors](https://docs.modalai.com/voxl2-onboard-sensors/)
- [VOXL 2 Offboard Sensors](https://docs.modalai.com/voxl2-offboard-sensors/)
- [VOXL 2 LEDs](https://docs.modalai.com/voxl2-leds/)
- [VOXL 2 HW Versions](https://docs.modalai.com/m0054-versions/)
- [VOXL 2 System Image](https://docs.modalai.com/voxl2-system-image/): The VOXL 2 operating system - image changelog, Linux user guide, kernel build guide, and QUP mappings.
- [VOXL 2 / VOXL 2 Mini System Image](https://docs.modalai.com/voxl2-voxl2-mini-system-image/): Changelog for the shared VOXL 2 / VOXL 2 Mini system image, plus fastboot recovery steps.
- [VOXL 2 Linux User Guide](https://docs.modalai.com/voxl2-linux-user-guide/)
- [VOXL 2 Kernel Build](https://docs.modalai.com/voxl2-kernel-build-guide/)
- [VOXL 2 QUPs](https://docs.modalai.com/voxl2-qups/)
- [VOXL 2 - D0005](https://docs.modalai.com/voxl2-d0005/)
- [VOXL 2 - D0006](https://docs.modalai.com/voxl2-d0006/)
- [VOXL 2 - D0014](https://docs.modalai.com/voxl2-d0014/)
- [VOXL 2 - D0015](https://docs.modalai.com/voxl2-D0015/)
- [VOXL 2 Supported Architectures](https://docs.modalai.com/voxl2-supported-architectures/): Reference drone architectures built on VOXL 2 (Starling, Sentinel, and more).
- [VOXL 2 Mini](https://docs.modalai.com/voxl2-mini/): VOXL 2 Mini is ModalAI's next-gen autonomous computing platform built around the Qualcomm Flight RB5 5G Platform using the QRB5165 processor.
- [VOXL 2 Mini User Guides](https://docs.modalai.com/voxl2-mini-user-guides/): Power, shell access, USB, RC and ESC configuration, and sensors.
- [VOXL 2 Mini Power](https://docs.modalai.com/voxl2-mini-power/): Power input on J1, compatible power modules, and battery monitoring.
- [VOXL 2 Mini USB Connections](https://docs.modalai.com/voxl2-mini-usb-connections/): The two USB interfaces on VOXL 2 Mini and what connects to each.
- [VOXL 2 Mini Shell Access](https://docs.modalai.com/voxl2-mini-shell-access/): Get a shell on VOXL 2 Mini over ADB or SSH.
- [VOXL 2 Image Sensors](https://docs.modalai.com/voxl2-mini-image-sensors/): Select and configure image sensors for VOXL 2 Mini.
- [VOXL 2 Mini RC Configs](https://docs.modalai.com/voxl2-mini-rc-configs/): Supported RC receivers and how to wire them to VOXL 2 Mini.
- [VOXL 2 Mini ESC Configs](https://docs.modalai.com/voxl2-mini-esc-configs/): Supported ESC configurations and wiring for VOXL 2 Mini.
- [VOXL 2 Mini Onboard Sensors](https://docs.modalai.com/voxl2-mini-onboard-sensors/): IMUs, barometer, and other sensors built into VOXL 2 Mini.
- [VOXL 2 Mini Offboard Sensors](https://docs.modalai.com/voxl2-mini-offboard-sensors/): Connect an external GPS and magnetometer to VOXL 2 Mini.
- [VOXL 2 Mini External Flight Controller](https://docs.modalai.com/voxl2-mini-external-flight-controller/): Use VOXL 2 Mini as a companion computer to an external PX4 or ArduPilot flight controller.
- [VOXL 2 Mini LEDs](https://docs.modalai.com/voxl2-mini-leds/): What each status LED on VOXL 2 Mini indicates.
- [VOXL 2 Mini Linux User Guide](https://docs.modalai.com/voxl2-mini-linux-user-guide/): Linux on VOXL 2 Mini: buses, devices, GPIO, and system services.
- [VOXL 2 Mini Switches](https://docs.modalai.com/voxl2-mini-switches/): Function of the switches on VOXL 2 Mini.
- [VOXL 2 Mini Debug Console](https://docs.modalai.com/voxl2-mini-debug-console/): Enable the serial debug console on VOXL 2 Mini for low-level troubleshooting.
- [VOXL 2 Mini Datasheets](https://docs.modalai.com/voxl2-mini-datasheets/): Feature matrix, connector pinouts, and system image details.
- [VOXL 2 Mini Feature Matrix](https://docs.modalai.com/voxl2-mini-feature-matrix/)
- [VOXL 2 Mini Connectors](https://docs.modalai.com/voxl2-mini-connectors/)
- [VOXL 2 Mini System Image](https://docs.modalai.com/voxl2-mini-system-image/)
- [VOXL 2 Mini - D0013](https://docs.modalai.com/voxl2-mini-d0013/)
- [VOXL 2 Mini Supported Architectures](https://docs.modalai.com/voxl2-mini-supported-architectures/): Reference drone architectures built on VOXL 2 Mini (Stinger).
- [VOXL Flight](https://docs.modalai.com/voxl-flight/): VOXL Flight is an all-in-one board solution that combines a VOXL onboard computer and a Flight Core PX4 flight controller.
- [VOXL Flight Quickstart](https://docs.modalai.com/voxl-flight-quickstart/): Power up VOXL Flight and connect to both the VOXL and Flight Core sides.
- [VOXL Flight User Guide](https://docs.modalai.com/voxl-flight-user-guide/): Using VOXL Flight, which combines a VOXL and a Flight Core on one board.
- [VOXL Flight Datasheets](https://docs.modalai.com/voxl-flight-datasheet/): Functional description, connectors, LEDs, IMUs, and kits for VOXL Flight.
- [VOXL Flight Functional Description](https://docs.modalai.com/voxl-flight-functional-description/)
- [VOXL Flight Connectors](https://docs.modalai.com/voxl-flight-datasheet-connectors/)
- [VOXL Flight LEDs](https://docs.modalai.com/voxl-flight-datasheet-leds/)
- [VOXL Flight IMUs](https://docs.modalai.com/voxl-flight-datasheet-imus/)
- [VOXL Flight Configuration](https://docs.modalai.com/voxl-flight-datasheet-configuration/)
- [VOXL Flight Kits](https://docs.modalai.com/voxl-flight-kits/)
- [VOXL](https://docs.modalai.com/voxl/): VOXL is ModalAI's autonomous computing platform built around the Snapdragon 821.
- [VOXL User Guides](https://docs.modalai.com/voxl-user-guides/): GPIO, I2C, serial, networking, cameras, Docker, and how-to guides for VOXL.
- [Thermal and Performance](https://docs.modalai.com/thermal-and-performance/)
- [Using USB to Ethernet with VOXL](https://docs.modalai.com/usb-to-ethernet-with-voxl/)
- [VOXL GPIO](https://docs.modalai.com/voxl-gpio-io/)
- [How to run Ubuntu on VOXL using Docker](https://docs.modalai.com/docker-on-voxl/)
- [VOXL I2C](https://docs.modalai.com/voxl-i2c-io/)
- [VOXL Fan Control](https://docs.modalai.com/voxl-fan-control/)
- [How to Access Camera Frame Data](https://docs.modalai.com/access-camera-data/)
- [Unbrick VOXL and VOXL Flight](https://docs.modalai.com/unbrick-voxl/)
- [VOXL Onboard LED Control](https://docs.modalai.com/voxl-onboard-led-control/)
- [How to use VOXL as USB Host](https://docs.modalai.com/voxl-as-usb-host/)
- [VOXL Tracking Sensor User Guide](https://docs.modalai.com/voxl-tracking-sensor-user-guide/)
- [VOXL Hi-res Sensor User Guide](https://docs.modalai.com/voxl-hi-res-sensor-user-guide/)
- [VOXL Stereo Sensor User Guide](https://docs.modalai.com/voxl-stereo-sensor-user-guide/)
- [VOXL Serial IO](https://docs.modalai.com/voxl-serial-io/)
- [VOXL ToF Sensor User Guide](https://docs.modalai.com/voxl-tof-sensor-user-guide/)
- [How to stream UVC Video (RTSP)](https://docs.modalai.com/uvc-streaming/)
- [How to stream Flir Video (RTSP)](https://docs.modalai.com/voxl-uvc-flir/)
- [How to connect an I2C display to VOXL](https://docs.modalai.com/i2c-display/)
- [How to connect VOXL to Flight Core](https://docs.modalai.com/how-to-connect-voxl-to-flight-core/)
- [How to Connect VOXL to Pixhawk](https://docs.modalai.com/how-to-connect-voxl-to-pixhawk/)
- [VOXL Datasheets](https://docs.modalai.com/voxl-datasheets/): Functional description, connector pinouts, and camera configurations for VOXL.
- [VOXL Functional Description](https://docs.modalai.com/voxl-datasheets-functional-description/)
- [VOXL Connectors](https://docs.modalai.com/voxl-datasheets-connectors/)
- [VOXL Camera Configs](https://docs.modalai.com/voxl-camera-config/)
- [System Image Changelog](https://docs.modalai.com/voxl-system-image/): Release history of the Yocto system image that runs on VOXL.
- [VOXL Quickstart](https://docs.modalai.com/voxl-quickstarts/): Power up VOXL, connect over ADB, and run the first tools.
- [VOXL Hardware Setup](https://docs.modalai.com/voxl-hardware-setup/)
- [Flight Core](https://docs.modalai.com/flight-core/): Flight Core is a PX4 Drone Flight Controller - Assembled in the USA. Flight Core can be paired with VOXL for obstacle avoidance and indoor or outdoor GPS-denied navigation.
- [Flight Core Quickstarts](https://docs.modalai.com/flight-core-getting-started/): Mount, wire, and configure Flight Core for a first flight with PX4.
- [Flight Core Mounting and Connections](https://docs.modalai.com/flight-core-mounting-and-connections/)
- [Update Flight Core Firmware](https://docs.modalai.com/update-flight-core-firmware/)
- [Upload PX4 Parameters](https://docs.modalai.com/upload-px4-parameters/)
- [Calibrate Sensors](https://docs.modalai.com/px4-calibrate-sensors/)
- [Configure RC Radio](https://docs.modalai.com/configure-rc-radio/)
- [Miscellaneous PX4 Configuration](https://docs.modalai.com/fc-configure-misc/)
- [First Flight](https://docs.modalai.com/fc-first-flight/)
- [Flight Core User Guides](https://docs.modalai.com/flight-core-user-guides/): Connections, radios, ESC calibration, firmware, and bootloader guides for Flight Core.
- [Flight Core Connections](https://docs.modalai.com/flight-core-connections/)
- [Flight Core Radios](https://docs.modalai.com/flight-core-radios/)
- [Flight Core PWM ESC Calibration](https://docs.modalai.com/flight-core-pwm-esc-calibration/)
- [Flight Core Firmware](https://docs.modalai.com/flight-core-firmware/)
- [Flight Core Bootloader](https://docs.modalai.com/flight-core-bootloader/)
- [Flight Core Datasheets](https://docs.modalai.com/flight-core-datasheet/): STM32F7 flight controller for PX4 and ArduPilot: connectors, LEDs, kits, and configuration.
- [Flight Core Functional Description](https://docs.modalai.com/flight-core-datasheet-functional-description/)
- [Flight Core Connectors](https://docs.modalai.com/flight-core-datasheet-connectors/)
- [Flight Core Kits](https://docs.modalai.com/flight-core-kits/)
- [Flight Core LEDs](https://docs.modalai.com/flight-core-datasheet-leds/)
- [Flight Core Configuration](https://docs.modalai.com/flight-core-datasheet-configuration/)
- [Flight Core v2](https://docs.modalai.com/flight-core-v2/): Flight Core is an H7 based PX4 Drone Flight Controller - Assembled in the USA. Flight Core can be paired with VOXL for obstacle avoidance and indoor or outdoor GPS-denied navigation.
- [Flight Core v2 User Guides](https://docs.modalai.com/flight-core-v2-user-guides/)
- [Flight Core v2 USB to QGC](https://docs.modalai.com/flight-core-v2-usb-to-qgc/)
- [Flight Core v2 Power](https://docs.modalai.com/flight-core-v2-power/)
- [Flight Core v2 RC Options](https://docs.modalai.com/flight-core-v2-rc-options/)
- [Flight Core v2 Actuators](https://docs.modalai.com/flight-core-v2-actuators/)
- [Flight Core v2 Onboard Sensors](https://docs.modalai.com/flight-core-v2-onboard-sensors/)
- [Flight Core v2 Telemetry](https://docs.modalai.com/flight-core-v2-telemetry/)
- [Flight Core v2 External Sensors](https://docs.modalai.com/flight-core-v2-external-sensors/)
- [Flight Core v2 Firmware](https://docs.modalai.com/flight-core-v2-firmware/)
- [Flight Core v2 Datasheets](https://docs.modalai.com/flight-core-v2-datasheets/)
- [Flight Core v2 Functional Description](https://docs.modalai.com/flight-core-datasheet-v2-functional-description/)
- [Flight Core v2 Connectors](https://docs.modalai.com/flight-core-v2-datasheets-connectors/)

## VOXL Dev Kits

- [VOXL Dev Kits](https://docs.modalai.com/voxl-dev-kits/)
- [VOXL 2 Dev Bundles](https://docs.modalai.com/voxl2-development-kits/): Development bundles pairing VOXL 2 with camera modules and accessories.
- [VOXL 2 Standalone Bundles](https://docs.modalai.com/voxl2-standalone-bundles/)
- [VOXL 2 Coax Camera Bundles](https://docs.modalai.com/voxl2-coax-camera-bundles/)
- [VOXL Flight Deck](https://docs.modalai.com/flight-deck/): A fully assembled and calibrated flight kit. Pre-configured for GPS-denied navigation using Visual Inertial Odometry (VIO)
- [VOXL Flight Deck Datasheet](https://docs.modalai.com/flight-deck-datasheet/): Specifications and CAD for the VOXL Flight Deck assembled flight kit.
- [VOXL Flight Deck User Guide](https://docs.modalai.com/flight-deck-userguide/): Connections and setup for mounting the VOXL Flight Deck on a vehicle.
- [VOXL 2 Flight Deck](https://docs.modalai.com/voxl2-flight-deck/): ModalAI's most advanced fully assembled and calibrated flight kit to date
- [VOXL 2 Flight Deck Datasheet](https://docs.modalai.com/voxl2-flight-deck-datasheet/): Specifications, 3D model, and component list for the VOXL 2 Flight Deck.
- [VOXL 2 Flight Deck User Guide](https://docs.modalai.com/voxl2-flight-deck-userguide/): Unboxing, connections, setup, and software for the VOXL 2 Flight Deck.
- [VOXL 2 Flight Deck Unboxing](https://docs.modalai.com/voxl2-flight-deck-userguide-unboxing/)
- [VOXL 2 Flight Deck Software](https://docs.modalai.com/voxl2-flight-deck-userguide-software/)
- [VOXL 2 Flight Deck Connections](https://docs.modalai.com/voxl2-flight-deck-userguide-connections/)
- [VOXL 2 Flight Deck Setup](https://docs.modalai.com/voxl2-flight-deck-userguide-setup/)
- [VOXL CAM](https://docs.modalai.com/voxl-cam/): VOXL CAM is a state-of-the art, fully integrated robot perception system
- [VOXL CAM Quickstart](https://docs.modalai.com/voxl-cam-quickstart/): First power-up and connection steps for VOXL CAM.
- [VOXL CAM User Guide](https://docs.modalai.com/voxl-cam-user-guide/): Setup, Flight Core integration, and modem setup for VOXL CAM.
- [VOXL CAM Flight Core Setup](https://docs.modalai.com/voxl-cam-user-guide-flight/)
- [VOXL CAM Setup](https://docs.modalai.com/voxl-cam-user-guide-core/)
- [VOXL CAM Modem Setup](https://docs.modalai.com/voxl-cam-user-guide-modem/)
- [VOXL CAM Datasheet](https://docs.modalai.com/voxl-cam-datasheet/): Specifications, connectors, and mechanicals for VOXL CAM.
- [VOXL Dev Bundles](https://docs.modalai.com/voxl-kits/): Development bundles for the original VOXL.

## Dev Drones

- [Dev Drones](https://docs.modalai.com/voxl-dev-drones/)
- [Starling 2](https://docs.modalai.com/starling-2/): Starling 2 is our flagship development drone for both indoor and outdoor flight.
- [1. Hardware Overview](https://docs.modalai.com/starling-2-hardware-overview/)
- [2. Datasheet](https://docs.modalai.com/starling-2-datasheet/)
- [Starling 2 Max](https://docs.modalai.com/starling-2-max/): Starling 2 Max is our flagship development drone for both indoor and outdoor flight.
- [1. Hardware Overview](https://docs.modalai.com/starling-2-max-hardware-overview/)
- [2. Datasheet](https://docs.modalai.com/starling-2-max-datasheet/)
- [Sentinel](https://docs.modalai.com/sentinel/): Sentinel combines a premium-tier companion computer and flight controller into a single SWAP-optimized PCB to enable smaller, smarter, and safer drones and robots
- [Sentinel Quickstart](https://docs.modalai.com/sentinel-quickstart/)
- [Sentinel User Guide](https://docs.modalai.com/sentinel-user-guides/)
- [Sentinel Unboxing](https://docs.modalai.com/sentinel-user-guide-unboxing/)
- [Sentinel Vehicle Components](https://docs.modalai.com/sentinel-user-guide-components/)
- [Sentinel Power Supply and Battery](https://docs.modalai.com/sentinel-user-guide-power/)
- [Sentinel Connect Over ADB](https://docs.modalai.com/sentinel-user-guide-connect-adb/)
- [Sentinel Connect Network](https://docs.modalai.com/sentinel-user-guide-connect-network/)
- [Sentinel PX4](https://docs.modalai.com/sentinel-user-guide-px4/)
- [Sentinel Pre-Flight Setup](https://docs.modalai.com/sentinel-user-guide-pre-flight-setup/)
- [Sentinel Using VIO](https://docs.modalai.com/sentinel-user-guide-using-vio/)
- [Sentinel Factory Reset guide](https://docs.modalai.com/sentinel-factory-reset/)
- [Sentinel Datasheets](https://docs.modalai.com/sentinel-datasheet/)
- [Sentinel Functional Description](https://docs.modalai.com/sentinel-functional-description/)
- [Sentinel Board Connectors](https://docs.modalai.com/sentinel-connectors/)
- [Sentinel Spektrum Bind Board](https://docs.modalai.com/sentinel-spektrum-bind-board/)
- [Sentinel Landing Skids](https://docs.modalai.com/sentinel-skids/)
- [Delta Wing Unboxing](https://docs.modalai.com/delta-wing-unboxing/)
- [Delta Wing Build Guide](https://docs.modalai.com/delta-wing-build-guide/)
- [Delta Wing Configuration](https://docs.modalai.com/delta-wing-configuration/)
- [Legacy EOL Dev Drones](https://docs.modalai.com/legacy/): Legacy development drones from ModalAI, no longer in production
- [Starling](https://docs.modalai.com/starling/): Starling is our flagship development drone for both indoor and outdoor flight.
- [1. Hardware Overview](https://docs.modalai.com/starling-hardware-overview/)
- [2. Datasheet](https://docs.modalai.com/starling-datasheet/)
- [M500](https://docs.modalai.com/m500/): VOXL m500 is a built around a VOXL Flight Deck configured and tested for GPS-based autonomous flight and indoor GPS-denied navigation.
- [M500 Quickstart](https://docs.modalai.com/voxl-m500-quickstart/): Unbox the M500, connect a battery and radio, and prepare for a first flight.
- [M500 User Guides](https://docs.modalai.com/voxl-m500-user-guide/): Components, network setup, PX4 and GCS, VIO, and the gimbal for the M500.
- [VOXL m500 Unboxing](https://docs.modalai.com/voxl-m500-getting-started/)
- [VOXL m500 Components](https://docs.modalai.com/voxl-m500-components/)
- [VOXL m500 Connect Network](https://docs.modalai.com/voxl-m500-user-guide-connect-network/)
- [VOXL m500 PX4 and GCS](https://docs.modalai.com/voxl-m500-user-guide-px4/)
- [VOXL m500 Pre-Flight Setup](https://docs.modalai.com/voxl-m500-user-guide-pre-flight-setup/)
- [VOXL m500 First Flight](https://docs.modalai.com/voxl-m500-user-guide-first-flight/)
- [VOXL m500 Using VIO](https://docs.modalai.com/voxl-m500-user-guide-using-vio/)
- [VOXL m500 Gimbal User Guide](https://docs.modalai.com/voxl-m500-gimbal-user-guide/)
- [M500 Datasheet](https://docs.modalai.com/m500-datasheet/): Specifications, dimensions, and component list for the M500 development drone.
- [Qualcomm Flight RB5](https://docs.modalai.com/qualcommflightrb5/): A comprehensive drone reference design with low-power, high-performance heterogenous computing, artificial intelligence, optional 5G connectivity, 7 image sensor concurrency, and more.

## First Person View (FPV)

- [First Person View (FPV)](https://docs.modalai.com/fpv/)
- [AI Detection Setup Guide](https://docs.modalai.com/ai-detection-setup-guide/): VTX/VRX AI Detection Setup and Configuration Guide
- [Stinger Datasheet](https://docs.modalai.com/stinger-vision-datasheet/): Specifications, components, and connectors for the Stinger.
- [Stinger User Manual](https://docs.modalai.com/stinger-vision-user-manual/): Operating the Stinger: setup, flight modes, battery, and maintenance.
- [Stinger Quick Start Guide](https://docs.modalai.com/stinger-vision-quick-start-guide/): Get the Stinger from the box to a first flight.
- [Stinger Software Guide](https://docs.modalai.com/stinger-vision-software-guide/): Software configuration on the Stinger: radio, video, and controls.
- [Stinger List of Certifications](https://docs.modalai.com/stinger-vision-list-of-certifications/): Regulatory and compliance certifications for the Stinger.
- [Stinger Binding Details](https://docs.modalai.com/stinger-vision-binding-details/): Bind the Stinger to a transmitter and video receiver.
- [Shikra Datasheet](https://docs.modalai.com/d0017-datasheet/): Shikra FPV Datasheet
- [VRX Ground Unit Datasheet](https://docs.modalai.com/vrx-ground-unit-datasheet/): Specifications, connectors, and supported SDK for the VRX ground unit.
- [VRX Ground Unit Quick Start Guide](https://docs.modalai.com/vrx-ground-unit-quick-start-guide/): Connect the VRX ground unit to goggles and a Stinger for first use.
- [VRX Ground Unit Developer Guide](https://docs.modalai.com/vrx-ground-unit-developer-guide/): SDK, shell access, and configuration on the VRX ground unit.
- [VRX Ground Unit Goggles Compatibility](https://docs.modalai.com/vrx-ground-unit-goggles-compatibility/): Goggle models and video modes that work with the VRX ground unit.
- [VRX Ground Unit List of Certifications](https://docs.modalai.com/vrx-ground-unit-list-of-certifications/): Regulatory and compliance certifications for the VRX ground unit.
- [VTX Air Unit Datasheet](https://docs.modalai.com/vtx-air-unit-datasheet/): Specifications, connectors, and supported SDK for the VTX air unit.
- [VTX Air Unit Quick Start Guide](https://docs.modalai.com/vtx-air-unit-quick-start-guide/): Wire and power the VTX air unit and pair it with a receiver.
- [VTX Air Unit Software Guide](https://docs.modalai.com/vtx-air-unit-software-guide/): Configure video, OSD, and link settings on the VTX air unit.
- [VTX Air Unit List of Certifications](https://docs.modalai.com/vtx-air-unit-list-of-certifications/): Regulatory and compliance certifications for the VTX air unit.
- [AI Detection](https://docs.modalai.com/ai-detection/)
- [Stinger Vision FPV](https://docs.modalai.com/stinger-vision-fpv/)
- [VRX Ground Unit](https://docs.modalai.com/vrx-ground-unit/)
- [VTX Air Unit](https://docs.modalai.com/vtx-air-unit/)

## Modems

- [Modems](https://docs.modalai.com/modems/)
- [ELRS](https://docs.modalai.com/ELRS-Modems/): ModalAI's ELRS Radio Offerings
- [ELRS Configurator](https://docs.modalai.com/elrs-configurator/): M0184 and M0193 ELRS Configurator and Firmware Build
- [M0184 Gemini 915MHz ELRS](https://docs.modalai.com/M0184/): ModalAI's M0184 Gemini 915MHz ELRS
- [M0184 Software Guide](https://docs.modalai.com/M0184-software-guide/): voxl-elrs command line tool: bind, flash, and configure the M0184 receiver over CRSF.
- [M0220 Gemini X-Band ELRS Transceiver](https://docs.modalai.com/M0220/): ModalAI's M0220 Gemini X ELRS Transceiver
- [WiFi](https://docs.modalai.com/wifi-modems/): WiFi connectivity options for VOXL platforms
- [M0213 VOXL 2 Wifi Addon](https://docs.modalai.com/m0213/): Wi-Fi and Bluetooth expansion board for VOXL 2 and VOXL 2 Mini: setup, connectors, and antennas.
- [4G LTE Modems](https://docs.modalai.com/4G-LTE-Modems/): ModalAI's range of 4G LTE Modems
- [V2 LTE Modem and USB Add-On Board User Guide](https://docs.modalai.com/lte-v2-modem-user-guide/): Set up the V2 LTE modem add-on board with voxl-modem, SIM, antennas, and carrier profiles.
- [V2 LTE Modem and USB Add-On Datasheet](https://docs.modalai.com/lte-modem-and-usb-add-on-v2-datasheet/): Specifications, connectors, and mechanicals for the V2 LTE modem and USB hub add-on board.
- [V1 LTE Modem and USB Add-On Board User Guide](https://docs.modalai.com/lte-v1-modem-user-guide/): Set up the original V1 LTE modem add-on board on VOXL.
- [V1 LTE Modem and USB Add-On Datasheet](https://docs.modalai.com/lte-modem-and-usb-add-on-datasheet/): Specifications and connectors for the V1 LTE modem and USB add-on board, including Band 3 variants.
- [V2 LTE Modem Dongle Datasheet](https://docs.modalai.com/lte-modem-v2-dongle-datasheet/): USB LTE modem dongle for VOXL 2: supported modems, SIM, and power requirements.
- [LTE Modem I/O Breakout and USB Hub Datasheet](https://docs.modalai.com/lte-io-breakout-usb-hub-datasheet/): LTE modem I/O breakout board with USB hub: connector pinouts and power.
- [5G Modems](https://docs.modalai.com/5G-Modems/): ModalAI's range of 5G Modems
- [5G Modem User Guide](https://docs.modalai.com/5G-Modem-user-guide/): Bring up the M0090 5G modem add-on with voxl-modem, SIM, and antennas.
- [5G Modem Datasheet](https://docs.modalai.com/5G-Modem-datasheet/): M0090 5G modem add-on board: connectors, pinouts, supported modules, and mechanicals.
- [Doodle Labs User Guide](https://docs.modalai.com/doodle-labs-user-guide/): Connect a Doodle Labs Smart Radio to VOXL or VOXL 2 for a ground control station link.
- [Doodle Labs Modems](https://docs.modalai.com/doodle-labs-modems/): Documentation for Doodle Lab Modems
- [Microhard Modems](https://docs.modalai.com/microhard-modems/): ModalAI's range of Microhard modems
- [Microhard Add-On Board User Guide](https://docs.modalai.com/microhard-add-on-manual/): Configure a Microhard pDDL radio on the VOXL add-on board for a vehicle to ground station link.
- [Microhard Add-On Datasheet](https://docs.modalai.com/microhard-add-on-datasheet/): VOXL expansion board for Microhard pDDL modules: connectors, power, and mechanicals.
- [Microhard USB Carrier Board](https://docs.modalai.com/microhard-usb-carrier/): Standalone USB carrier board for Microhard modules, used on the ground station side.
- [DTC Modems](https://docs.modalai.com/dtc-modems/): Documentation for Domo Tactical Communications Modems
- [DTC User Guide](https://docs.modalai.com/dtc-user-guide/): Connect a DTC mesh radio to VOXL or VOXL 2 for a ground control station link.
- [DTC Starling Integration](https://docs.modalai.com/dtc-starling/): Mount and wire a DTC radio on a Starling airframe.

## Expansion Boards

- [Expansion Boards](https://docs.modalai.com/expansion-boards/)
- [USB2 Expander M0017](https://docs.modalai.com/m0017/): VOXL USB Expander and Debug Add-On board adds an additional USB2 connector and allows VOXL to be put into fastboot or emergency boot modes.
- [USB2 Expander M0078](https://docs.modalai.com/m0078/): VOXL USB Expander v2 is a revised version of v1 with more features in a smaller and lighter package for VOXL and VOXL 2.
- [USB2 Type A Breakout](https://docs.modalai.com/usb2-type-a-breakout-add-on/): This Expansion Adapter integrates USB 2 peripheral devices as well as an additional UART, I2C and GPIO for VOXL 2
- [VOXL 2 IO](https://docs.modalai.com/voxl2-io/): VOXL 2 IO adds PWM output along with an S.Bus radio connection to VOXL 2 or VOXL 2 mini.
- [VOXL 2 IO Datasheet](https://docs.modalai.com/voxl2-io-datasheet/): M0065 VOXL 2 IO board: PWM, RC, and UART connectors, pinouts, and power.
- [VOXL 2 IO User Guide](https://docs.modalai.com/voxl2-io-user-guide/): Connect PWM ESCs and RC receivers to VOXL 2 through the VOXL 2 IO board.
- [VOXL 2 IO Firmware](https://docs.modalai.com/voxl2-io-firmware/): Update the VOXL 2 IO firmware and read its LED status patterns.
- [VOXL 2 IO Legacy Guide](https://docs.modalai.com/voxl2-io-legacy-guide/): Setup guide for the legacy PX4IO-based VOXL 2 IO firmware.
- [VOXL 2 USB3 UART Add-On](https://docs.modalai.com/m0151/): This Expansion Adapter integrates USB 3 peripheral devices as well as an additional UART for VOXL 2
- [VOXL 2 USB3 UART Add-On Datasheet](https://docs.modalai.com/voxl2-usb3-uart-add-on-datasheet/): M0125 add-on board: USB 3 port and UART breakout connectors for VOXL 2.
- [VOXL 2 USB3 UART Add-On User Guide](https://docs.modalai.com/voxl2-usb3-uart-add-on-user-guide/): Use the M0125 board for USB 3 devices and UART peripherals on VOXL 2.
- [VOXL 2 Developer Test Board](https://docs.modalai.com/voxl2-dev-test-board/): VOXL 2 Developer Test Board (M0144)
- [VOXL 2 Developer Test Board Datasheet](https://docs.modalai.com/voxl2-dev-test-board-datasheet/): Connectors, headers, and test points on the M0144 developer test board.
- [VOXL 2 Developer Test Board User Guide](https://docs.modalai.com/voxl2-dev-test-board-user-guide/): Use the M0144 board to bring out VOXL 2 signals for bench development and debug.
- [VOXL 2 Developer Test Board Developer Guide](https://docs.modalai.com/voxl2-dev-test-board-developer-guide/): Software examples for the M0144 board: GPIO, SPI, I2C, UART, and CAN from VOXL 2.
- [Expansion Hardware Design Guide](https://docs.modalai.com/expansion-design-guide/): Information about custom PCBA's
- [PCB Catalog](https://docs.modalai.com/pcb-catalog/): Our PCB catalog with part numbers, diagrams, links, and production status
- [M0062 VOXL 2 Ethernet Expansion and USB Hub](https://docs.modalai.com/m0062/): Wired Ethernet, USB host ports, and removable storage for VOXL 2.
- [M0062 VOXL 2 Ethernet Expansion and USB Hub Datasheet](https://docs.modalai.com/m0062-datasheet/): Connectors, pinouts, power, and mechanicals for the M0062 board.
- [M0062 VOXL 2 Ethernet Expansion and USB Hub User Guide](https://docs.modalai.com/m0062-user-guide/): Enable Ethernet, USB devices, and storage on VOXL 2 with the M0062 board.
- [M0183 VOXL 2 mPCIe Expansion and USB Hub](https://docs.modalai.com/m0183/): mPCIe slot and USB hub for adding modems and radios to VOXL 2.

## Accessories

- [Accessories](https://docs.modalai.com/accessories/)
- [VOXL ESCs](https://docs.modalai.com/voxl-escs/): Documentation for ModalAI's high-performance, closed-loop Electronic Speed Controllers (ESCs) that use a digital interface (UART, i2c in future).
- [VOXL 4-in-1 ESC Datasheet](https://docs.modalai.com/voxl-esc-datasheet/): M0117 4-in-1 UART ESC: specifications, connectors, and pinouts.
- [VOXL Mini 4-in-1 ESC Datasheet](https://docs.modalai.com/voxl-mini-esc-datasheet/): M0129 and M0134 mini 4-in-1 ESCs for vehicles under 750 g: specifications and pinouts.
- [VOXL FPV ESC 4-in-1 Datasheet](https://docs.modalai.com/voxl-fpv-esc-datasheet/): M0138 high-current 4-in-1 ESC for FPV racing applications: specifications and pinouts.
- [Manual](https://docs.modalai.com/modal-esc-v2-manual/): VOXL ESC Tools: test, calibrate, flash, and diagnose ESCs from a PC or from VOXL.
- [VOXL ESC Calibration](https://docs.modalai.com/voxl-esc-calibration/): Calibrate ModalAI ESCs for closed-loop RPM control - safely
- [PX4 Integration](https://docs.modalai.com/modal-esc-px4-user-guide/): Configure PX4 on VOXL 2, VOXL Flight, or Flight Core to drive VOXL UART ESCs.
- [VOXL ESC FAQ](https://docs.modalai.com/voxl-escs/faq/): Common questions about ESC variants, wiring, firmware, and troubleshooting.
- [Power Modules](https://docs.modalai.com/power-modules/): ModalAI's range of high performance 5V power adapters for drones (sUAS, UAVs) and other robotic use cases
- [Power Module v3 Datasheet](https://docs.modalai.com/power-module-v3-datasheet/): M0041 power module: 5 V regulated output up to 6 A with I2C voltage and current monitoring.
- [Power Module v2 Datasheet](https://docs.modalai.com/power-module-v2-datasheet/): Legacy V2 power module for VOXL and Flight Core with PX4 battery monitoring support.
- [Image Sensors](https://docs.modalai.com/image-sensors/): ModalAI's range of tracking, Hi-Res, Time of Flight, and Stereo image sensors
- [M0014 Tracking Module Datasheet](https://docs.modalai.com/M0014/): OV7251 640x480 global shutter mono tracking module, 166 degree fisheye, 36-pin flex
- [M0015 Stereo Module Datasheet](https://docs.modalai.com/M0015/): Dual OV7251 640x480 global shutter mono stereo pair, 85 degree FOV, hardware synchronized
- [M0024 IMX214 Module Datasheet](https://docs.modalai.com/M0024/): IMX214 4208x3120 rolling shutter color hires module, 107 or 146 degree lens, 10 cm flex (EOL)
- [M0025 IMX214 Module Datasheet](https://docs.modalai.com/M0025/): IMX214 4208x3120 rolling shutter color hires module, 100 or 81 degree lens, 8.5 cm flex
- [M0040 Time of Flight Module Datasheet](https://docs.modalai.com/M0040/): PMD IRS1645 224x171 time of flight depth module, 4 to 6 m range, 850 nm, 36-pin flex
- [M0061 Framos Adapter Module Datasheet](https://docs.modalai.com/M0061/): Framos adapter for IMX412 (-1) or IMX678 (-2) rolling shutter color hires, M12 lens
- [M0072 Fisheye Module Datasheet](https://docs.modalai.com/M0072/): OV7251 640x480 global shutter mono fisheye module, 166 degree, 24-pin Molex connector
- [M0073 OV9782 Module Datasheet](https://docs.modalai.com/M0073/): OV9782 1280x800 global shutter RGB stereo module with IR-cut filter, 121 degree FOV
- [M0107 IMX412 Low Light Image Sensor Datasheet](https://docs.modalai.com/M0107/): IMX412 12.3 MP rolling-shutter color hires module, 36-pin flex, M12 120 deg lens (EOL)
- [M0113 OV9782 Module Datasheet](https://docs.modalai.com/M0113/): OV9782 1280x800 global shutter RGB stereo module, no IR-cut filter, 121 degree FOV
- [M0149 Tracking Module Datasheet](https://docs.modalai.com/M0149/): AR0144 1280x800 global-shutter tracking module, 36-pin flex, M7 fisheye 162 deg lens
- [M0161 IMX412 Low Light Image Sensor Datasheet](https://docs.modalai.com/M0161/): IMX412 4056x3040 rolling-shutter color hires module, micro-coax, M12 120 deg lens
- [M0166 Tracking Module Datasheet](https://docs.modalai.com/M0166/): AR0144 1280x800 global-shutter tracking module, micro-coax, M7 fisheye 162 deg lens
- [M0169 Time of Flight Module Datasheet](https://docs.modalai.com/M0169/): PMD IRS2975C 240x180 ToF depth module on 36-pin AXT adapter, external 5 V, 106 deg FOV
- [M0178 VOXL 2 Time of Flight Module Datasheet](https://docs.modalai.com/M0178/): PMD IRS2975C 240x180 ToF depth module on 40-pin adapter for VOXL 2 via M0173, 106 deg FOV
- [M0186 IMX664 Low Light FPV Image Sensor Datasheet](https://docs.modalai.com/M0186/): IMX664 2704x1540 rolling-shutter color low-light FPV module, micro-coax, M12 150 deg lens
- [M0189 VOXL 2 Mini Tof](https://docs.modalai.com/M0189/): ST VL53L8CX 8x8 multizone I2C ToF rangefinder for VOXL 2 Mini via M0188/M0195, 65 deg FOV
- [Image Sensor Flex Cables and Adapters](https://docs.modalai.com/image-sensor-flexes-adapters/): Documentation for ModalAI's range of flex cables and adapters that connect VOXL, RB5 Flight and VOXL 2 to various image sensor modules.
- [M0008 DFT Interposer Flex](https://docs.modalai.com/M0008/): Interposer flex for DFT-style image sensor connectors.
- [M0010 Stereo Flex](https://docs.modalai.com/M0010/): Flex cable joining a stereo image sensor pair to the VOXL camera connector.
- [M0036 Extension Flex 15cm](https://docs.modalai.com/M0036/): 15 cm extension flex for 36-pin image sensor connectors.
- [M0039 Wide Stereo Flex](https://docs.modalai.com/M0039/): Wide-baseline stereo flex cable, same pinout as the M0010.
- [M0074 Extension Flex 6cm](https://docs.modalai.com/M0074/): 6 cm extension flex for 36-pin image sensor connectors.
- [M0076 VOXL 2 AXT Interposer](https://docs.modalai.com/m0076/): Adapter from the VOXL 2 camera group connectors to legacy AXT sensor flexes.
- [M0084 VOXL 2 Y-AXT Flex Cable](https://docs.modalai.com/M0084/): Y-shaped flex splitting one VOXL 2 camera group into two AXT sensor connectors.
- [M0109 VOXL 2 J-Flex Cable](https://docs.modalai.com/M0109/): J-shaped flex for routing an image sensor around the VOXL 2 board edge.
- [M0135 VOXL 2 Dual Image Sensor Adapter](https://docs.modalai.com/M0135/): Adapter connecting two image sensors to one VOXL 2 camera group.
- [M0153 MIPI Boson Image Sensor Adapter](https://docs.modalai.com/M0153/): Adapter for the FLIR Boson thermal camera over MIPI to VOXL 2.
- [M0155 Single Coax Adapter](https://docs.modalai.com/M0155/): Adapter connecting a single micro-coax tracking or hi-res camera to VOXL 2.
- [M0172 DF40 TOF and DF56 Coax Hires Adapter](https://docs.modalai.com/M0172/): Adapter with a DF40 connector for a ToF sensor and a DF56 coax connector for a tracking or hi-res camera.
- [M0173 VOXL 2 Starling Front End](https://docs.modalai.com/M0173/): Starling 2 front-end board breaking out VOXL 2 camera groups J6 and J7.
- [M0187 VOXL 2 Lepton Adapter](https://docs.modalai.com/M0187/): Adapter for the FLIR Lepton thermal camera on VOXL 2.
- [M0188 VOXL 2 Mini Stinger Imager Adapter](https://docs.modalai.com/M0188/): Imager adapter breaking out VOXL 2 Mini camera groups J6 and J7.
- [M0195 VOXL 2 Mini Stinger Imager Adapter](https://docs.modalai.com/M0195/): Stinger imager adapter breaking out VOXL 2 Mini camera groups J6 and J7.
- [Micro-Coaxial User Guide](https://docs.modalai.com/micro-coax-user-guide/): How micro-coax image sensor cables work, which sensors use them, and how to route them.
- [USB Expander and Debug Board Datasheet](https://docs.modalai.com/usb-expander-and-debug-datasheet/)
- [Image Sensor Hardware Design and Integration Guide](https://docs.modalai.com/image-sensor-design-guide/): Electrical and mechanical guidance for integrating image sensors with VOXL boards.
- [Transmitters](https://docs.modalai.com/transmitters/): RC transmitters and receiver protocols supported on VOXL platforms, including Orqa and GHST.
- [Orqa / GHST](https://docs.modalai.com/orqa-ghost/)
- [VTX Systems](https://docs.modalai.com/vtx-systems/): Video transmitter options for VOXL 2, including third-party VTX integration.
- [VOXL2 with Third Party VTX](https://docs.modalai.com/voxl2-with-third-party-vtx/)
- [Cables](https://docs.modalai.com/cables/): Documentation for ModalAI's range of cables.
- [Cable Datasheets](https://docs.modalai.com/cable-datasheets/): Datasheets for ModalAI's range of cables.
- [Cable User Guides](https://docs.modalai.com/cable-userguides/): User Guides for ModalAI's range of cables.

## Part Numbers

- [Part Numbers](https://docs.modalai.com/part-numbers/): Every ModalAI part number in the docs, resolved to its product page.

## Deprecated

- [Deprecated](https://docs.modalai.com/deprecated/)

## Downloads

- [Downloads](https://docs.modalai.com/downloads/): SDK releases, packages, and hardware files

## Contact

- [Contact](https://docs.modalai.com/contact/)