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VOXL 2 IO User Guide

Table of contents

  1. Overview
  2. PX4 Settings
  3. Wiring Guides
    1. Using VOXL 2 as Host
    2. Using RB5-Flight as Host
    3. Using S.BUS (Graupner GR-16)
      1. S.BUS with VOXL 2 (M0054)
      2. S.BUS with RB5-Flight (M0052)
  4. Expected Behavior
    1. Bootloader Mode
    2. Application Running in Waiting Mode
    3. Application Running in Standard Mode
    4. Application Running as RC Passthrough
    5. Firmware Update Mode
  5. PX4 Integration

Overview

The VOXL 2 IO board requires a host running PX4 running the px4io module, such as VOXL 2. The IO board provides PWM outputs (8) and expands the native Spektrum RC support by adding S.BUS support (and provides passthrough Spektrum as well).

The IO board is powered from and communicates via VOXL 2’s RC port. The VOXL 2 communicates to the VOXL 2 IO board using a UART connection.

PX4 Settings

  • Set CBRK_IO_SAFETY to 22027

Wiring Guides

Using VOXL 2 as Host

From VOXL2, connect J19 pins 9-12 to VOXL2 IO J4 pins 1-4 as shown here:

VOXL 2VOXL 2 IO
J19 Pin 9 - 3P3VJ4 Pin 1 - 3P3V_IO
J19 Pin 10 - Host TXJ4 Pin 2 - IO RX
J19 Pin 11 - Host RXJ4 Pin 3 - IO TX
J19 Pin 12 - GNDJ4 Pin 4 - GND

Using RB5-Flight as Host

RB5-FlightVOXL 2 IO
J12 Pin 1 - 3P3VJ4 Pin 1 - 3P3V_IO
J12 Pin 2 - Host TXJ4 Pin 2 - IO RX
J12 Pin 3 - Host RXJ4 Pin 3 - IO TX
J12 Pin 4 - GNDJ4 Pin 4 - GND

Using S.BUS (Graupner GR-16)

In the following example, the Graupner GR-16 receiver is being used has had it’s channel 8 setup as SBUS.

Note: in this mode, if not using the PWM outputs you will get LED pattern Application Running as RC Passthrough described below.

S.BUS with VOXL 2 (M0054)

m0065-m0054-sbus

S.BUS with RB5-Flight (M0052)

m0065-m0052-sbus

Expected Behavior

The VOXL 2 IO board can be in the following modes, documented below.

  • Bootloader Mode
  • Application Running in Waiting Mode
  • Application Running in Standard Mode
  • Application Running as RC Passthrough
  • Firmware update mode

Bootloader Mode

For the first 200ms after power on, the VOXL 2 IO is in bootloader mode. The serial firmware update could be performed during this time.

Note: this mode is very short lived an almost not perceptible to the eye.

VOXL 2 IO LEDStateMeaning
GreenSolidPower Good
BlueOffApplication not running
OrangeFast Blink (10Hz)In bootloader mode

Application Running in Waiting Mode

When the system is running and communications with VOXL 2 have not started and it is waiting, the following LED pattern can be seen.

VOXL 2 IO LEDStateMeaning
GreenSolidPower Good
BlueBlink Slow (2Hz)Application running OK
OrangeSolidWarning, waiting for VOXL 2

Application Running in Standard Mode

When the system is running in a standard mode (using RC and PWM output), the following LED pattern can be seen.

VOXL 2 IO LEDStateMeaning
GreenSolidPower Good
BlueBlink Slow (2Hz)Application running OK
OrangeOffNo error or warning

Application Running as RC Passthrough

When the system is running in a as RC passthrough and no PWM output, the following LED pattern can be seen.

VOXL 2 IO LEDStateMeaning
GreenSolidPower Good
BlueBlink Slow (2Hz)Communication with VOXL 2 OK
OrangeMediaum Blink (4Hz)Warning, not getting actuation messages

Firmware Update Mode

When the system is in firmware update mode, the following LED pattern can be seen.

VOXL 2 IO LEDStateMeaning
GreenSolidPower Good
BlueFast Blink (10Hz)Firmware update in progress
OrangeFast Blink (10Hz)In bootloader mode

PX4 Integration

The px4io module is started via the voxl.config script.


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