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VOXL Functional Description

Table of contents

  1. Overview
    1. High level specifications of the platform
    2. Camera
    3. Connectivity and Location
    4. Storage
    5. Software
  2. Power Specifications
  3. Mechanical Specifications
    1. 3D STEP File
    2. Board Dimensions
  4. On board sensors
    1. IMU Notes


High level specifications of the platform

  • Base Operation System: Linux Yocto Jethro with 3.18 kernel. Additional Linux Operating Systems can be used by running Docker on VOXL, details here
  • Qualcomm Snapdragon 821 w/ 4GB LPDDR4 1866MHz
  • Quad-core CPU up to 2.15GHz
  • Adreno 530 GPU at 624MHz
  • Hexagon compute DSP (cDSP) 825MHz
  • Hexagon sensor DSP (sDSP) 700MHz
  • 4k30 Video Capture h.264/5 w/ 720p FPV
  • PCB 36mm x 75mm, 12-layer, 1mm thick


VOXL supports the following camera interfaces:

  • HDMI

Please see the Camera and Video Guides for more detailed information.

Connectivity and Location

  • Embedded pre-certified Wi-Fi module QCNFA324
  • 4G LTE as optional add-on module
  • Microhard pDDL as an optional add-on module
  • WGR7640 GNSS 10Hz
  • I/O:
    • 1x USB3.0 OTG (ADB port)
    • 1x USB2.0 (expansion port)
    • 2x UART
    • 3x I2C
    • Additional GPIO and SPI can be configured


  • 32GB (UFS 2.0)
  • Micro SD Card SDXC Version 3.0 up to 2TB


  • Docker with Ubuntu, Debian or Alpine
  • OpenCV 2.4.11, 3.4.6, 4.2
  • ROS Indigo
  • Qualcomm Navigator 1.0 Flight Control
  • Qualcomm Machine Vision SDK


Power Specifications

The VOXL should be powered by a supply rated at 6A and 5VDC.

A recomended power supply is defined here.

  • Caution: although the VOXL may power up from USB power, it is not recommended to operate this way.


Mechanical Specifications

3D STEP File

3D STEP File

Board Dimensions

Note the XYZ axis as drawn respresent the IMU data as reported by the voxl-imu-server MPA service, not the physical orientation of the IMU on the PCB. This aligns with the FRD reference frame when mounted on a drone in the typical orientation such as on the M500 reference drone.



On board sensors

ConfigurationVOXL (M0006)VOXL Legacy aka Qualcomm Flight Pro (HA942)Interface
IMU1 (recommended)ICM20948MPU9250SPI1
BarometerBosch BMP280Bosch BMP280i2c3
GNSSInternal SnapdragonInternal SnapdragonTBD

IMU Notes

Note: IMU1 consistently performs better than IMU0. IMU1 is strongly recommended for flight and VIO use. This differs from the VOXL Flight board where IMU0 should be used instead. Configuring MPA services with voxl-configure-mpa will select the correct IMU based on board part number.


Next: VOXL Connectors