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VOXL 2 Mini - D0013 Architecture (Stinger)

Table of contents

  1. Hardware
    1. VOXL2 Mini
      1. Summary
      2. Block Diagram
  2. Software
  3. Platform Features
    1. MSP_DP OSD Support for Non-ModalAI VTX (HD-zero or Walksnail)
    2. VOXL2 Driven Image Sensor Synchronization
    3. FLIR Lepton
    4. New Kernel Configuration for M0188

Hardware

VOXL2 Mini

Summary

The Stinger D0013-6-C33-M26-X8 configuration consists of:

  • D0013-6 - Stinger Family (VOXL2 Mini Compute)
    • M0129-3 VOXL ESC Mini with built in power management
    • M0187 FLIR Lepton 3.5 thermal sensor using M0188
  • Cxx - Camera Config
    • C33 - Single IMX664 using M0186, Dual AR0144 using M0188
  • Tx - Recevier Config
    • T8 - ELRS
  • Xx
    • X8 - Lepton for Tracking

Block Diagram

Below describes the compute HW block diagram for the D0013-6-C33-M26-X8 configuration.

D0013-6-C33-M26-X8 View in fullsize

Diagram draw.io Source

Software

  • Supported VOXL SDK: 1.4+
  • Supported Kernels (config 2): m0104-1-var00.2-kernel.img

Platform Features

MSP_DP OSD Support for Non-ModalAI VTX (HD-zero or Walksnail)

  • MSP Display Port OSD support for HDZero (PX4 driver)
  • PX4 OSD Params for FrSky Skyvision (here)

VOXL2 Driven Image Sensor Synchronization

In the D0013 architecture using the M0188 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 C22 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 C22 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)

Note: the following shows M0173 which has similar architecture as M0188.

D0014-M0173.jpg

FLIR Lepton

In the D0013 architecture using the M0188 breakout:

(NOTE: in SDK 1.4.0, only one can be used at a time)

  • VL53L1CX Range Finder is accesible over /dev/i2c-0, see /etc/modalai/voxl-rangefinder-server.conf and voxl-rangefinder
  • FLIR Lepton is accesible over /dev/i2c-0 and /dev/spidev0.0, see /etc/modalai/voxl-lepton-server.conf and voxl-lepton-server
    • note see (M0188) docs for details as I2C channel selector is also in use here

New Kernel Configuration for M0188

The D0013 drone family uses the new kernel config 2 (as opposed to config 0). See /sys/module/voxl_platform_mod/parameters/config to verify proper kernel config.