# Change PX4 to D0015 Architecture

Source: https://forum.modalai.com/topic/3619/change-px4-to-d0015-architecture
Category: VOXL 2 and VOXL 2 Mini (https://forum.modalai.com/category/26/voxl-2-and-voxl-2-mini)
Tags: voxl-2
Posted: 2024-07-08 15:48:55 UTC by TomP
Replies: 9 · Views: 1509

## TomP · 2024-07-08 15:48:55 UTC

Hello everyone,

I would like to change the PX4 firmware on my VOXL2. I originally selected Sentinel, but need the firmware for a fixed-wing. 
How can I change this?

Best regards
Tom

## Reply by Eric Katzfey (ModalAI staff) · 2024-07-09 15:51:36 UTC

@TomP We do not currently support fixed wing with our implementation. D0015 is the configuration we are using for internal testing with fixed wing aircraft and we hope to be able to offer this as a supported configuration in a future SDK.

## Reply by TomP · 2024-07-09 16:04:00 UTC (in reply to Eric Katzfey)

@Eric-Katzfey I can configure the FC as a fixed wing in QGroundControl. That should work, right?

## Reply by Eric Katzfey (ModalAI staff) · 2024-07-09 16:44:09 UTC (in reply to TomP)

@TomP Yes, but it won't change anything. We handle configuration of the vehicle via our SDK so until our SDK supports the configuration you would have to know how to do all this on your own. It requires starting the correct device drivers and setting the correct parameters for fixed wing use.

## Reply by TomP · 2024-07-09 17:11:58 UTC (in reply to Eric Katzfey)

@Eric-Katzfey I don't understand the point about the device drivers. Which aspects exactly cannot be set via the parameter list?

I have only worked with Ardupilot so far and there everything can be set via the parameter list.

## Reply by Eric Katzfey (ModalAI staff) · 2024-07-09 17:18:29 UTC (in reply to TomP)

@TomP PX4 is setup quite differently than ArduPilot. We have a startup script (Can be seen in /usr/bin/voxl-px4-start) that starts the appropriate device drivers needed for the desired configuration.

## Reply by TomP · 2024-07-09 18:35:36 UTC (in reply to Eric Katzfey)

@Eric-Katzfey Can you provide us with a parameter list and a startup script for testing? Our fixed wing is very similar to your D0015 architecture wing. This could work directly.
We basically only need the standard functions. We do not use any special functions such as object avoidance.

## Reply by Eric Katzfey (ModalAI staff) · 2024-07-09 22:00:52 UTC (in reply to TomP)

@TomP We cannot support that at the moment. You could contact Ascend Engineering (https://www.ascendengineer.com/) if you are not able to wait until we get this into our SDK.

## Reply by TomP · 2024-07-10 09:27:14 UTC (in reply to Eric Katzfey)

@Eric-Katzfey Is it a possibility that the function will be available within the next 8 months (with your SDK)?

## Reply by Eric Katzfey (ModalAI staff) · 2024-07-10 15:18:53 UTC (in reply to TomP)

@TomP Yes, should be in by end of the year.