New TOF Sensor module Adapter PCB

Jetson Nano

Hello,

I'm planning to upgrade the TOF sensors on my Starling2 Drone with the new TOF along with the new tracking camera as well.

In the new TOF sensor, there are 2 types of flex PCBs which are majorly present. I see that one of the PCBs - M0169 has an additional exclusive 5V DC input from the mainline. Whereas in M0171 I see that there are no connectors meant for separate 5V given but only terminal leads given without any exclusive connector.

I understand that M0169 board along with the new TOF Sensor was under development and was released beta even before M0173 breakout board. Also what is the significant difference between M0169 and M0171? Why is external power option not considered exclusively in M0171 ? What is the advantage of using M0171 over M0169 ?

Jetson Nano

Even here, @Alex-Kushleyev mentions about the usage of external power in M0169 design.

Alex Kushleyev

@Jetson-Nano

Please take a look at the following links:

https://docs.modalai.com/M0169/
https://docs.modalai.com/M0178/#requirements
https://docs.modalai.com/voxl2-coax-camera-bundles/#mdk-m0173-1-01

M0173 config

M0169 was built to support the new TOF sensor using the existing (at that time) flex cables and interposers, but those were not designed to carry 5V from VOXL2, therefore M0169 requires additional connector to supply 5V (which can be taken from the same APM that is supplying 5V to VOXL2). TOF V2 sensor can output much higher IR power compared to TOF V1, and the existing interposers / power rails were not designed for that, so an additional 5V input to M0169 is required.

Now, with M0173 (aka Starling 2 Front End), the front end plugs into VOXL2 and makes use of the available 5V on VOXL2 (which was not possible using older interposers and extension cables). M0171 / M0178 is able to pull 5V directly from VOXL via the Starling 2 Front End.

M0178 is basically an M0171 with a tab for mounting.

In order to use M0178 / M0171, you have to use M0177 flex that is connected to M0173 camera front end (which plugs into VOXL2).

So there is basically two options for connecting TOF V2 to VOXL2:

VOXL2 -> (M0135 or M0076) -> (M0074 or M0036 extender) - > (M0169 + 5V power) -> TOF V2
VOXL2 -> M0173 -> M0177 - > (M0171 or M0178) -> TOF V2

I know that is a lot of board numbers, but hopefully that makes sense..

Alex