ModalAI module reference
Part-number lookup for the ModalAI catalogue, supporting the VOXL 2 Mini notes. Everything a build touches is an M00xx board, and the numbers are the only reliable identifier — the marketing names collide (three different boards are called simply “VOXL 2”).
Compiled 2026-07-31 from the live PCB catalog and the per-board datasheet pages: 85 distinct part numbers, of which 73 are current and 54 have a dedicated page at docs.modalai.com/<part number>/.
The What it is column adds integration context: direct VOXL 2/Mini fit, required carrier or flex, software role, and reasons not to choose a legacy part. Electrical compatibility alone is insufficient for MIPI cameras; a published driver, kernel variant, and camera configuration are also required.
Four things worth knowing before using the catalog:
- The catalog table is stale. 19 boards have live datasheet pages but do not appear in it at all — including
M0135,M0149,M0161,M0166,M0169,M0178,M0186,M0187,M0189andM0195, which is most of the current sensor and adapter line. Search the docs by part number instead of trusting the table. - 2D drawings are rare. The thumbnails in the
2Dcolumn link to full-size copies kept inimages/modalai/, converted from the ModalAI drawing PDFs or copied from the docs site. Where no drawing is published, three-view hidden-line projections (top / bottom / edge) rendered here from the part’s STEP file stand in — board outline, mounting holes, connectors and silkscreen are accurate, but there are no dimensions and assemblies may include a mating connector or lens. A blank cell means neither exists. - Prices are snapshots. Unqualified links are current ModalAI listings;
AMOVmarks a current exact-SKU AMOV RobotLab reseller listing, whileModalAI archiveis the last manufacturer-store capture found and is not a current offer. All amounts are USD, checked 2026-08-06 (archives carry their capture month), before tax and shipping. A single amount is the cheapest exact-part configuration found; qualifiers distinguish board, carrier, kit, EOL, or sold-out stock. A range means configuration options change the price.—means no standalone exact-part public price was found after checking the manufacturer feed/store, distributor catalogs, docs buy links, web search, and the Internet Archive; successor and bundle prices are not substituted. - Weights are inconsistent. Some are bare PCB, some include cables or lids (
M0030is listed as “8.24g / 14g with modem + lid”). Treat them as indicative.
Compute and autopilot
| Part | What it is | Price | Weight | 2D |
|---|---|---|---|---|
| M0104 | VOXL 2 Mini — QRB5165 compute + PX4 DSP flight controller; 3.8 V, four camera slots, no PWM | $1,169.99 board; ModalAI archive 2024-05 |
11.0 g |  |
| M0054 | VOXL 2 — QRB5165 compute + PX4 DSP flight controller; 5 V, six camera slots, legacy/high-speed B2B expansion | $2,040.00 board; AMOV |
16 g |   |
| M0154 | VOXL 2 later revision — software-compatible M0054 successor; J10 gains Mini-style UART/SPI selection | $1,299.99 board |
16 g |    |
| M0204 | VOXL 2 Mini refresh — M0104 successor; camera reset/global-sync routing changed, so carrier and kernel details matter | $1,249.99 board |
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| M0087 | Flight Core v2 — standalone STM32H7/PX4 controller with dual IMUs and eight PWM outputs; pair with separate companion compute | $199.99 board; ModalAI archive 2025-12 |
6 g |    |
| M0018 | Flight Core v1 — legacy standalone PX4 controller; relevant only to older split compute/flight-controller builds | $391.00 board; AMOV |
6.13 g |    |
| M0052 | Qualcomm Flight RB5 carrier — larger QRB5165 reference flight platform; predecessor, not a Mini accessory | — | 24.87 g |  |
| M0006 | VOXL 1 — APQ8096 companion computer from the older 5 V generation; superseded by QRB5165 boards | $850.00 board; AMOV |
16.51 g |    |
| M0019 | VOXL Flight — legacy VOXL 1-class compute plus Flight Core on one carrier; superseded by VOXL 2 | $1,020.00 board; AMOV |
24.5 g |    |
| M0068 / M0069 | Part-availability respins of M0006 / M0019; legacy generation, not new VOXL 2/Mini choices | — |
Image sensors
Tracking (VIO input)
| Part | Sensor | Price | Weight | 2D |
|---|---|---|---|---|
| M0014 | OV7251 640x480 mono global-shutter fisheye — classic qVIO camera; legacy AXT connection needs a VOXL 2/Mini adapter | $170.00 sensor + flex; AMOV |
0.51 g |  |
| M0072 | OV7251 640x480 mono global-shutter fisheye — M0014/MD102A replacement; AXT adapter required on VOXL 2/Mini | $119.00 AMOV |
0.38 g |  |
| M0149 | AR0144 1280x800 mono global-shutter 166° fisheye — current qVIO/tracking choice; AXT via M0076/M0084/M0135 | $119.99 |  |
|
| M0166 | AR0144 1280x800 global-shutter coax camera — flexible placement and optional IR cut; needs a coax carrier such as M0172/M0195 | $139.99–149.99 |    |
|
| M0091 | OV9281 tracking sensor — undocumented catalog item; no clear supported Mini integration path | — | 2.13 g |
Stereo
| Part | Sensor | Price | Weight | 2D |
|---|---|---|---|---|
| M0015 | Dual OV7251 mono global-shutter module — fixed-baseline stereo/depth; AXT adapter chain required on VOXL 2/Mini | $170.00 sensor kit; AMOV |
0.41 g |  |
| M0073 | OV9782 1280x800 RGB global shutter with IR-cut — stereo-flex compatible, but not recommended for new designs | — | 0.53 g | |
| M0113 | OV9782 1280x800 RGB global shutter without IR-cut — infrared-sensitive sibling of M0073; not recommended for new designs | — |  |
|
| M0088 | OV9782 variant — undocumented; avoid for a new build without ModalAI-confirmed driver and flex support | — | 0.68 g |
High resolution — all rolling shutter
| Part | Sensor | Price | Weight | 2D |
|---|---|---|---|---|
| M0025 | IMX214 13 MP rolling-shutter compact module — 4K30 capture; legacy AXT, so VOXL 2/Mini needs an adapter | $119.00 sensor; AMOV |
0.83 g | |
| M0024 | IMX214 13 MP rolling-shutter module in larger housing — 4K30 capture; legacy AXT adapter chain | $119.00 sensor; AMOV |
3.79 g |  |
| M0026 | IMX377 M12 wide-angle rolling-shutter module — legacy and undocumented; poor choice for a new Mini capture path | $153.00 sensor; AMOV |
8.57 g | |
| M0107 | IMX412 12.3 MP rolling-shutter RGB — 4K30, swappable M12 lens; AXT adapter required on VOXL 2/Mini | $179.99–229.99 ModalAI archive 2025-08 |
7.5 g |    |
| M0161 | IMX412 12.3 MP rolling-shutter coax camera — up to 4K60; strong capture option but needs M0155/M0172/M0195-class carrier | $209.99–259.99 |    |
|
| M0186 | IMX664 4.1 MP rolling-shutter coax camera — low-light, wide-FOV video up to 120 fps; needs a coax carrier | $229.99–259.99 |    |
Depth, thermal, illumination
| Part | What it is | Price | Weight | 2D |
|---|---|---|---|---|
| M0169 | PMD IRS2975C indirect-ToF depth camera — 240x180, roughly 4-6 m; legacy AXT plus external 5 V makes Mini integration cumbersome | $199.99 EOL; sold out |
   |
|
| M0178 | IRS2975C indirect-ToF module with integrated high-current 5 V feed — uses the newer 40-pin chain via M0172/M0173; Mini support docs conflict, so verify the exact camera config | $199.99 |    |
|
| M0189 | Mini-specific VL53L8CX multizone rangefinder — 4x4/8x8 I2C depth, up to 4 m; connects through M0188/M0195 and voxl-mini-tof-server, not the MIPI camera pipeline |
$44.99–54.99 | ||
| M0040 | PMD IRS1645 indirect-ToF camera — 224x171, roughly 4-6 m; EOL, replaced by the IRS2975C/M0178 path | $340.00 sensor kit; AMOV |
0.59 g |  |
| M0070 | VL53L1CX single-zone rangefinder board — useful for altitude/proximity, not a depth image; legacy undocumented item | — | 0.13 g | |
| M0187 | FLIR Lepton SPI/I2C adapter — requires M0173/M0188/M0195 host carrier and SDK 1.4+; the Lepton core is separate | — |    |
|
| M0153 | FLIR Boson+ MIPI adapter — works on VOXL 2/Mini only through an additional coax carrier; SDK currently documents 30 fps and requires prior USB configuration | — | ||
| M0089 | IR LED illuminator/driver — undocumented catalog item; no direct VOXL 2/Mini software role established | — |
Interposers, flexes, adapters
The part of the catalogue that quietly decides the mechanical layout.
Connector families, since the part descriptions assume familiarity with them:
- DF40 — Hirose 60-pin, 0.4 mm pitch (
DF40C-60DP-0.4V(51)). The camera ports on VOXL 2 and the Mini, J6 and J7. Each carries two camera “groups”. - AXT — Panasonic P4S board-to-board, 36-pin (
AXT336124board side,AXT436124mating). The image-sensor connector on VOXL 1 and VOXL Flight, and still the format most sensor modules and flexes terminate in.
“DF40C to AXT” adapters therefore exist to bridge generations: they break one group of signals (CSI lanes, timers, resets) out of a 60-pin DF40 port into a 36-pin AXT connector. M0084 is the Y-variant that fans one port out to two sensors.
| Part | What it is | Price | Weight | 2D |
|---|---|---|---|---|
| M0076 | DF40-to-AXT rigid adapter — exposes one lower camera slot for legacy AXT sensors; simplest one-camera bridge on VOXL 2/Mini | $19.99 EOL stock |
0.59 g |   |
| M0084 | DF40-to-dual-AXT 125 mm Y-flex — exposes both upper/lower camera slots from one J6/J7 group; useful for tracking/stereo layouts | $69.99 EOL stock |
1.52 g |   |
| M0135 | Rigid dual-image-sensor adapter for VOXL 2/Mini — exposes both CSI slots from one DF40 camera group; alternative to the M0084 flex | $29.99 |    |
|
| M0172 | Mixed camera-group adapter for VOXL 2/Mini — lower slot drives the M0178 ToF chain, upper slot accepts coax tracking/hires cameras | $39.99 |    |
|
| M0155 | Single micro-coax camera adapter for VOXL 2/Mini J6/J7 — simple path for M0161/M0166/M0186, but exposes only one sensor | $29.99 |    |
|
| M0195 | Mini-only dense imager front end — coax tracking/hires/Boson, dual Lepton and I2C ToF breakout; requires the D0013 kernel/config and is tied closely to M0204 | $89.99 | ||
| M0109 | VOXL 2 camera-group J-flex — routes a DF40 group to two sensor connectors; documentation is pinout-only, so use only with a proven camera configuration | — | ||
| M0010 | AXT-to-dual-24-pin stereo flex with fixed 80 mm baseline — for M0015/M0073/M0113; add a DF40 adapter on VOXL 2/Mini | $49.99 | 0.87 g |  |
| M0039 | AXT-to-dual-24-pin stereo flex with fixed 218 mm baseline — wider depth geometry, but mechanically large for a Mini airframe | $89.99 flex only |
   |
|
| M0036 | 145 mm AXT camera extension — legacy sensor placement option after a DF40 adapter; fixed flex length constrains the airframe | $49.99 EOL stock |
0.62 g |   |
| M0074 | 60 mm AXT camera extension — shorter legacy placement option after a DF40 adapter | $49.99 EOL stock |
0.35 g |   |
| M0008 | Legacy 75 mm AXT-to-24-pin image-sensor interposer — VOXL 1-era bridge, not a direct VOXL 2/Mini connection | $49.99 EOL stock |
0.8 g |  |
| M0061 | FRAMOS FSM camera carrier, sold with IMX412 or IMX678 rolling-shutter sensors — 4K capture through legacy AXT, so VOXL 2/Mini needs a DF40 adapter | $595.00 camera kit; AMOV |
2.29 g |    |
| M0042 | FRAMOS IMX296 global-shutter carrier — legacy/undocumented integration; confirm driver and adapter support before using with VOXL 2/Mini | — | 2.27 g | |
| M0064 | Early DF40-to-AXT adapter — superseded by the power-corrected M0076; do not select for a new VOXL 2/Mini build | — | ||
| M0173 | Starling 2 camera front end — full VOXL 2 only; combines four coax cameras, PMD ToF and Lepton/rangefinder connections with synchronized tracking | $79.99 board |
   |
Stereo baselines and extension lengths come only in the sizes above. A custom camera placement means a custom flex, not a config change.
ESC and motor IO
The QRB5165 has no PWM output, so motor drive is a board-selection decision rather than a wiring detail.
| Part | What it is | Price | Weight | 2D |
|---|---|---|---|---|
| M0129 | Mini 4-in-1 UART ESC — current M0129-63 accepts 2S-6S and supplies the Mini’s fixed 3.8 V rail; native J19 motor control plus battery/RPM telemetry |
$229.99 Mini |
 |
|
| M0049 | Earlier 4-in-1 UART/PWM ESC rev B — compatible with ModalAI’s PX4 ESC driver, but does not replace the Mini’s separate 3.8 V supply | $199.00 kit; ModalAI archive 2021-09 |
10.28 g |    |
| M0117 | Alternate/respin of the M0049 4-in-1 UART ESC — seen in full VOXL 2 vehicle stacks; not the compact Mini power-and-ESC solution | $340.00 kit; AMOV |
10.28 g | |
| M0138 | High-current FPV 4-in-1 ESC — UART only, roughly 40 A continuous / 100 A burst per motor; choose a 3.8 V-output variant if it must power a Mini | $299.99 |  |
|
| M0134 | 4-in-1 UART/PWM ESC — 2S-6S option, about 10 A+ continuous per channel; its 500 mA auxiliary rail cannot power a Mini | $199.99–249.99 kit; ModalAI archive 2024-07 |
 |
|
| M0065 | VOXL 2 IO coprocessor — converts the board’s UART/PX4IO link to PWM; only four outputs at 400 Hz are currently supported and there is no DShot | $99.99 board |
3.85 g |  |
| M0022 | Passive PWM header breakout for Flight Core/VOXL 2 IO — exposes existing PWM signals; it cannot create PWM from a VOXL 2/Mini by itself | $14.99 | 4.17 g |    |
Modems, radios, expansion
| Part | What it is | Price | Weight | 2D |
|---|---|---|---|---|
| M0213 | Sparrow dual-band 802.11ac 2x2 Wi-Fi add-on with 3.3 V legacy I/O and fastboot switch; Bluetooth is not yet supported. Docs claim Mini support, but the host is a 60-pin B2B, so verify the Mini carrier/revision | $239.99 | ||
| M0183 | Full VOXL 2 stacking board — mini-PCIe, one USB3, two USB2, microSD, SPI and apps UART/I2C; mates J3/J5 and therefore does not fit the Mini directly | — | ||
| M0030 | Full VOXL/VOXL 2 B2B LTE Cat-4 carrier with Sierra modem and two USB2 host ports; no direct Mini stack connection | $425.00–510.00 carrier / modem; AMOV |
8.24 g bare, 14 g loaded |    |
| M0048 | Legacy/full-board Microhard pDDL carrier with LAN7500 Ethernet and USB hub; high power draw and B2B mechanics make it a poor Mini fit | $199.99 | 14.81 g |    |
| M0059 | Later Microhard pMDDL900/1621/4 carrier for long-range IP datalink; full-board B2B accessory, not a direct Mini module | — |    |
|
| M0090 | Full VOXL 2 M.2 B-key 5G modem carrier with nano-SIM and USB3; stacks on J3/J5, so Mini use requires a separate USB/power integration | $269.99 carrier |
12.8 g |    |
| M0067 | Earlier 5G carrier/debug revision — full VOXL 2/RB5 mechanical path; M0090 is the cleaner documented carrier | — | 13.22 g |  |
Debug, breakout, and oddities
| Part | What it is | Price | Weight | 2D |
|---|---|---|---|---|
| M0062 | Full VOXL 2 Ethernet/USB/debug expansion — adds storage, SPI/UART/I2C and recovery access through both B2B connectors; no direct Mini fit | $259.99 | 15.46 g |    |
| M0078 | USB2 host + optional serial/fastboot debug board for VOXL/VOXL 2; EOL in favor of M0151 and mechanically irrelevant to the Mini | $85.00 kit; AMOV |
3.14 g |  |
| M0017 | First-generation VOXL USB/debug/fastboot board — EOL legacy B2B accessory, not for VOXL 2 Mini | $49.00 kit; ModalAI archive 2022-06 |
4.83 g |    |
| M0125 | Full VOXL 2 B2B breakout exposing apps UART and USB3; the Mini already exposes comparable J10/J3 ports and cannot stack it directly | $85.00–102.00 board / cables; AMOV |
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| M0197 | FPV VOXL platform with first-class HITL support — real apps processor + DSP PX4 driven from Gazebo over USB Ethernet; reference for simulation bridging, not a Mini add-on | — | ||
| M0034 | Mechanical tray/carrier for the legacy VOXL Flight Deck stack; no electrical function and no Mini role | — | ||
| M0046 | ICM-42688 IMU breakout — bring-up/test hardware, not required by VOXL 2/Mini because their flight stack already has onboard IMUs | — | ||
| M0045 | Passive horizontal UART splitter — legacy harness convenience; verify voltage and ownership before attaching to a Mini UART | — | ||
| M0086 | Chirp ultrasonic-sensor adapter for Qualcomm Flight RB5; platform-specific legacy accessory with no Mini path | — | 3 g | |
| M0094 | Spektrum RC bind/interface board used in RB5/VOXL 2 vehicle assemblies; unnecessary for ELRS/SBUS and not a direct Mini accessory | $204.00–323.00 kit / receiver; AMOV |
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| M0038 / M0085 | Generation-1 VOXL mezzanines for stereo/IMU/tracking and FLIR/RGB LED; legacy stack mechanics, superseded by VOXL 2/Mini camera carriers | — | 5.65 / 5.91 g |
End of life or not in production: M0007, M0009, M0011, M0012, M0013, M0016, M0027, M0047, M0092, M0093. The live catalog does contain the M0041 power module family, but only its 5 V M0041-1 and M0041-5 configurations. It omits the Mini’s 3.8 V assembly, whose exact current store SKU is MDK-M0041-4-00 — $79.99. The generic Power Module v3 datasheet is also stale and lists only older 5 V part numbers.
The docs site source is also in the local checkout at voxl/documentation/ (docs/60-expansion-boards/99-pcb-catalog.md), and lags the live site — the discrepancy is where the 19 missing catalog entries show up.