Flight Core v2 Actuators
Table of contents
Hardware
ModalAI UART ESC
UART5 is exposed on J5, which is mapped to TELEM2 in PX4 and available to Nuttx as /dev/ttyS4.
This is the default port used by the ModalAI UART ESC Driver when enabled.
PLEASE NOTE in 1.13.2-0.1.1 and older, the recommended port is J1. It was changed to J5 starting 1.13.2-0.1.2 and newer.
Recommended is MCBL-00063 (6p JST ModalAI UART ESC Cable) for this interface.
Flight Core v2 J5
| Pin # | Signal Name |
|---|---|
| 1 | NC |
| 2 | Flight Core v2 Tx, 3P3V (connect to ESC Rx) |
| 2 | Flight Core v2 Rx, 3P3V (connect to ESC Tx) |
| 4 | NC |
| 5 | NC |
| 6 | GND |
ModalAI ESC J2
M0049 based hardware J2:
| Pin # | Signal Name |
|---|---|
| 1 | NC |
| 2 | ESC Rx |
| 2 | ESC Tx |
| 4 | NC |
| 5 | GND |
| 6 | NC |
PWM/DShot
8 PWM channels exposed on J7:
| Pin # | Signal Name |
|---|---|
| 1 | 5VDC (other pins are 3.3V, input or output if supplied at another pin) |
| 2 | PWM_CH1 |
| 3 | PWM_CH2 |
| 4 | PWM_CH3 |
| 5 | PWM_CH4 |
| 6 | PWM_CH5 |
| 7 | PWM_CH6 |
| 8 | PWM_CH7 |
| 9 | PWM_CH8 |
| 10 | GND |
Software
ModalAI UART ESC Driver Source
An open source PX4 driver is available at src/drivers/actuators/modalai_esc.
PWM/DShot
Standard PX4 drivers used.