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VOXL Flight Connectors


VOXL-Flight Top VOXL-Flight Bottom

Note: Due to supply chain issues, the colors of the connectors on VOXL Flight are subject to change. If the colors of the connectors are different, please disregard.

Table of contents

  1. Board Connections and Pin-out Specifications
    1. VOXL Flight Board Top
  2. J2 - Hires 4k Image Sensor (CSI0)
    1. Supported Sensors
  3. J3 - Stereo or Time-of-flight Image Sensor (CSI1)
    1. Supported Image Sensors
  4. J6 - Cooling Fan Connector
  5. J7 BLSP6 (I2C) and BLSP9 (UART / SPI): External GPS/MAG
  6. J13 - Expansion B2B connection
  7. J14 - Integrated GNSS Antenna Connection
  8. J1001 - Programming and Debug Console (USART3)
  9. J1002 - UART ESC, UART2/TELEM3 Interface Connector
  10. J1003 - PPM RC In
  11. J1004 - RC input / Spektrum/SBus/USART6 Connector
  12. J1006 - USB Connector
  13. J1007 - 8-Channel PWM / 4-Channel DShot ESC Output Connector
  14. J1008 - CAN Bus Connector
  15. J1009 - I2C3, UART4
  16. J1010 - Telemetry Connector (TELEM1)
  17. J1011 - I2C2, Safety Button Input
  18. J1012 - External GPS & Mag, USART1, I2C1 Connector
  19. J1013 - 5V DC Power Input, I2C3 to power cable “APM”
    1. Supported Modules
    2. VOXL Flight Board Bottom
  20. J4 - Tracking/Optic Flow Image Sensor (CSI2)
    1. Supported Image Sensors
  21. J8 - USB 3.0 OTG
  22. J10 - UART or I2C off-board (external Sonar or IMU sensor)
  23. J11 - BLSP12 off-board (SPEKTRUM)
    1. Wi-Fi Antenna Connectors (2)
      1. Supported Antennas

Board Connections and Pin-out Specifications

VOXL Flight Board Top

VOXL-Flight Top

Note: 1000 Series connectors accessible from the STM32/PX4

ConnectorSummary
J2Hires 4k Image Sensor (CSI0)
J3Stereo Image Sensor (CSI1)
J6Cooling Fan Connector
J7BLSP6 (GPIO) and BLSP9 (UART)
J13Expansion B2B
J14Integrated GNSS Antenna Connection
J1001Programming and Debug/UART3
J1002UART ESC, UART2/TELEM3
J1003PPM RC In
J1004RC Input, Spektrum/SBus/UART6
J1006USB 2.0 Connector (PX4/QGroundControl)
J10078-Channel PWM/DShot ESC Output
J1008CAN Bus
J1009I2C3, UART4
J1010Telemetry (TELEM1)
J1011I2C2, Safety Button Input
J1012External GPS & Mag, UART1, I2C1
J1013Power Input, I2C3

J2 - Hires 4k Image Sensor (CSI0)

J2 Board ConnectorImage Sensor (Flex) Mating Connector
Panasonic, MPN: AXT336124Panasonic MPN: AXT436124

Pin-out:

Pin #Signal NamePin #Signal Name
1GND2GND
3VREG_L17A_2P8 (AFVDD)4CAM0_STANDBY_N
5CCI_I2C_SDA06VREG_LVS1A_1P8 (DOVDD)
7CCI_I2C_SCL08VREG_L3A_1P1 (DVDD)
9CAM0_RST0_N10CAM_MCLK0_BUFF
11GND12GND
13MIPI_CSI0_CLK_CONN_P14CAM_FLASH
15MIPI_CSI0_CLK_CONN_M16CAM_SYNC_0
17MIPI_CSI0_LANE0_CONN_P18CAM0_MCLK3
19MIPI_CSI0_LANE0_CONN_M20VREG_L22A_2P8 (AVDD)
21GND22GND
23MIPI_CSI0_LANE1_CONN_P24CAM_RST1_N
25MIPI_CSI0_LANE1_CONN_M26CAM_SYNC_1
27MIPI_CSI0_LANE2_CONN_P28CCI_I2C_SDA1
29MIPI_CSI0_LANE2_CONN_M30CCI_I2C_SCL1
31GND32GND
33MIPI_CSI0_LANE3_CONN_P34VPH_PWR
35MIPI_CSI0_LANE3_CONN_M36GND
Supported Sensors

The following sensors are supported on J2 (CSI0):

  • IMX214
  • IMX230
  • IMX377
  • IMX378
  • OV16825

Supported modules:

DescriptionMPNLinkDatasheet
ModalAI Sony IMX214 wide angleMCAM-00024BuyDatasheet
ModalAI Sony IMX214MCAM-00024BuyDatasheet
ModalAI Sony IMX377MCAM-00026BuyDatasheet

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J3 - Stereo or Time-of-flight Image Sensor (CSI1)

J3 Board ConnectorImage Sensor (Flex) Mating Connector
Panasonic, MPN: AXT336124Panasonic MPN: AXT436124

Pin-out:

Pin #Signal NamePin #Signal Name
1GND2GND
3VREG_L18A_2P8 (AFVDD)4CAM1_STANDBY_N
5CCI_I2C_SDA06VREG_S4A_1P8 (DOVDD)
7CCI_I2C_SCL08VREG_L3A_1P1 (DVDD)
9CAM1_RST0_N10CAM_MCLK1_BUFF
11GND12GND
13MIPI_CSI1_CLK_CONN_P14CAM_FLASH
15MIPI_CSI1_CLK_CONN_M16CAM_SYNC_0
17MIPI_CSI1_LANE0_CONN_P18CAM1_MCLK3
19MIPI_CSI1_LANE0_CONN_M20VREG_L23A_2P8 (AVDD)
21GND22GND
23MIPI_CSI1_LANE1_CONN_P24CAM_RST1_N
25MIPI_CSI1_LANE1_CONN_M26CAM_SYNC_1
27MIPI_CSI1_LANE2_CONN_P28CCI_I2C_SDA1
29MIPI_CSI1_LANE2_CONN_M30CCI_I2C_SCL1
31GND32GND
33MIPI_CSI1_LANE3_CONN_P34VPH_PWR
35MIPI_CSI1_LANE3_CONN_M36GND
Supported Image Sensors

The following sensors are supported on J3 (CSI1):

  • OV7251
  • PMD (Infineon)

Supported modules:

DescriptionMPNLinkDatasheet
Stereo Camera Pair for Obstacle Avoidance KitMSU-M0015-1-01BuyDatasheet
PMD Time of FlightMKIT-00017-3BuyDatasheet

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J6 - Cooling Fan Connector

Pin Configuration
Pin #Signal Name
1EXT_FAN_5V
2EXT_FAN_RET
Connector
  • J.S.T. Corporation, SM02B-SRSS- TB(LF)(SN)
Mating Connector

VOXL Side:

  • J.S.T. Corporation, MPN: SM02B- SRSS-TB(LF)(SN)

Fan Side:

  • J.S.T. Corporation
    • Connector, MPN: SHR-02V-S
    • Connector Contact Pins, MPN: SSH-003T-P0.2-H
Notes

Supported Fan Module:

  • DDH Enterprise, Inc, MPN: DDH-2016-013 MCN: 420-59855-0001

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J7 BLSP6 (I2C) and BLSP9 (UART / SPI): External GPS/MAG

Pin Configuration
Pin #Signal NameAlt Function
1VREG_3P3V 
2BLSP9_UART_TX_3P3GPIO 49 / BLSP9_SPI_MOSI
3BLSP9_UART_RX_3P3GPIO 50 / BLSP9_SPI_MISO
4BLSP6_I2C_SDA_3P3GPIO 27
5GND 
6BLSP6_I2C_SCL_3P3GPIO 28
7BLSP6_AUX2_3P3(original docs show GPIO 26, however not functional)
8BLSP6_AUX1_3P3(original docs show GPIO 25, however not functional)
9BLSP9_UART_CTS_N_3P3GPIO 51 / BLSP9_SPI_CS_N
10BLSP9_UART_RFR_N_3P3GPIO 52 / BLSP9_SPI_CLK
Connector
  • HIROSE Electric, MPN: DF13-10P-1.25H
Mating Connector

VOXL Side:

  • HIROSE Electric, MPN: DF13- 10P-1.25H

GPS/MAG Side:

  • HIROSE Electric, MPN: DF13- 10S-1.25C
Notes

Supported GPS Module:

  • MCN: 20-CE766-H1 = CCA, H13931V2, SIRFSTARV CREST BOARD REV2

The above uses antenna:

  • TAOGLAS LTD, MPN: CGGBP.25.4.A.02

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J13 - Expansion B2B connection

Pin Configuration
Pin #Signal NamePin #Signal Name
1GND2VDCIN_5V_CONN
3APQ_GPIO_964VDCIN_5V_CONN
5APQ_GPIO_956VDCIN_5V_CONN
7APQ_GPIO_948USB2_HS_ID
9APQ_GPIO_9210GND
11GND12USB2_HS_D_M
13BLSP11_0_SCL_GPIO6114USB2_HS_D_P
15BLSP11_1_SDA_GPIO6016USB2_HS_VBUS_CONN
17BLSP11_2_RX_GPIO5918GND
19BLSP11_3_TX_GPIO5820APQ_GPIO_64
21GND22APQ_GPIO_127
23BLSP8_0_SCL_GPIO724APQ_GPIO_126
25BLSP8_1_SDA_GPIO626APQ_GPIO_70
27BLSP8_2_RX_GPIO528APQ_GPIO_71
29BLSP8_3_TX_GPIO430APQ_GPIO_72
31GND32APQ_GPIO_93
33JTAG_TDO34APQ_GPIO_91
35JTAG_SRST_N36GND
37JTAG_TCK38APQ_GPIO_106
39JTAG_TDI40APQ_GPIO_107
41JTAG_TMS42APQ_GPIO_108
43JTAG_TRST_N44GND
45JTAG_PS_HOLD46APQ_GPIO_114
47VREG_S4A_1P848APQ_GPIO_104
49PMIC_RESIN_N50APQ_GPIO_103
51APQ_RESOUT_N52APQ_GPIO_102
53VREG_3P3V54APQ_GPIO_101
55KYPDPWR_N56APQ_GPIO_57
57VPH_PWR58GND
59GND60PM8996_GPIOC15
Connector
  • Samtec Inc., MPN: QSH-030-01-L-D-A-K
Mating Connector

VOXL Side:

  • Samtec Inc., MPN: QSH-030-01-L-D-A-K

Debug Board Side:

  • Samtec Inc, MPN: QTH-030-02- L-D-A-K
Notes

Supported Debug B2B Module:

  • Eagle Nest, MCN: 20-H9420-1
  • Serial Feather PRO Edition, MCN: 30-H9916-1

More details are available here.

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J14 - Integrated GNSS Antenna Connection

Pin Configuration
  • Center Conductor
Connector
  • HIROSE Electric, MPN: U.FL-R- SMT-1(10)
Mating Connector

VOXL Side:

  • HIROSE Electric, MPN: U.FL-R- SMT-1(10)

GNSS Antenna Side:

  • HIROSE Electric, MPN: U.FL-LP
Notes

Supported Module:

  • CABLE ASSY, U.FL TO SMA-F BHD, 1.32 MM COAX MCN: CV90-N5175-A4
  • Passive antenna configuration (no DC bias)

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J1001 - Programming and Debug Console (USART3)

Connector: 8 Position, Vertical, BM08B-SRSS-TB(LF)(SN)

Note: used for PX4 debug console, can be used for STM32 FW update

Pin #Signal Name
1VREG_3V3
2USART3_2W_DEBUG_TX
3USART3_2W_DEBUG_RX
4SWDIO
5SWCLK
6GND
7!RESET
8VPP_STM

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J1002 - UART ESC, UART2/TELEM3 Interface Connector

Connector: 6 Position DF13, Vertical, DF13-6P-1.25V(50)

Note: 2 wire UART is OK here

Pin #Signal Name
15VDC (other pins are 3.3V, input or output if supplied at another pin)
2UART2_4W_RX_3V3
3UART2_4W_TX_3V3
4UART2_4W_RTS_3V3
5GND
6UART2_4W_CTS_3V3

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J1003 - PPM RC In

Connector: 3 Position JST GH, Vertical, BM03B-GHS-TBT

Note: This JST connector is reversed when compared to Flight Core, pinouts are still the same

Pin #Signal Name
15VDC (other pins 3.3V, input or output if supplied at another pin)
2PPM_IN
3GND

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J1004 - RC input / Spektrum/SBus/USART6 Connector

Connector: 4 Position JST GH, Vertical, BM04B-GHS-TBT

Note: For SBus receievers (e.g. FrSky X8R), power off 5VDC from another port

Pin #Signal Name
1VREG_3V3 (Spektrum Power)
2USART6_TX
3SPEKTRUM RX (3.3V), SBus RX (3.3V), USART6_RX
4GND

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J1006 - USB Connector

USB connection for PX4 only (doesn’t not connect to VOXL/Linux).

NOTE: This connector does not provide system power! The system pulls more that 500mA and thus can’t be powered from USB!

Connector: BLUE 4 Position JST GH, Vertical, BM04B-GHS-TBT

Pin #Signal Name
1VBUS_IN
2DATA_M
3DATA_P
4GND

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J1007 - 8-Channel PWM / 4-Channel DShot ESC Output Connector

Connector: 10 Position JST GH, Vertical, BM10B-GHS-TBT

Notes: 5V is for Ref Only

Pin #Signal Name
15VDC (other pins are 3.3V, input or output if supplied at another pin)
2PWM_CH1
3PWM_CH2
4PWM_CH3
5PWM_CH4
6PWM_CH5
7PWM_CH6
8PWM_CH7
9PWM_CH8
10GND

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J1008 - CAN Bus Connector

Connector: 4 Position JST GH, Vertical, BM04B-GHS-TBT

Pin #Signal Name
15VDC
2CANH*
3CANL*
4GND

*CAN signals are compliant with ISO 11898-2:2016 and SAE J2284-1 to SAE J2284-5

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J1009 - I2C3, UART4

Connector: 6 Position JST GH, Vertical, BM06B-GHS-TBT

Pin #Signal Name
15VDC (other pins 3.3V, input or output if supplied at another pin)
2UART4_2W_TX_3V3
3UART4_2W_RX_3V3
4EXP_I2C3_SCL
5EXP_I2C3_SDA
6GND

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J1010 - Telemetry Connector (TELEM1)

Connector: 6 Position JST GH, Vertical, MB06B-GHS-TBT

Pin #Signal Name
15VDC (other pins 3.3V, input or output if supplied at another pin)
2UART_4W_TX_3V3
3UART_4W_RX_3V3
4UART_4W_CTS_3V3
5UART_4W_RTS_3V3
6GND

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J1011 - I2C2, Safety Button Input

Connector: 5 Position, Vertical, BM05B-SRSS-TB(LF)(SN)

Pin #Signal Name
1VREG_3V3
2GND
3I2C2_SDA
4I2C2_SCL
5Safety Switch In (switch should pull high to 3.3V to enable)

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J1012 - External GPS & Mag, USART1, I2C1 Connector

Connector: 6 Positiom JST GH, Vertical, BM06B-GHS-TBT

Pin #Signal Name
15VDC (other pins 3.3V, input or output if supplied at another pin)
2EXT_GPS_USART1_2W_TX
3EXT_GPS_USART1_2W_RX
4EXT_GPS_I2C1_SCL
5EXT_GPS_I2C1_SDA
6GND

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J1013 - 5V DC Power Input, I2C3 to power cable “APM”

Note: This is the main power input and power monitoring connector. See Power Modules

Pin Configuration
Pin #Signal Name
15V DC
2GND
3I2C3_SCL
4I2C3_SDA
Connector
  • Molex Inc, MPN: 22-05-7045
Mating Connector
  • 50-37-5043 based cables
Notes
  • I2C3 is at 5V CMOS with 10K pull-ups.
  • Connect to provided power cable for proper operation and current handling.
Supported Modules

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VOXL Flight Board Bottom

VOXL-Flight Bottom

Note: 1000 Series connectors accessible from the STM32/PX4

ConnectorSummary
J4Tracking/Optic Flow Image Sensor (CSI2)
J8USB 3.0 OTG (ADB)
J10BLSP7 UART and I2C off-board
J11BLSP12 UART and I2C off-board
VOXL microSD 
PX4 microSD32Gb Max
Wi-Fi AntennasIncluded in Kit Molex 1461531100

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J4 - Tracking/Optic Flow Image Sensor (CSI2)

J4 Board ConnectorImage Sensor (Flex) Mating Connector
Panasonic, MPN: AXT336124Panasonic MPN: AXT436124

Pin-out:

Pin #Signal NamePin #Signal Name
1GND2GND
3VREG_L29A_2P8 (AFVDD)4CAM2_STANDBY_N
5CCI_I2C_SDA06VREG_LVS1A_1P8 (DOVDD)
7CCI_I2C_SCL08VREG_L3A_1P1 (DVDD)
9CAM2_RST0_N10CAM_MCLK2_BUFF
11GND12GND
13MIPI_CSI2_CLK_CONN_P14CAM_FLASH
15MIPI_CSI2_CLK_CONN_M16CAM_SYNC_0
17MIPI_CSI2_LANE0_CONN_P18CAM2_MCLK3
19MIPI_CSI2_LANE0_CONN_M20VREG_L23A_2P8 (AVDD)
21GND22GND
23MIPI_CSI2_LANE1_CONN_P24CAM_RST1_N
25MIPI_CSI2_LANE1_CONN_M26CAM_SYNC_1
27MIPI_CSI2_LANE2_CONN_P28CCI_I2C_SDA1
29MIPI_CSI2_LANE2_CONN_M30CCI_I2C_SCL1
31GND32GND
33MIPI_CSI2_LANE3_CONN_P34VPH_PWR
35MIPI_CSI2_LANE3_CONN_M36GND
Supported Image Sensors

The following sensors are supported on J4 (CSI2):

  • OV7251

Supported modules:

DescriptionMPNLinkDatasheet
Sunny MD102A w/ MSU-M0008-1-01 AdapterMSU-M0072-1-01Buy 
ModalAI 166-degree OV7251 B&W VGA Global ShutterMSU-M0014-1-01Buy 

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J8 - USB 3.0 OTG

Pin Configuration
Pin #Signal Name
1VBUS
2D-
3D+
4ID
5GND
6MICA_SSTX-
7MICA_SSTX+
8GND_DRAIN
9MICA_SSRX-
10MICA_SSRX+
Connector
  • KYCON, MPN: KMMX- AB10- SMT1SB30
Mating Connector
  • Micro A/B Plug
Notes
  • Host mode (e.g. connect a supported USB 3.0 device) requires Micro-A Plug to STD-A in order to get 3.0 SS Functionality. Example cable: Amphenol RUB30-0075 (contact ModalAI for details, available as MCBL-00019-1)
  • Host mode USB 2.0 - example cable

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J10 - UART or I2C off-board (external Sonar or IMU sensor)

Pin Configuration
Pin #Signal NameAlt Function
1VREG_3P3V 
2SONAR_UART_TX_3P3GPIO 53
3SONAR_UART_RX_3P3GPIO 54
4EXT_IMU_I2C_SDA_3P3GPIO 55
5GND 
6EXT_IMU_I2C_SCL_3P3GPIO 56
Connector
  • HIROSE Electric, MPN: DF13-6P-1.25H(50)
Mating Connector
  • DF13-6S-1.25C cable assemblies
Notes
  • UART and I2C are at 3.3V CMOS levels.
  • Connect TX to target device’s RX, and vice-versa.
  • I2C has 10K pull-ups.

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J11 - BLSP12 off-board (SPEKTRUM)

Pin Configuration
Pin #Signal NameAlt Function
1VREG_3P3V_SPEKTRUM 
2BLSP12_UART_TX_3P3GPIO 85
3BLSP12_UART_RX_3P3GPIO 86
4BLSP12_I2C_SDA_3P3GPIO 87
5GND 
6BLSP12_I2C_SCL_3P3GPIO 88
Connector
  • Hirose Electric, MPN: DF13-6P-1.25H(50)
Mating Connector
  • DF13-6S-1.25C cable assemblies
Notes
  • UART and I2C are at 3.3V CMOS levels.
  • Connect TX to target device’s RX, and vice-versa.
  • I2C has 10K pull-ups.

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Wi-Fi Antenna Connectors (2)

Function
  • External Wi-Fi antenna connections
Pin Configuration
  • Center Conductor
Connector
  • IPEX, MPN: 20449-001E (MHF-4)
Mating Connector
Supported Antennas
Notes
  • ANT #1 is for WLAN/BT
  • ANT #2 is for WLAN only

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