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VOXL 2 - D0014 Architecture (Starling 2)

Table of contents

  1. Hardware
    1. VOXL2 - D0014-4-CXX-M22-TX
      1. Summary
      2. Block Diagram
    2. VOXL2 - D0012-4-CXX-M22-TX
      1. Summary
      2. Block Diagram
  2. Software
  3. Platform Features
    1. VOXL2 Driven Image Sensor Synchronization
    2. Downward Range Finder and FLIR Lepton
    3. New Kernel Configuration for M0173

Hardware

VOXL2 - D0014-4-CXX-M22-TX

Summary

The Starling 2 D0014-4-CXX-M22-TX configuration consists of:

  • D0014-4 - Starling 2 Family
    • VOXL ESC Mini with built in power management
    • 120mm Folding Propellers, 1504 Brushless Motors, Single 2S battery
  • CXX
    • C26 - Dual AR0144, IMX412, LIOW2 TOF
    • C27 - Triple AR0144, IMX412, LIOW2 TOF
  • M22 - WiFi modem config
  • TX
    • T7 - ELRS
    • T9 - Ghost

Block Diagram

Below describes the compute HW block diagram for the D0014-4-CXX-M22-TX configuration.

CWD-D0014-4-CXX-M22-TX View in fullsize

Diagram draw.io Source

Additional camera configs:

CWD-D0014-4-CXX-M22-TX

VOXL2 - D0012-4-CXX-M22-TX

Summary

The Starling 2 Max D0012-4-CXX-M22-TX configuration consists of:

  • D0012-4 - Starling 2 Family
    • VOXL ESC Mini with built in power management
    • 180mm Tri-Blade Propellers, 2203.5 Brushless Motors, Dual 2S battery
  • CXX
    • C28 - Dual AR0144, Dual IMX412
  • M22 - WiFi modem config
  • TX
    • T7 - ELRS
    • T9 - Ghost

Block Diagram

See above

Software

  • Supported VOXL SDK: 1.3+
  • Supported Kernels (config 1): m0054-1-var00.1-kernel.img, m0054-2-var02.1-kernel.img

Platform Features

VOXL2 Driven Image Sensor Synchronization

In the D0014/D0012 architecture using the M0173 breakout, the following occurs for the tracking sensors:

  • The voxl-fysnc-mod ships in SDK 1.3+ and defaults to use GPIO 109, 30Hz, and disabled.
  • When a C26/C27/C8 image sensor configurations is setup using voxl-configure-cameras, the config file at /etc/modalai/voxl-camera-server.conf is setup with:
...
"fsync_en":	true,
"fsync_gpio":	109,
...
  • When camera server runs, it will use the voxl-fsync-mod params exposed to the file system at /sys/module/voxl_fsync_mod/parameters, for example enabled, gpio_num, and enable the sync pulse at the default 30Hz.
  • When a C26/C27/C8 image sensor configurations is setup using voxl-configure-cameras, the AR0144 drivers are copied into /usr/lib/camera that are setup for slave mode and will capture sychronized frames at the rate defined (note: the FPS should also be configured in /etc/modalai/voxl-camera-server.conf accordinly to ensure proper register settings are loaded)

D0014-M0173.jpg

Downward Range Finder and FLIR Lepton

In the D0014/D0012 architecture using the M0173 breakout:

  • VL53L1CX Range Finder is accesible over /dev/i2c-4, see /etc/modalai/voxl-rangefinder-server.conf and voxl-rangefinder
  • Not supported in SDK 1.3.0 but coming soon, FLIR Lepton is accesible over /dev/i2c-4 and /dev/spidev0.0, see /etc/modalai/voxl-lepton-server.conf and voxl-lepton-server

D0014-M0157.jpg

New Kernel Configuration for M0173

The D0014/D0012 drone family uses the new kernel config 1 (as opposed to config 0). See /sys/module/voxl_platform_mod/parameters/config to verify proper kernel config.