VOXL Functional Description

Table of contents

  1. Overview
    1. High level specifications of the platform
    2. Camera
    3. Connectivity and Location
    4. Storage
    5. Software
  2. Power Specifications
  3. Mechanical Specifications
    1. Board Dimensions
  4. On board sensors
    1. IMU Notes
  5. Recommended Operating Conditions

Overview

High level specifications of the platform

  • Base Operation System: Linux Yocto Jethro with 3.18 kernel. Additional Linux Operating Systems can be used by running Docker on VOXL, details here
  • Qualcomm Snapdragon 821 w/ 4GB LPDDR4 1866MHz
  • Quad-core CPU up to 2.15GHz
  • Adreno 530 GPU at 624MHz
  • Hexagon compute DSP (cDSP) 825MHz
  • Hexagon sensor DSP (sDSP) 700MHz
  • 4k30 Video Capture h.264/5 w/ 720p FPV
  • PCB 36mm x 75mm, 12-layer, 1mm thick

Camera

VOXL supports the following camera interfaces:

  • MIPI-CSI2
  • USB UVC
  • HDMI

Please see the Camera and Video Guides for more detailed information.

Connectivity and Location

  • Pre-certified Wi-Fi module QCNFA324 FCC ID:PPD-QCNFA324
    • QCA6174A modem
    • 802.11ac 2x2 Dual-band
    • Bluetooth 4.2 (dual-mode)
  • 4G LTE as optional add-on module
  • Microhard pDDL as an optional add-on module
  • WGR7640 GNSS 10Hz
  • I/O:
    • 1x USB3.0 OTG (ADB port)
    • 1x USB2.0 (expansion port)
    • 2x UART
    • 3x I2C
    • Additional GPIO and SPI can be configured

Storage

  • 32GB (UFS 2.0)
  • Micro SD Card

Software

  • Docker with Ubuntu, Debian or Alpine
  • OpenCV 2.4.11, 3.4.6, 4.2
  • ROS Indigo
  • Qualcomm Navigator 1.0 Flight Control
  • Qualcomm Machine Vision SDK

Top


Power Specifications

The VOXL should be powered by a supply rated at 6A and 5VDC.

A recomended power supply is defined here.

  • Caution: although the VOXL may power up from USB power, it is not recommended to operate this way.

Top


Mechanical Specifications

Board Dimensions

voxl-core-imu-locations

Top


On board sensors

Configuration VOXL (M0006) VOXL Legacy aka Qualcomm Flight Pro (HA942) Interface
IMU0 ICM20948 MPU9250 SPI10
IMU1 (recommended) ICM20948 MPU9250 SPI1
Barometer Bosch BMP280 Bosch BMP280 i2c3
GNSS Internal Snapdragon Internal Snapdragon TBD

IMU Notes

Note: IMU1 consistently performs better than IMU0. IMU1 is strongly recommended for flight and VIO use. SNAV 1.3 and greater, which is found at developer.modalai.com, uses IMU1 by default.

Top


  • Operating Temperature: -10°C to +70°C

Top