@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.

@Eric-Katzfey said in ArduPilot on Voxl2:

voxl-2-io

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

@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

@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"

@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.)

@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.

@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

@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.

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:

@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: