VOXL 2 Mini ESC Configurations

Table of contents

1. Summary
2. ESC Options for Built-in Flight Controller
3. VOXL ESC - 4-in-1
   1. Hardware Setup
      1. VBAT Power and Motors
   2. Software Setup
      1. Checking Status
      2. PX4 Driver
      3. How to Spin Motors
4. VOXL Mini ESC - 4-in-1
   1. Hardware Setup

Summary

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.

ESC Options for Built-in Flight Controller

VOXL ESC - 4-in-1

Hardware Setup

«««< HEAD For bi-direction UART communications, connect VOXL 2’s J19 connector to the VOXL ESC’s (M0049 or M0117) J2 using MCBL-TODO or building your own following this. ======= For bi-direction UART communications, connect VOXL 2’s J19 connector to the VOXL ESC’s (M0049 or M0117) J2 using MCBL-00081 or building your own following this.

documentation/master

M0049/M0117 J2:

• Connector on board : Hirose DF13A-6P-1.25H
• Mating connector : DF13-6S-1.25C

M0104 J19:

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

VBAT Power and Motors

Use standard installation processes following the datasheet pinouts.

Software Setup

Checking Status

The px4-qshell modal_io status command can be used to access the driver which has debug info and tools.

The px4-listener esc_status can be used to check status of published topics.

PX4 Driver

The PX4 parameters that are used by the system are here

For example, if you need to change the motor ordering or min/max RPMs, these are params you will want to tweak.

The driver source is is here for reference.

When PX4 runs on VOXL2, this is where the driver is started

How to Spin Motors

• Use the actuator_test command, for example actuator_test set -m 1 -v 0.05 -t 10, which spins PX4 motor 1 for 10 seconds
• Use the motor test feature in QGC.

VOXL Mini ESC - 4-in-1

Hardware Setup

«««< HEAD For bi-direction UART communications, connect VOXL 2’s J19 connector to the VOXL Mini ESC’s (M0129) J1 using MCBL-TODO or building your own following this. ======= For bi-direction UART communications, connect VOXL 2’s J19 connector to the VOXL Mini ESC’s (M0129) J1 using MCBL-00082 or building your own following this.

documentation/master

M0129 J1:

• Connector - 4 Position JST GH, Vertical, BM04B-GHS-TBT
• Mating Connector - JST GHR-04V-S

M0104 J19:

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