ModalAI Forum

Hi @김다연
The INA260 is not supported. M0041 is designed around the INA231 and our power monitoring software expects that part.

The two are not drop-in compatible. They differ in register map, device ID, and the INA260 has an integrated shunt rather than the external shunt the M0041 uses, so it is a board change as well as a driver change. Supporting it would require a new driver and a new M0041 variant, neither of which exist.

If you need power monitoring on VOXL 2, use M0041 as designed, or take battery voltage and current telemetry from our ESCs, which report it over the ESC UART.

Hi @김다연
Both are enabled by default. If a QUP appears in the table with a device node, it is enabled in the shipped image. No device tree changes or additional hardware configuration required.

UART7, J3 pins 3 and 5, /dev/ttyHS1, sys image 1.3+
UART13, J5 pins 97 and 98, /dev/ttyHS3, sys image 1.5+

Full table: https://docs.modalai.com/voxl2-qups/

Note UART13 requires system image 1.5 or newer. Check voxl-version on your unit before wiring it up.

1. MCBL-00084 mapping and impedance

The cable is a straight 1:1 pin-to-pin, 26 conductors, fully populated. We put the pinout variation in the adapter boards rather than the cable, so the cable never remaps anything.

On impedance, the two figures in your question are not both true of the same thing. Micro-coax is not strictly impedance controlled by definition. Each conductor is an individually shielded 50 Ω coax, and a MIPI pair is carried as two independent conductors rather than a true coupled 100 Ω differential pair. Design your board to 100 Ω differential and treat the coax run as a tolerance contribution.

180 mm is our production maximum and we do not qualify or sell beyond it.

2. DF56C-26S-0.3V(51) signal order

Yes, that is the correct mating receptacle. Signal order is per adapter and camera group, not per cable. The M0155 J2 table is the right reference for a single-sensor connection.

3. Pin 25, VPH_PWR

VPH_PWR is not intended for customer use.

Hi @alex-z-1 Here is the STEP for the front tracking mount: https://storage.googleapis.com/modalai_public/modal_drawings/D0013_Front Tracking Mount.step

Note this is the V1 plastic. The V1 Stinger has been EOL for some time, so this came out of archived CAD rather than a current release.

One observation from your photos: the film is still on the battery pad. That likely contributed to the battery stop breaking, though it would not have saved the camera housing.

Let us know if this helps!

Hi @czarsimon
Flickering is not acceptable and it is worth chasing before you fly it. DS1 is driven by the 5 V eFuse on VOXL 2. Solid green means power good with no fault. Any flicker means the eFuse is toggling power-good or asserting a fault and recovering, so you are operating right at the edge of a trip. The system may look fine on the bench and then brown out when something shifts, such as a colder battery, a warmer ambient, or a transient load.

Two questions before we can tell you which fault it is. Are your peripherals powered from the same upstream VBAT supply as VOXL 2, or from VOXL 2’s own 5 V output connectors? And can you scope VDCIN_5V at J4 pin 1 while the flicker is happening?

What you are looking for is whether the rail is sagging or spiking. Sagging points at supply capacity: VOXL 2 expects 5 V ±5%, and the power module is set to 5.08 V no-load specifically to absorb cable drop. Adding load on the same supply eats that margin. Spiking above 5.6 V trips the eFuse overvoltage protection instead, which is a transient problem at the peripheral rather than a capacity problem.

Also note our cable-connector power outputs are rated 1 A each and the system cannot supply 1 A on all connectors simultaneously: https://docs.modalai.com/voxl2-connectors/#power-inputoutput-important-note

If it is droop and the total load is genuinely beyond one power module, separate the peripherals onto their own supply (using a second power module regulated from your VBAT) rather than sharing the VOXL 2 feed. If it is overvoltage, more supply capacity will not help.

Hi @elvis-bicharri We are working on this, please hang tight. I'm trying to get the cognizant ME on this one.
Thanks!

Hi @alex-z-1 I am trying to get the cognizant ME get me a proper link for you, please stay tuned.

Hi @김다연

1. GPIO 109 sync through M0155

Yes. GPIO 109 is on pin 26 of J6, J7 and J8, and M0155 passes it through to the sensor. Same sync signal M0173 uses. It is driven by voxl-fsync-mod.

2. IR + EO on J6 and J7

Not automatic. Two things are required in software. The sensors must be running a sensor module built with sync input enabled (the fsin variants under /usr/share/modalai/chi-cdk/, selected by camera HW ID), and voxl-fsync-mod must be enabled and configured for the correct GPIO. Without the fsin sensor module, the sensor ignores the trigger and free-runs.

The fsync period also sets the frame rate, which is the cleaner answer to your earlier 8.6 fps question: drive the rate from voxl-fsync-mod rather than adding a sensor mode to the driver.

Hi @김다연
Responses in order:

1. IMX412 frame rate

Frame rate is set per-camera in /etc/modalai/voxl-camera-server.conf, no kernel rebuild required, but you are limited to the sensor modes the driver defines. 8.6 fps is not a standard IMX412 mode, so it almost certainly requires a new mode in the sensor driver and a kernel rebuild. Before going down that path: if you only need the two cameras aligned, use the frame sync hardware rather than matching free-run rates. Camera config: https://docs.modalai.com/configure-cameras/

2. UART on J3

J3 exposes UART7 only, on pins 3 and 5 (GPIO_23 RXD, GPIO_22 TXD), enumerated as /dev/ttyHS1. UART13 is not on J3, it is on J5, the high-speed B2B. Full J3 and J5 pinouts: https://docs.modalai.com/voxl2-connectors/

3. FSync on J3

J3 does not carry a camera sync signal. FSync is GPIO 109 on the camera group connectors (J6/J7/J8) and is driven by voxl-fsync-mod, enabled through voxl-camera-server. There is nothing on J3 to configure for this.

4. M0062 boot mode switches

Your understanding of the two modes is correct. The DIP switch on the M0062 is unused. The Fastboot and EDL switches are wired in parallel with VOXL 2’s own SW1 and SW2 and do exactly the same thing, so use whichever is physically accessible in your build. Recovery procedures are documented here: https://docs.modalai.com/voxl2-connectors/#buttons and https://docs.modalai.com/voxl2-unbricking/

SW2 (EDL) should be left OFF in normal operation.

Hi @김다연 M0041 is well explained here, including device and I2C Addr: https://docs.modalai.com/power-module-v3-datasheet/
M0173 pinouts are here:
https://docs.modalai.com/M0173/#m0173-voxl-2-starling-2-front-end with specific SPI port here: https://docs.modalai.com/M0173/#j6---sm08b-srss-tb

Hi @jake_eizy Answers below, in order.

6. J10, GPIO_46

A shipped M0154 boots in SPI mode (GPIO_67 HIGH), exposed as /dev/spidev14.0. The mode is fixed in the kernel for a given build, not switchable at runtime. In that configuration GPIO_46 is on J10 pin 6 as an output. Pinouts for both modes: https://docs.modalai.com/voxl2-connectors/#j10---external-spi

Drive: the J10 signals are buffered to 3.3 V by an SN74LVC2T45, so ±24 mA, with VOH ≥ 2.4 V and VOL ≤ 0.55 V at that current.

For your 3-way star, 24 mA is not the limiting factor. Three CMOS receiver inputs are a negligible DC load. The constraint is AC. The 2T45’s native edge rate is fast enough that 150 mm branches are electrically long in FR4, and a star gives you three unterminated stubs that reflect into each other at the fanout point. Put a series damping resistor in each branch at the fanout.

7. M0130 J5, 3.3 V at 0.16 A

Fine. J5 pin 1 is VREG_3P3V_LOCAL. Our cable-connector power outputs are rated 1 A each, though the system cannot supply 1 A on all connectors simultaneously: https://docs.modalai.com/voxl2-connectors/#power-inputoutput-important-note

0.16 A is well inside that. Budget it as part of your total 3.3 V draw rather than per-connector, since J5, J8 and J9 share the rail. Board mechanicals and the 3D STEP are in the PCB Catalog: https://docs.modalai.com/pcb-catalog/

8. VOXL 2 J4, ~3.3 A steady on the 5 V contact

3.3 A sustained is not a concern. In practice our platforms already exceed the 3A pin spec rating: VOXL 2 requires 6 A of inrush support at power-on, so that contact sees well above 3.3 A as a transient on every boot of every system we ship. Sustained current is a different thermal problem from inrush, and what makes it workable is the thermal path rather than the contact alone.

9. M0138 kit cable lengths

150 mm is not a problem, we stock multiple lengths. MCBL-00015-2 is the 150 mm variant: https://docs.modalai.com/cable-datasheets/#mcbl-00015

10. M0226 STEP

We are adding M0226 and M0224 to the PCB Catalog now, including 3D STEP. Should be live shortly: https://docs.modalai.com/pcb-catalog/

Resolving this over email.
Thanks!

Hi @jeremyrbrown5
There are about 45 components missing on your board to enable ToF support, it is not standard practice for us to provide variant transition instructions for numerous reasons.
I'll talk to the team and see if we should reach out over email to guide you further if you are willing to take the risk..

Hi @jeremyrbrown5
We have found our site incorrectly lists the Mini-ToF support on the SKUs that are available to buy.

The board in your hands cannot be updated to support the ToF modules. If we were able to provide you with a corrected unit with Mini-ToF support, it would require ModalAI ToF modules, not ones from Adafruit or other 3rd parties.
Please bear with us on this, we are figuring out the best approach internally to handle this, but curious what your flexibilities are on this?
Was this bought as part of a drone, or individual PCBs? Can you please share your order #?

Thanks!

Sorry @senja for the delays, this post did not get flagged for me.
Yes, they install on different sides of the VOXL 2 board as shown here:
https://docs.modalai.com/voxl2-connectors/#connector-callouts

https://docs.modalai.com/M0226/#overview

https://docs.modalai.com/m0062-datasheet/#connector-callouts

Hi @christopher-rajcsok
We updated the VRX User Guide page with mechanical information for you. Hope it helps!!
https://docs.modalai.com/vrx-ground-unit-datasheet/#enclosuremount

Hi @christopher-rajcsok
I will get you a model soon and we will get our website updated!!
Thanks for pointing this out.

Hi @hartll244 , Please see these related posts.
https://forum.modalai.com/topic/3664/voxl1-and-2-environmental-testing-documents/7?_=1790881535163
https://forum.modalai.com/topic/5316/need-operating-and-storage-temperature-ranges-for-5-components?_=1790881629795

VOXL 2 Mini falls under VOXL 2 as the core components are the same.
Hope this helps you.
Thanks!

Hi @marcos-correa Apologies for the delays here, I was out on leave for a couple weeks.
It sounds like the M0141 issue you might be having is very similar to this one:
https://forum.modalai.com/topic/1356/sentinel-drone-randomly-reboots/2?_=1790714717250
It's important to use 5mm spacers between any VOXL 2 plug-in board, especially if it only picks up J3 and not J5, since that leave all the pins on J5 vulnerable to contacting circuitry from whatever plug-in board is installed. Symptoms from that contact are most certainly proven to be resets and brown outs, as we have seen that before.
If you are already using spacers between your board, then I'd need to think about other potential root causes.
Hope this helps.
Thanks!
Vinny

Hi @schuyler.kellogg , the USB-A cable is back up for sale... sorry about that...
https://www.modalai.com/products/mcbl-00022