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VOXL 2 Mini Offboard Sensors

Table of contents

  1. GPS (GNSS/Mag)
  2. Power Monitoring
    1. VOXL Mini ESC
    2. VOXL Power Module
  3. External Interfaces

GPS (GNSS/Mag)

An external GPS (GNSS/Mag) can be connected to VOXL 2’s J19 connector.

m0104-user-guides-external-sensors-gps.jpg

Name / DesignatorDescriptionInterface
GNSS UART / exposed via J19PX4 GNSSSSC_QUP6, 2W UART, SLPI (sDSP)
Mag I2C / exposed via J19PX4 MagSSC_QUP0, I2C, SLPI (sDSP)

J19: Full pinouts for all the connects are available here.

Pin #Signal NameNotes
1VDC_5V_LOCALGNSS/Mag power *
2GNSS TX 3P3Vslpi_proc, SSC_QUP7
3GNSS RX 3P3Vslpi_proc, SSC_QUP7
4MAG SCL 3P3Vslpi_proc, SSC_QUP1
5MAG SDA 3P3Vslpi_proc, SSC_QUP1
6GND 
7 Not used for GNSS/Mag
8 Not used for GNSS/Mag
9 Not used for GNSS/Mag
10 Not used for GNSS/Mag
11 Not used for GNSS/Mag
12 Not used for GNSS/Mag

Power Monitoring

VOXL Mini ESC

The VOXL ESC Mini provides power monitoring through either the voxl_esc (SDK 1.1.1+) or modal_io driver.

The same UART interface used to control the ESC provides feedback including the battery voltage being regulated by the VOXL Mini ESC.

m0104-m0129

VOXL Power Module

m0104-user-guides-external-sensors-pm

Using the VOXL Power Module provides the ability to monitor battery voltage and regulated 3.8VDC voltage from the power module.

Name / DesignatorDescriptionInterfaceDriver
PX4 Power Monitoring (J1)QTY2 INA231SSC_QUP2, I2C, SLPI (sDSP), Addrs: 0x44h and 0x45hvoxlpm

J1: Full pinouts for all the connects are available here.

Pin#SignalNotes/Usage
1VDCIN_3P8VDC from Power Module, “unprotected”
2GNDPower Module Return
3I2C_CLKSSC_QUP_1, 3.8V signal levels, Pullups on Power Module
4I2C_SDASSC_QUP_1, 3.8V signal levels, Pullups on Power Module

Full pinouts for all the connects are available here.

External Interfaces

The following interfaces are available from the Applications Processor and Sensors DSP.

m0014-offboard-sensors-linux

Name / DesignatorDescriptionInterface
SPI0 / exposed via J6camera group 0 SPI/dev/spidev0.0
SPI14 / exposed via J10external SPI/dev/spidev14.0

Full pinouts for all the connects are available here.