@Moderator The description to MCBL-00128 (https://docs.modalai.com/cable-datasheets/#mcbl-00128), the TOF for the Voxl 2 Mini says it's supported with M0188 (https://docs.modalai.com/M0189/) without specifying any sub P/N (-1 or -2), even in the documentation of the M0188 doesn't say anything about P/N -1 or -2 (https://docs.modalai.com/M0188/).

@Alex-Kushleyev , Thank you for the clarification! We will change the service and see if it meets our needs. Regards, Jacob

Hi @Amir-Avni, Does your silkscreen on VOXL2 show M0154 or M0054? If M0054, it's 'hard coded' as an output only... behind a uni-directional level shifter..... If it's M0154, there's a directional level shifter in front of that GPIO that allows us to (with a kernel tweak) switch between UART and SPI. By default we are configured for UART use case, and the level shifter is set to allow an INPUT, by setting GPIO 67 low (as default), which is setup in device tree here, see "67" in modalai,gpio-init-output-low https://gitlab.com/voxl-public/system-image-build/meta-voxl2-bsp/-/blob/v1.8.02/recipes-kernel/linux-msm/files/dts/common/m0xxx-modalai-gpio.dtsi?ref_type=tags#L12 To enable VOXL2 J10 pin6 (gpio46) as an input, make sure gpio67 is set to low

@andrevs01 , The documentation links I provided describe how to get M0065 board running in PX4 as a standard actuator that supports 8 PWM outputs. If you are familiar with PX4, GCS, Actuators, then look through those documentation pages and follow the setup. However, i don't have the full information about your hardware, so i don't know if you need some customizations: are you using voxl2 on a flying drone? if so, are you using a modalai ESC or another ESC? Are you planning to use M0065 board to generate pwm output for your ESC (if you are using a standard ESC that accepts PWM as control input) do you need to use PX4 for your application? the reason why I ask is that you can use M0065 pwm outputs without PX4 if you don't need PX4 at all. Alex

@valvarez , yes, this is the expected correct behavior. I believe you were initially using older M0065 firmware (version 1) as well as older PX4 build which was working with that version of M0065 (VOXL2 IO board). However that release had some issues that were fixed and you should not use firmware version 1. The older PX4 version used a different (old) driver for the voxl2-io board, and you can tell that because the debug print was very short and it accepted SW version 1: SLPI: Detected M0065 protocol version. SW: 1, HW: 35 If you see that, it means you are using outdated (buggy) software. The latest (stable) firmware is verion 2 and the corresponding PX4 driver will require that version and print out a lot more information about the board and the VOXL2_IO params. Alex

@Jetson-Nano, can you please clarify what exactly you are asking?

@xav04 , yes, please see https://docs.modalai.com/voxl2-io-user-guide/

@restore , i don't think this module will work with VOXL2_IO because it seems the Seagull MAP2 interface expects direct connection to the I/O pins, which is not the case when using VOXL2_IO module. Alex

@Eric-Katzfey We were able to resolve the issue. We went to /etc/modalai/voxl-px4.conf and changed the RC params to Spektrum.

@maddyr13 besides enabling 4 additional channels, the changes included: introduce new UART message between PX4 and M0065 board to allow specifying output pulse with high resolution (previously limited to only command range of 0-800 which was remapped to 1-2ms) change the output pulse to OneShot, which means for every command from Flight Controller, there is only one PWM pulse (per channel) generated. This synchronizes the PWM output to Flight Controller update cycle and reduces total delay between FC and ESCs. there was a bug in case of SBUS input was used, the output PWM rate was reduced to only 100hz (normally about 400hz using 1-2ms pulse, which is a limitation of the pulse width, since flight controller update loop is 800hz). I am curious if you were using SBUS input into M0065 before for your RC, in which case the pwm update rate was reduce to only 100hz. Change to OneShot should not have effect on the pulse width, only the delay of it. It is possible that with new firmware, the ESCs are getting updates at higher rate, which could mean that if there is high frequency noise (picked up by gyro from propeller vibrations), the ESCs are now receiving more noisy commands, which would cause the motors to heat up more. If you have the PX4 logs from before the M0065 firmware change, you can take a look and see if gyro was picking up a lot of noise (more than 5-10 deg/s is considered more than normal). Additionally you can check the noise in the actuator outputs. Are you still using m500 frame? did you modify it in any way? maybe VOXL2 needs more vibration insulation. Also, what you could do is restore the original M0065 firmware, use unmodified PX4 and compare results again (making sure to save the logs). Also, did you go through the ESC calibration and updated the PX4 actuator ranges, as instructed, after uploading the new M0065 firmware? Alex

@Aaky , the mixer should never output a value lower than mixer min (while armed).

Hi @majjam I'm glad Alex is helping you. Nothing should ever be "searing hot" in our platforms. If it is, it may be that you have a 5V supply connected to the 3.3V supply of the MCU by an errant connection using one of the connectors, and over time the MCU will fail (likely very promptly). Please double check your wiring and connections to all peripherals and connectors using this page as a guide: https://docs.modalai.com/voxl2-io-datasheet/#connector-callouts Be sure you do not connect any 5V supply to the 3.3V pins. Thanks!

@Aaron-Porter , thank you for clarifying. We resolved your issue offline, as this was a pre-release development effort. Moving forward, all customers have two options: if you already purchased M0065 without ModalAI bootloader (the board was using old px4io bootloader and firmware), you can request a free replacement that will be sent with our latest bootloader and firmware installed (please request via support email) all the new M0065 shipments will come with ModalAI bootloader and firmware With the new bootloader / firmware combination, there is no need for STLink at all. The firmware will be updated via UART directly from VOXL2 or optionally via a USB adapter. The firmware update protocol is very similar to our ESC firmware update protocol, so we will be able to use voxl-esc tools to perform the firmware update. We will be updating the docs shortly (https://docs.modalai.com/voxl2-io-firmware/) and will post an update here once it's ready. Alex

Hi @wilkinsaf Our Schematic for the "B-Quad" (Voxl2 Developer Test Board, M0144) are live!! https://docs.modalai.com/voxl2-dev-test-board-datasheet/#schematics In there, you can see an example of how to design the proper connections for powering Voxl2 from J5. VDCIN_5V would be from a 6A capable power supply on your host system (carrier board): [image: 1692914469252-80eff3be-05ab-47a2-968a-3425fefebe49-image.png]

@Will Can you also try setting EKF2_MAG_TYPE to 5?

@Mastermind Okay, interesting. Let us know if you figure out the root cause. Thanks!

Any tips on how to control this from ROS for offboard mode?

Hi @Nathan-Sizemore No, that is a behavior we know about, but does not impact peripheral mode (due to a diode "OR" inside the circuits). We are taken steps to change this behavior on future designs to allow full OTG support. However, Voxl2 M0054 does not have that, and can only function as device/peripheral on that port. When a PC/Host plugs in, the VBUS from that host is then detected by the Power Mgmt ICs (PMICs) to enable proper peripheral mode. We know that this behavior of VBUS is not ideal, but as just mentioned we will improve it later.

Hi @modaltb Travis, it took me a bit to have time to get back to this, but I've confirmed the problem. There was a short between input and ground in the small 4-pin GH connector I was using to connect to the VOXL2 IO board. Given I just found that laying around, I should have caught this earlier. Thanks for your help! I can confirm that the PX4IO app does see the R9SX input now. I'll also refer to your other post soon about trying to setup the Graupner GR-16 as I'll be moving to that this summer.