@Alex-Kushleyev
Thank you very much for the clear explanation. Now I am able to understand the data flow.

I have connected my own STM32F446RE to VOXL2. I have written the code for Dshot generation and it works. I have also written code in STM32 to parse the pwm values that are received from VOXL.

If i skip the version check and run the PX4 code, will it work? That is i am replacing M0065 and using STM32F446RE.

Is it enough that if we run PX4 firmware, VOXL will send the actuator values automtically?

Any other modifications to be made?

@Alex-Kushleyev . I need some clarifications on the following points:

1. How the actuator values are passed on to PX4 firmware? Through QGC or some manual method?
2. Once the PX4 gets the actuator values, the Sbus receives these raw values and converts to PWM packets?
3. These PWM packets are then sent to VOXL?
4. VOXL converts these packets to PWM values and controls the motor through ESC?
   I am confused about the format of frames used in Sbus and VOXL PWM packets. Not able to understand fully.
   I am not able to figure out from the code, where Sbus is receiving these raw values. Also where VOXL is receiving these values and and where it is sending it.
   Please clarify how I should send the actuator values. Also please send me the flow of the code, like how it works.

@Alex-Kushleyev Thanks for the response. Let me try the newer version and come back

I have written Dshot signal generation using FreeRTOS in STM32 using STM Cube IDE. It is working and I can control the motor which is connected to a 4 in 1 ESC. I want to connect this STM32F446RE to VOXL2 board and give the actuator inputs through PX4 firmware. I have written code in my STM32 to parse the inputs from VOXL2. Please explain how to connect. Can I replace the STM32 in place of M0065 and proceed? I tried to connect our own STM32 through J18. But I am not able to get any inputs. Is PX4 VOXL2-IO written such that it configures only M0065?
@Alex-Kushleyev
I referred to the below link.
https://github.com/modalai/px4-firmware/tree/main/src/drivers/voxl2_io