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    ArduPilot on Voxl2

    Flight Core v2
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    • E
      Eric Katzfey ModalAI Team @TomP
      last edited by 28 Mar 2025, 20:56

      @TomP What are the settings of all the SERVO(x)_ params?

      1 Reply Last reply Reply Quote 0
      • E
        Eric Katzfey ModalAI Team @TomP
        last edited by 28 Mar 2025, 21:07

        @TomP If you set the SERVO(x)_FUNCTION parameters according to this: https://ardupilot.org/plane/docs/servo-functions.html#overview do you get any PWM output?

        T 1 Reply Last reply 28 Mar 2025, 21:17 Reply Quote 0
        • T
          TomP @Eric Katzfey
          last edited by TomP 28 Mar 2025, 21:18 28 Mar 2025, 21:17

          @Eric-Katzfey Here are my settings (no PWM output):

          SERVO1_FUNCTION,4
          SERVO1_MAX,1900
          SERVO1_MIN,1100
          SERVO1_REVERSED,0
          SERVO1_TRIM,1500
          SERVO2_FUNCTION,19
          SERVO2_MAX,1900
          SERVO2_MIN,1100
          SERVO2_REVERSED,0
          SERVO2_TRIM,1500
          SERVO3_FUNCTION,70
          SERVO3_MAX,1900
          SERVO3_MIN,1100
          SERVO3_REVERSED,0
          SERVO3_TRIM,1100
          SERVO4_FUNCTION,21
          SERVO4_MAX,1900
          SERVO4_MIN,1100
          SERVO4_REVERSED,0
          SERVO4_TRIM,1500
          SERVO5_FUNCTION,0
          SERVO5_MAX,1900
          SERVO5_MIN,1100
          SERVO5_REVERSED,0
          SERVO5_TRIM,1500
          SERVO6_FUNCTION,0
          SERVO6_MAX,1900
          SERVO6_MIN,1100
          SERVO6_REVERSED,0
          SERVO6_TRIM,1500
          SERVO7_FUNCTION,0
          SERVO7_MAX,1900
          SERVO7_MIN,1100
          SERVO7_REVERSED,0
          SERVO7_TRIM,1500
          SERVO8_FUNCTION,0
          SERVO8_MAX,1900
          SERVO8_MIN,1100
          SERVO8_REVERSED,0
          SERVO8_TRIM,1500

          E 2 Replies Last reply 28 Mar 2025, 21:36 Reply Quote 0
          • E
            Eric Katzfey ModalAI Team @TomP
            last edited by 28 Mar 2025, 21:36

            @TomP Hmm, that looks correct. On my test setup running ArduPlane with those values I see output values being sent to the M0065 board. I'm wondering if there is a connectivity issue between the VOXL 2 mini and the IO board.

            T 1 Reply Last reply 28 Mar 2025, 21:50 Reply Quote 0
            • E
              Eric Katzfey ModalAI Team @TomP
              last edited by 28 Mar 2025, 21:41

              @TomP Can you tell me how you have connected the UART pins on M0065 to the UART pins on VOXL 2 mini? Like the actual pin numbers that are connected?

              T 1 Reply Last reply 28 Mar 2025, 21:56 Reply Quote 0
              • T
                TomP @Eric Katzfey
                last edited by 28 Mar 2025, 21:50

                @Eric-Katzfey I can rule out connection problems. I checked the contacts on the VOXL2-Mini and the IO board with a continuity tester. Everything is well connected.

                I know that with ardupilot you can at least control the servos without arming. Is this perhaps implemented differently here? Then I would have to calibrate the sensors etc. to test this.

                voxl2_mini_durchgangspruefer.png

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                • T
                  TomP @Eric Katzfey
                  last edited by TomP 28 Mar 2025, 22:02 28 Mar 2025, 21:56

                  @Eric-Katzfey Here is the pin configuration (J19 on VOXL2-Mini to J4 on IO Board):

                  VOXL2-Mini-----IO Board
                  9-----------------1
                  8-----------------3
                  7-----------------2
                  6-----------------4

                  (I mistyped the table at the beginning. I have corrected the typo.)

                  E 2 Replies Last reply 28 Mar 2025, 22:37 Reply Quote 0
                  • E
                    Eric Katzfey ModalAI Team @TomP
                    last edited by 28 Mar 2025, 22:37

                    @TomP Yep, that all looks fine. Shoot. I may need to send you a new package with extra debug information to help debug this since by default there really isn't much we can see.

                    T 1 Reply Last reply 28 Mar 2025, 22:41 Reply Quote 0
                    • E
                      Eric Katzfey ModalAI Team @TomP
                      last edited by 28 Mar 2025, 22:40

                      @TomP Can you stop ardupilot and then run this command on VOXL 2 mini? voxl-2-io detect

                      1 Reply Last reply Reply Quote 0
                      • T
                        TomP @Eric Katzfey
                        last edited by 28 Mar 2025, 22:41

                        @Eric-Katzfey said in ArduPilot on Voxl2:

                        Yep, that all looks fine. Shoot. I may need to send you a new package with extra debug information to help debug this since by default there really isn't much we can see.

                        What do you mean by that?
                        "a new package with extra debug information"

                        E 1 Reply Last reply 28 Mar 2025, 22:43 Reply Quote 0
                        • E
                          Eric Katzfey ModalAI Team @TomP
                          last edited by 28 Mar 2025, 22:43

                          @TomP A new voxl-ardupilot package with debug information added. But we may not need that. Try voxl-2-io detect and then if that is successful then try voxl-2-io scan

                          T 1 Reply Last reply 28 Mar 2025, 22:46 Reply Quote 0
                          • T
                            TomP @Eric Katzfey
                            last edited by TomP 28 Mar 2025, 22:46 28 Mar 2025, 22:46

                            @Eric-Katzfey said in ArduPilot on Voxl2:

                            @TomP A new voxl-ardupilot package with debug information added. But we may not need that. Try voxl-2-io detect and then if that is successful then try voxl-2-io scan

                            voxl2-mini:~$ voxl-2-io detect
                            enabling bridge
                            bridge enabled
                            [INFO] Detected VOXL2 IO on default port (2).

                            ESC detected: ModalAi I/O Expander (M0065)

                            disabling bridge
                            bridge disabled
                            voxl2-mini:~$ voxl-2-io scan
                            enabling bridge
                            bridge enabled
                            Successfully pinged VOXL2 IO on default port (2).
                            INFO: VOXL2 IO Information:

                                Board      : version 35 : ModalAi I/O Expander (M0065)
                                UID        : 0x8108322152518882066BFF54
                                Firmware   : version 1, hash 6b5ec459
                                Bootloader : version 0, hash 5ba5857f
                            

                            disabling bridge
                            bridge disabled

                            E 1 Reply Last reply 28 Mar 2025, 22:51 Reply Quote 0
                            • E
                              Eric Katzfey ModalAI Team @TomP
                              last edited by 28 Mar 2025, 22:51

                              @TomP Okay, I think that firmware needs to be upgraded. Can you try voxl-2-io and choose upgrade_firmware?

                              E T 2 Replies Last reply 28 Mar 2025, 22:57 Reply Quote 0
                              • E
                                Eric Katzfey ModalAI Team @Eric Katzfey
                                last edited by 28 Mar 2025, 22:57

                                @Eric-Katzfey Or just voxl-2-io upgrade_firmware?

                                1 Reply Last reply Reply Quote 0
                                • T
                                  TomP @Eric Katzfey
                                  last edited by 28 Mar 2025, 22:57

                                  @Eric-Katzfey said in ArduPilot on Voxl2:

                                  voxl-2-io

                                  It works! Many thanks for the great support! 🙂
                                  The firmware upgrade was the solution.

                                  E 1 Reply Last reply 28 Mar 2025, 22:59 Reply Quote 0
                                  • E
                                    Eric Katzfey ModalAI Team @TomP
                                    last edited by Eric Katzfey 28 Mar 2025, 23:00 28 Mar 2025, 22:59

                                    @TomP Wonderful! So glad to hear. And I would really love to hear how the flight testing goes. We've never tried a VOXL 2 (or VOXL 2 mini) on a fixed wing (with ArduPilot) so be careful and triple check to make sure everything looks setup correctly before launching.

                                    T 1 Reply Last reply 28 Mar 2025, 23:06 Reply Quote 0
                                    • T
                                      TomP @Eric Katzfey
                                      last edited by 28 Mar 2025, 23:06

                                      @Eric-Katzfey said in ArduPilot on Voxl2:

                                      @TomP Wonderful! So glad to hear. And I would really love to hear how the flight testing goes. We've never tried a VOXL 2 (or VOXL 2 mini) on a fixed wing (with ArduPilot) so be careful and triple check to make sure everything looks setup correctly before launching.

                                      It is an honor for me to report. We will be careful. Of course, a crash can also occur independently of the VOXL2. This is a new drone that we are building.

                                      What might be relevant for you is that we have found a gimbal that will fit one of your cameras with a bit of hardware hacking. The gimbal can also be controlled via serial interface using Ardupilot. We have already successfully tested this with the VOXL2-Mini.
                                      WhatsApp Image 2025-03-29 at 00.03.08.jpeg

                                      E 1 Reply Last reply 28 Mar 2025, 23:52 Reply Quote 0
                                      • E
                                        Eric Katzfey ModalAI Team @TomP
                                        last edited by 28 Mar 2025, 23:52

                                        @TomP Oh, yes, this is all great news! Very exciting to hear! I will send an email to your account with some follow up questions.

                                        1 Reply Last reply Reply Quote 0
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