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VOXL Flight Connectors

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 + GPIO) 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 Output 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 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 KitMKIT-00009BuyDatasheet
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 + GPIO) 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_GPIO_26_AUX2_3P3GPIO 26
8BLSP6_GPIO_25_AUX1_3P3GPIO 25
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

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 Output 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/ FPC-M0008 Rev A AdapterMKIT-00010Buy 
ModalAI 166-degree OV7251 B&W VGA Global ShutterM0014Buy 

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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)
  • 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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