VOXL 2 Mini Offboard Sensors
Table of contents
GPS (GNSS/Mag)
An external GPS (GNSS/Mag) can be connected to VOXL 2’s J19 connector.
| Name / Designator | Description | Interface |
|---|---|---|
| GNSS UART / exposed via J19 | PX4 GNSS | SSC_QUP6, 2W UART, SLPI (sDSP) |
| Mag I2C / exposed via J19 | PX4 Mag | SSC_QUP0, I2C, SLPI (sDSP) |
J19: Full pinouts for all the connects are available here.
| Pin # | Signal Name | Notes |
|---|---|---|
| 1 | VDC_5V_LOCAL | GNSS/Mag power * |
| 2 | GNSS TX 3P3V | slpi_proc, SSC_QUP7 |
| 3 | GNSS RX 3P3V | slpi_proc, SSC_QUP7 |
| 4 | MAG SCL 3P3V | slpi_proc, SSC_QUP1 |
| 5 | MAG SDA 3P3V | slpi_proc, SSC_QUP1 |
| 6 | GND | |
| 7 | Not used for GNSS/Mag | |
| 8 | Not used for GNSS/Mag | |
| 9 | Not used for GNSS/Mag | |
| 10 | Not used for GNSS/Mag | |
| 11 | Not used for GNSS/Mag | |
| 12 | Not used for GNSS/Mag |
Power Monitoring
VOXL Mini ESC
The VOXL ESC Mini provides power monitoring through the modal_io driver.
The same UART interface used to control the ESC provides feedback including the battery voltage being regulated by the VOXL Mini ESC.
VOXL Power Module
Using the VOXL Power Module provides the ability to monitor battery voltage and regulated 3.8VDC voltage from the power module.
| Name / Designator | Description | Interface | Driver |
|---|---|---|---|
| PX4 Power Monitoring (J1) | QTY2 INA231 | SSC_QUP2, I2C, SLPI (sDSP), Addrs: 0x44h and 0x45h | voxlpm |
J1: Full pinouts for all the connects are available here.
| Pin# | Signal | Notes/Usage |
|---|---|---|
| 1 | VDCIN_3P8V | DC from Power Module, “unprotected” |
| 2 | GND | Power Module Return |
| 3 | I2C_CLK | SSC_QUP_1, 3.8V signal levels, Pullups on Power Module |
| 4 | I2C_SDA | SSC_QUP_1, 3.8V signal levels, Pullups on Power Module |
Full pinouts for all the connects are available here.
External Interfaces
The following interfaces are available from the Applications Processor and Sensors DSP.
| Name / Designator | Description | Interface |
|---|---|---|
| SPI0 / exposed via J6 | camera group 0 SPI | /dev/spidev0.0 |
| SPI14 / exposed via J10 | external SPI | /dev/spidev14.0 |
Full pinouts for all the connects are available here.