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    ArduPilot on Voxl2

    Flight Core v2
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    • E
      Eric Katzfey ModalAI Team @TomP
      last edited by 2 Dec 2024, 20:10

      @TomP We are still shooting for the end of this year. I would like to know what external peripherals you would like to support though. I'm guessing GPS, magnetometer, RC, a PWM based motor ESC, and some servos for flight surface control? Also an airspeed sensor? A distance sensor? What kind of RC are you expecting to use? There are some I/O limitations with VOXL 2 so want to make sure that what you want to build can be supported by what we are putting together.

      T 1 Reply Last reply 8 Dec 2024, 22:13 Reply Quote 0
      • T
        TomP @Eric Katzfey
        last edited by 8 Dec 2024, 22:13

        @Eric-Katzfey We use GPS, compass and the IO board for a PWM-controlled ESC and two servos. We also need two more PWM channels for gimbal control. That's it.

        We do not use an RC. The control is purely via MAVLink. Joystick inputs are made via the MAVLink command MANUAL_CONTROL. Data is transmitted via the mobile network.

        E 2 Replies Last reply 20 Dec 2024, 18:18 Reply Quote 0
        • E
          Eric Katzfey ModalAI Team @TomP
          last edited by 20 Dec 2024, 18:18

          @TomP I have updated the documentation at https://docs.modalai.com/voxl-ardupilot/. The VOXL 2 IO board with up to 4 PWM outputs is now supported and has been tested on a quadcopter with 4 PWM ESCs. You should be able to use this for arduplane now. We are putting together our own fixed wing test platform and hope to begin testing soon.

          E 1 Reply Last reply 20 Dec 2024, 18:22 Reply Quote 0
          • E
            Eric Katzfey ModalAI Team @Eric Katzfey
            last edited by 20 Dec 2024, 18:22

            @Eric-Katzfey I will need to add the support for up to 8 PWM outputs on VOXL 2 IO board. Right now it only supports 4. You should be able to do test flights without the gimbal with 4 PWM outputs.

            1 Reply Last reply Reply Quote 0
            • E
              Eric Katzfey ModalAI Team @TomP
              last edited by 24 Dec 2024, 23:49

              @TomP The update to support all 8 PWM outputs from the IO board is now in mainline. You can get it in the latest build posted here: https://firmware.ardupilot.org/Copter/latest/QURT/

              1 Reply Last reply Reply Quote 0
              • T
                TomP
                last edited by 27 Mar 2025, 13:44

                Hi,

                How can I configure the battery monitor for ArduPlane on the VOXL2-Mini?
                Which value do I have to enter for BATT_MONITOR and which values for BATT_I2C_ADDR and BAT_I2C_BUS?

                The "VOXL 2 Mini Power" transmits the current and voltage measurement data via I2C.

                Best regards,
                Tom

                E 1 Reply Last reply 27 Mar 2025, 16:20 Reply Quote 0
                • E
                  Eric Katzfey ModalAI Team @TomP
                  last edited by 27 Mar 2025, 16:20

                  @TomP It should just scan the available I2C ports and automatically detect the VOXL 2 mini power module if it has been connected. Is it not detecting it?

                  T 1 Reply Last reply 27 Mar 2025, 19:05 Reply Quote 0
                  • T
                    TomP @Eric Katzfey
                    last edited by 27 Mar 2025, 19:05

                    @Eric-Katzfey No, this is not detected. The configuration does not seem to be correct either. The parameter list mentions "Analog Voltage and Current" and corresponding pins.
                    Here is a screenshot:
                    Arduplane_VOXL2_Mini.png

                    1 Reply Last reply Reply Quote 0
                    • T
                      TomP
                      last edited by 28 Mar 2025, 14:46

                      Hi,

                      There is another problem. The PWM board does not output PWMs. I have also measured this with an oscilloscope. According to SERVO_OUTPUT_RAW, however, the FC should output PWM values.

                      Do I have to set another parameter in Arduplane so that the VOXL 2 I/O Expander Board is controlled correctly?

                      I use the VOXL2-Mini J19 connector: GND, pin 7, pin 8 and VREG_3P3V_RC for the power supply.

                      Here is my setup:
                      WhatsApp Image 2025-03-28 at 15.35.26.jpeg

                      E 1 Reply Last reply 28 Mar 2025, 18:28 Reply Quote 0
                      • E
                        Eric Katzfey ModalAI Team @TomP
                        last edited by 28 Mar 2025, 18:28

                        @TomP Okay, yes, sorry, you need to set BATT_MONITOR to 21 for INA2xx and need to set BATT_I2C_BUS to 1 for that power monitor to come up. I'll investigate the PWM issue.

                        T 1 Reply Last reply 28 Mar 2025, 19:00 Reply Quote 0
                        • T
                          TomP @Eric Katzfey
                          last edited by 28 Mar 2025, 19:00

                          @Eric-Katzfey The battery monitor works. Thank you very much! I'm sure the PWM will also work and then it's off to the test flight. 🙂

                          E 2 Replies Last reply 28 Mar 2025, 20:56 Reply Quote 0
                          • 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

                                      1 Reply Last reply Reply Quote 0
                                      • 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
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