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VOXL 2 Mini Remote Controller Configurations

Table of contents

  1. Summary
  2. Remote Controller Options for Built-in Flight Controller
  3. CRSF
    1. Hardware
    2. Software
      1. Setting PX4 to Use CRSF
      2. Checking Status
      3. PX4 Driver


We are working to expand the capabilities of VOXL 2 every day. The built-in PX4 flight controller enables industry leading SWAP for an autonomous flight controller, but not every interface and flight controller are supported yet. This page provides an overview of available connectivity. If this connectivity is insufficient for your application, VOXL 2 is a world-class companion computer for autonomous navigation and AI when paired with an external flight controller.

Remote Controller Options for Built-in Flight Controller

InterfaceProtocolIncludes TelemetryInstructionsAdapterExample Hardware
TBS CrossfireUARTYesMAVLink and CRSF raw Nano
WiFiIP / MavlinkNoVOXL 2 Wifi Dongle User Guide Connect QGC over WiFi  
MicrohardIP / MavlinkNoMicrohard Add-on Manual  
Doodle LabsIP / MavlinkNoDoodle Labs User Guide  
CellularIP / MavlinkNo4G or 5G with voxl-vpn  
Spektrum (DSMX)UARTNoNot yet supported  
Graupner NoNot yet supported  
FrSky NoNot yet supported  
Futaba NoNot yet supported  



PLEASE NOTE: default CRSF baud rate used by voxl-px4 is 420k.

Tested hardware:

  • TBS Crossfire Nano Rx (in both CRSF and MAVLink mode)
  • Beta FPV 900 Nano


M0104 J19:

  • Connector on board : SM12B-GHS-TB(LF)(SN)
  • Mating connector : GHR-12V-S


Setting PX4 to Use CRSF

See file at /etc/modalai/voxl-px4.conf.

This file is loaded from boards/modalai/voxl2/target/voxl-px4.

The previous script calls this script with command line args to start CRSF, boards/modalai/voxl2/target/voxl-px4-start.

Checking Status

The px4-listener input_rc or px4-listener rc_channels command can be used to trouble shoot, if neither have been published it’s likely the receiver has yet to get RC data or the serial link isn’t working.

PX4 Driver