VOXL 2 and VOXL 2 Mini System Image

Table of contents

1. Overview
2. System Image Changelog
   1. 1.8.08
   2. 1.8.06
   3. 1.8.02
   4. 1.7.10
   5. 1.7.8
   6. 1.7.6
   7. 1.7.4
   8. 1.7.1
   9. 1.6.2
   10. 1.5.5
   11. 1.5.4 (internal only)
   12. 1.5.3 (internal only)
   13. 1.4.1
   14. 1.3.1 (internal)
   15. 1.2.3 (internal)
   16. 1.2.2 (internal)
   17. 1.2.1 (internal)
   18. 1.2.0
   19. 1.1.4 (internal)
   20. 1.1.3 (internal)
   21. 1.1.2
3. Force VOXL 2 into Fastboot
4. Missing ADB?

Overview

The system image is essentially “the operating system” of VOXL: the kernel, the root file system, and firmware for the other processors on board. It applies to VOXL 2 (M0054) and VOXL 2 Mini (M0104), which share a common image.

The system image ships inside VOXL SDK releases and is flashed as part of the SDK install — see the SDK flashing instructions. It is not distributed separately.

System Image Changelog

1.8.08

Ships with: SDK 1.6.4, 1.6.5, 1.6.6 (June - July 2026)

Changelog for this image has not been published yet.

1.8.06

CVE fixes:

• Full CVE and OVAL security report
• USN-7783-1 LibTIFF vulnerabilities

Changes:

• Updated OV9782 stereo configuration
• Increased maxRAWSizes parameter to improve RAW image handling performance
• Added Boson 14-bit sensor modules
• Updated rtl8812au-vtx to support configuring efuse

Packages / tools added:

• rsync, screen, tcpdump, libsystemd-dev, and rtwpriv utilities

1.8.02

BSP:

• Increase I2C write buffer
• M0104 (VOXL 2 Mini): add config 2 for M0188 - m0104-1-var00.2-kernel.img

Camera (camx/chi-cdk):

• Add imx664 bins
• Add ov64b40 bins
• Add 10/12-bit AR0144 bins
• Add Boson320+ support (needs USB config setup)
• Set maxRAWSizes=5 for MISP

1.7.10

BSP:

• SPI: enable RT flag for realtime priority message pump

Camera (camx/chi-cdk):

• Add Boson slot IDs 0-5

1.7.8

Ships with: SDK 1.3.0 - 1.3.3

BSP:

• M0104: fix issue with hires sensors on slots 0-2
• Change GPIO 110-114 to default inputs to leave floating (fixes ov7251 stereo sync issue)
• Add var00.1 and var02.1 for M0173 support
• Default gpio109 for fsync for M0173 supported kernels
• Use 88XXau_ohd instead of 88XXau_wfb

Camera (camx/chi-cdk):

• Backport fix to select multiple tuning files
• imx412_fpv resolution updates - add 4056x3040 30fps
• ov9782 tuning updates
• C26-C28: add cameraId 6 in prep for M0173
• C27: add slave mode enabled AR0144 for M0173 (slots combo 0, 2, combo 6)
• C28: add IMX412 slot 6

1.7.6

BSP:

• Add support for M0104-2 via var02 variant

Camera (camx/chi-cdk):

• imx412_fpv low latency binaries
• imx678 latency reduction
• Ship royale-5-8-spectre-6-10
• irs2975 binaries (beta level support)
• boson_2 binary (alpha level support)

Ubuntu:

• Added neofetch, libsdl2-dev

1.7.4

BSP:

• Add voxl-fysnc-mod kernel module
• Add voxl-gpio-mod kernel module - GPIO now exporting to /sys/class/gpio
• Convert SE13 from 4W to 2W UART, freeing GPIO36/37
• Add voxl-platform-mod kernel module - see /sys/module/voxl_platform_mod/parameters
• Add new target M0054-2 support (same rootfs as M0054-1), new kernel, new devcfg.mbn

Camera (camx/chi-cdk):

• Update ar0144 binaries

1.7.1

BSP:

• Disable usb-autosuspend via karg
• Enable CONFIG_HIDRAW
• M0104: convert SPI14 to UART (/dev/ttyHS0)
• M0104: remove non-existing peripherals located on B2Bs/camera group 2
• Enable /dev/i2c-5, J5 pins 98/99 (SDA/SCL) (GPIO 8/9)
• Disable pcie2 in favor of enabling GPIO 85/86/87/88 on J5
• Refactor camera-dtsi for readability

Camera (camx/chi-cdk):

• Ship ov7251-fsin and ov7251-fsout binaries
• Ship imx335 binaries
• Ship irs1645_2 and irs1645_3 bins
• Ship imx412_flip and imx678_flip bins
• Update imx412 timing to support M0107 based sensor
• Add 4056x3040 and 4208x3120 to camx supported resolutions
• Update ov7251 max gain/exposure settings
• Ship tuned.imx214_m0024 at /usr/share/modalai/chi-cdk/tuned/
• Ship ar0144 at /usr/share/modalai/chi-cdk/ar0144

NON-HLOS:

• Update SLPI to 1.1.10 - fix potential buffer overflow bug, increase pass-through UART buffer

1.6.2

BSP:

• Now using refactored meta-voxl2-bsp supporting M0054/M0104
• Add VOXL 2 Mini (M0104) support

Camera:

• Use /usr/share/modalai/chi-cdk to ship camera sensormodule binaries

HLOS:

• Add 8821cu.ko
• Update libfc_sensor 1.0.2 to 1.0.4

NHLOS:

• ModalAI SLPI upgraded to 1.1-7

1.5.5

Camera:

• Update IMX678 config: 3840x2160@30 use 4 lane mode at 891 Mbps; 1920x1080@30 use 4 lane mode at 720 Mbps
• Enable more camera configs (see camera configs)
• Revert defaultFpsMax backend flag (use case selection is broken when enabled)

1.5.4 (internal only)

Build date: 2023-02-16

HLOS:

• Increase SLPI memory
• Install voxl-esc python depends (pip3, pyserial, numpy)
• Add nano

NHLOS:

• ModalAI SLPI upgraded to 1.1-6
• Increase SLPI memory
• Added 420k baud rate UART for SLPI (native ELRS baud rate)

1.5.3 (internal only)

Build date: 2023-02-03

BSP (see Linux User Guide for details):

• M0054: configure GPIO 152 as output, default high, on J5 pin 44 for M0130 (along with GPIO 153, 154, 155)
• M0054: configure SE1 for I2C /dev/i2c-4 J7 (camera group 1)
• M0054: enable new GPIO 110/114 pins on J6, GPIO 6/7 pins on J7, GPIO 12/13 pins on J8
• M0054: enable SE2 (I2C) on J5 pins 8, 9 as /dev/i2c-0
• M0054: enable SE11 (SPI) on J5 pins 53, 56 as /dev/spidev11.0
• Update TZ to devcfg ver8 - see voxl2-qups for details

Camera:

• Added IMX678 support (M0054-J8, HW sensor ID 4/5 (addresses 0x34/0x20)): 1920x1080 @ 30 FPS, 3840x2160 @ 30 FPS
• ov7251 60/90/120 FPS configs added as dormant (need to add camx proper support)

HLOS:

• Added service file that changes SLPI restart level to avoid board crash when SLPI crashes

NHLOS:

• ModalAI SLPI upgraded to 1.1-4

1.4.1

Ubuntu:

• Add i2c-tools
• Journalctl system max use limit now set to 1000M

Camera:

• Add A65 TOF Module (irs10x0c sensor) support on all 6 camera interfaces
• ov7251 drivers are now 8-bit

XBL (secondary bootloader):

• Fix occasional error showing “battery’s capacity is very low” during flashing

NHLOS:

• ModalAI SLPI upgraded to 1.1-2

Flashing script:

• Made system image flash script compatible with bash 4 and older versions

1.3.1 (internal)

Released: 2022-08-11

Meta:

• Included missing fastrpc binaries for adsp and cdsp in dspso partition

Camera:

• Update IMX214 drivers to support resolutions other than 640x480
• Added ALPHA LEVEL support for 5 concurrent ov9782 (needs tuning)

BSP:

• M0054/M0052: enable 2W UART on J3 pins 3/5 (legacy B2B) for apps proc usage
• M0052 breaking change: change qup5 from SPI to UART (exposed on J8; /dev/spidev5.0 is gone)
• M0054 mappings: /dev/ttyHS0 J8 camera connector; /dev/ttyHS1 J3 B2B pins 3/5; /dev/ttyHS2 J5 HS B2B pins 48/49
• M0052 mappings: /dev/ttyHS0 internal SOM WiFi; /dev/ttyHS1 J2 RC input for PX4; /dev/ttyHS2 J19 GNSS input for PX4; /dev/ttyHS3 J8 camera connector; /dev/ttyHS4 J3 B2B pins 3/5; /dev/ttyHS5 J5 HS B2B pins 48/49

Trustzone:

• M0054, version 6: update devcfg for UART on qup7 (md5sum: 3698389194c899953c4e337a7b48cb97)
• M0052, version 6: update devcfg for UART on qup7 (md5sum: cf613de37db6e7d2bb245f4d17cab79e)

1.2.3 (internal)

Ubuntu:

• Added jq, pciutils, aircrack-ng packages

Kernel:

• Add dormant 88XXau_wfb.ko driver at /etc/ - users who choose to use it can install it manually and use voxl-wifi-broadcast
• Regulatory domain tweaks to support wifibroadcast options
• Update spidev buffer size to 16K

1.2.2 (internal)

System:

• Bash environment executed during ssh session start
• ModalAI partitions now include MACHINE type prefix
• ModalAI SLPI 1.1-0 now flashed in system image via DSP and Firmware partitions

Kernel:

• Fix for hal3 timestamp drift error
• Enable LAN95XX driver

chi-cdk:

• ov9782: add front/rear and tracking support
• ov7251: fix for missing gain in hal3 metadata

1.2.1 (internal)

Released: 2022-04-18

• ROS sources and key included in root filesystem
• XBL now flashed during system image install
• Binaries can now be executed in the data partition

1.2.0

Released: 2022-04-15

• Update chi-cdk - ov7251 FSYNC registers from mm-camera
• Add rndis host driver to kernel
• Enable SPI: /dev/spidev3.0 internal IMU; /dev/spidev14.0 external SPI; /dev/spidev0.0, /dev/spidev1.0, /dev/spidev5.0 camera groups 0, 1, 2
• Updated device HLOS partitions: userdata (/data) to 64GB; added 64KB modalai_conf (/etc/modalai) and 64KB modalai_cal (/data/modalai) partitions; reduced system (/) partition to 47.875GB
• System image flash: devcfg.mbn, NHLOS, and LUN0 GPT can now be flashed during system image flash
• Rootfs additions: px4-support and libfc now included; ModalAI metabuild info now in /firmware/verinfo/ver_info.txt; removed /etc/voxl-platform-info.json meta file creation (metabuild info includes this now); removed old incompatible tdk binaries; added stable ModalAI sources list, library search paths, and qrb5165-bind; included docker sources list and key

1.1.4 (internal)

Released: 2022-03-09

• Add rtl8188eus driver for tp-link support
• Remove all opencv 3.2 packages
• apt autoremove and clean, removing 400MB of cached debs
• Permit root ssh login
• Add platform_name file for bash formatting
• Remove ldconfig warning about wayland sink not being a symlink

1.1.3 (internal)

Released: 2022-02-18

• Modified mv-voxl 32-bit shared object file permissions as they were set incorrectly
• Added /etc/voxl-platform-info.json file which includes build and platform metadata

1.1.2

Released: 2022-02-09

• Initial release

Force VOXL 2 into Fastboot

Use this procedure if the normal update procedure is not working.

• Unplug VOXL 2 from power
• Unplug VOXL 2 from USBC
• Using something soft like a BBQ skewer or toothpick, press and hold the momentary button SW1 down, as shown in this image:

• While holding SW1 down, power on VOXL 2
• Keep holding SW1 down for about 5 seconds and then let go
• Attach VOXL 2 to USBC connected to host computer
• Run the fastboot devices command and verify the device is showing up

fastboot devices
f8bb8d44	fastboot

• Now you can proceed with the ./install.sh command from the SDK installer.

Missing ADB?

See Setting up ADB.