VOXL 2 IO User Guide
Table of contents
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
to22027
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 2 | VOXL 2 IO |
---|---|
J19 Pin 9 - 3P3V | J4 Pin 1 - 3P3V_IO |
J19 Pin 10 - Host TX | J4 Pin 2 - IO RX |
J19 Pin 11 - Host RX | J4 Pin 3 - IO TX |
J19 Pin 12 - GND | J4 Pin 4 - GND |
Using RB5-Flight as Host
RB5-Flight | VOXL 2 IO |
---|---|
J12 Pin 1 - 3P3V | J4 Pin 1 - 3P3V_IO |
J12 Pin 2 - Host TX | J4 Pin 2 - IO RX |
J12 Pin 3 - Host RX | J4 Pin 3 - IO TX |
J12 Pin 4 - GND | J4 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)
S.BUS with RB5-Flight (M0052)
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 LED | State | Meaning |
---|---|---|
Green | Solid | Power Good |
Blue | Off | Application not running |
Orange | Fast 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 LED | State | Meaning |
---|---|---|
Green | Solid | Power Good |
Blue | Blink Slow (2Hz) | Application running OK |
Orange | Solid | Warning, 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 LED | State | Meaning |
---|---|---|
Green | Solid | Power Good |
Blue | Blink Slow (2Hz) | Application running OK |
Orange | Off | No 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 LED | State | Meaning |
---|---|---|
Green | Solid | Power Good |
Blue | Blink Slow (2Hz) | Communication with VOXL 2 OK |
Orange | Mediaum 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 LED | State | Meaning |
---|---|---|
Green | Solid | Power Good |
Blue | Fast Blink (10Hz) | Firmware update in progress |
Orange | Fast Blink (10Hz) | In bootloader mode |
PX4 Integration
The px4io
module is started via the voxl.config script.