Autopilot Connections

There are two primary communication channels between the VOXL and the Flight Controller: Serial and USB.

Type	VOXL	Flight Controller
USB	USB	USB
Serial	UART13	Telem2

We recommend running MAVLink on USB and XRCE-DDS on Serial.

Flight Controller USB Enable

The flight controller USB will not start until GPIO_154_VBUS_SENSE from the VOXL is driven high. If this signal is high when the flight controller is reset, it will wait in the bootloader for 5 seconds before booting. If it is low, the flight controller will boot immediately.

Flight Controller Reset

The flight controller can be hard reset using the reset signal connected to VOXL pin GPIO_153_FMU_RST_REQ. The VOXL cannot reset the flight controller while it is armed. The reset signal is gated by the nARMED signal from the flight controller.