# How to flash the VOXL Flight with replaced controller parts of PX4

Source: https://forum.modalai.com/topic/2110/how-to-flash-the-voxl-flight-with-replaced-controller-parts-of-px4
Category: General Questions (https://forum.modalai.com/category/2/general-questions)
Posted: 2023-04-30 02:57:14 UTC by chou zhi
Replies: 1 · Views: 367

## chou zhi · 2023-04-30 02:57:14 UTC

I've changed controller algorithms of PX4 and wonder how to flash it on VOXL Flight.

Could I just connect the J1006 with USB and use command like:
```
make px4_fmu-v5_default
```

to build the codes, and use:
```
make px4_fmu-v4_default upload
```
to upload it?

## Reply by Chad Sweet (ModalAI staff) · 2023-04-30 03:03:09 UTC

Please refer to this document: https://docs.modalai.com/flight-core-firmware