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[mRo (3DR) Pixhawk Wiring Quickstart](assembly/quick_start_pixhawk.md) - [Holybro Pixhawk Mini (FMUv3) - Discontinued](flight_controller/pixhawk_mini.md) - [Manufacturer-Supported Autopilots](flight_controller/autopilot_manufacturer_supported.md) + - [Accton Godwit GA1](flight_controller/accton-godwit_ga1.md) - [AirMind MindPX](flight_controller/mindpx.md) - [AirMind MindRacer](flight_controller/mindracer.md) - [ARK Electronics ARKV6X](flight_controller/ark_v6x.md) diff --git a/docs/en/flight_controller/accton-godwit_ga1.md b/docs/en/flight_controller/accton-godwit_ga1.md new file mode 100644 index 0000000000..e3671c20c6 --- /dev/null +++ b/docs/en/flight_controller/accton-godwit_ga1.md @@ -0,0 +1,153 @@ +# Accton Godwit G-A1 + +:::warning +PX4 does not manufacture this (or any) autopilot. +Contact the [manufacturer](https://cubepilot.org/#/home) for hardware support or compliance issues. +::: + +The G-A1 is a state-of-the-art flight controller developed derived from the [Pixhawk Autopilot v6X Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-012%20Pixhawk%20Autopilot%20v6X%20Standard.pdf). + +It includes an STM32H753 double-precision floating-point FMU processor and an STM32F103 IO coprocessor, multiple IMUs with 6-axis inertial sensors, two pressure/temperature sensors, and a geomagnetic sensor. +It also has independent buses and power supplies, and is designed for safety and rich expansion capabilities. + +With an integrated 10/100M Ethernet Physical Layer (PHY), the G-A1 can also communicate with a mission computer (airborne computer), high-end surveying and mapping cameras, and other UxV-mounted equipment for high-speed communications, meeting the needs of advanced UxV systems. + +:::tip +Visit [Accton-IoT Godwit](https://www.accton-iot.com/godwit/) for more information. +::: + +![AccGodwitGA1](../../assets/flight_controller/accton-godwit/ga1/outlook.png "Accton Godwit G-A1") + +![AccGodwitGA1 Top View](../../assets/flight_controller/accton-godwit/ga1/orientation.png "Accton Godwit G-A1 Top View") + +::: info +This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md). +::: + +## Specifications + +### Processor + +- STM32H753IIK (Arm® Cortex®-M7 480MHz) +- STM32F103 (Arm® Cortex®-M3, 72MHz) + +### Sensors + +- Bosch BMI088 (vibration isolated) +- TDK InvenSense ICM-42688-P x 2 (one vibration isolated) +- TDK Barometric Pressure and Temperature Sensor CP-20100 x 2 (one vibration isolated) +- PNI RM3100 Geomagnetic Sensor (vibration isolated) + +### Power + +- 4.6V to 5.7V + +### External ports + +- 2 CAN Buses (CAN1 and CAN2) +- 3 TELEM Ports (TELEM1, TELEM2 and TELEM3) +- 2 GPS Ports (GPS1 with safety switch, LED, buzzer, and GPS2) +- 1 PPM IN +- 1 SBUS OUT +- 2 USB Ports (1 TYPE-C and 1 JST GH1.25) +- 1 10/100Base-T Ethernet Port +- 1 DSM/SBUS RC +- 1 UART 4 +- 1 AD&IO Port +- 2 Debug Ports (1 IO Debug and 1 FMU Debug) +- 1 SPI6 Bus +- 4 Power Inputs (Power 1, Power 2, Power C1 and Power C2) +- 16 PWM Servo Outputs (A1-A8 from FMU and M1-M8 from IO) +- Micro SD Socket (supports SD 4.1 & SDIO 4.0 in two databus modes: 1 bit (default) and 4 bits) + +### Size and Dimensions + +- 92.2 (L) x 51.2 (W) x 28.3 (H) mm +- 77.6g (carrier board with IMU) + +## Where to Buy + +- [Accton-IoT Godwit](https://www.accton-iot.com/godwit/) +- [sales@accton-iot.com](sales@accton-iot.com) + +## Pinout + +![G-A1 Pin definition](../../assets/flight_controller/accton-godwit/ga1/pin_definition.png "G-A1 Pin definition") + +## UART Mapping + +| Serial# | Protocol | Port | Notes | +| ------- | --------- | ------ | ---------- | +| SERIAL1 | Telem1 | UART7 | /dev/ttyS6 | +| SERIAL2 | Telem2 | UART5 | /dev/ttyS4 | +| SERIAL3 | GPS1 | USART1 | /dev/ttyS0 | +| SERIAL4 | GPS2 | UART8 | /dev/ttyS7 | +| SERIAL5 | Telem3 | USART2 | /dev/ttyS1 | +| SERIAL6 | UART4 | UART4 | /dev/ttyS3 | +| SERIAL7 | FMU Debug | USART3 | | +| SERIAL8 | OTG2 | USB | | + +## Wiring Diagram + +![G-A1 Wiring](../../assets/flight_controller/accton-godwit/ga1/wiring.png "G-A1 Wiring") + +## PWM Output + +PWM M1-M8 (IO Main PWM), A1-A8(FMU PWM). +All these 16 support normal PWM output formats. +FMU PWM A1-A6 can support DShot and B-Directional DShot. +A1-A8(FMU PWM) are grouped as: + +- Group 1: A1, A2, A3, A4 +- Group 2: A5, A6 +- Group 3: A7, A8 + +The motor and servo system should be connected to these ports according to the order outlined in the fuselage reference for your carrier. + +![G-A1 PWM Motor Servo](../../assets/flight_controller/accton-godwit/ga1/motor_servo.png "G-A1 PWM Motor Servo") + +## RC Input + +For DSM/SBUS receivers, connect them to the DSM/SBUS interface which provides dedicated 3.3V and 5V power pins respectively, and check above "Pinout" for detailed pin definition. +PPM receivers should be connected to the PPM interface. And other RC systems can be connected via other spare telemetry ports. + +![G-A1 Radio](../../assets/flight_controller/accton-godwit/ga1/radio.png "G-A1 Radio") + +## GPS/Compass + +The Godwit G-A1 has a built-in compass +Due to potential interference, the autopilot is usually used with an external I2C compass as part of a GPS/Compass combination. + +![G-A1 GPS](../../assets/flight_controller/accton-godwit/ga1/gps.png "G-A1 GPS") + +## Power Connection and Battery Monitor + +This universal controller features a CAN PMU module that supports 3 to 14s lithium batteries. +To ensure proper connection, attach the module's 6-pin connector to the flight control Power C1 and/or Power C2 interface. + +This universal controller does not provide power to the servos. +To power them, an external BEC must be connected to the positive and negative terminals of any A1–A8 or M1–M8 port. + +![G-A1 Power](../../assets/flight_controller/accton-godwit/ga1/power.png "G-A1 Power") + +## SD Card + +The SD card is NOT included in the package, you need to prepare the SD card and insert it into the slot. + +![G-A1 SD Card](../../assets/flight_controller/accton-godwit/ga1/sdcard.png "G-A1 SD Card") + +## Firmware + +The autopilot is compatible with PX4 firmware. And G-A1 can be detected by QGroundControl automatically. Users can also build it with target "accton-godwit_ga1" + +To [build PX4](../dev_setup/building_px4.md) for this target, open up the terminal and enter: + +```sh +make accton-godwit_ga1 +``` + +## More Information and Support + +- [Accton-IoT Godwit](https://www.accton-iot.com/godwit/) +- [sales@accton-iot.com](sales@accton-iot.com) +- [support@accton-iot.com](mailto:support@accton-iot.com) diff --git a/docs/en/flight_controller/autopilot_manufacturer_supported.md b/docs/en/flight_controller/autopilot_manufacturer_supported.md index cb88202875..4b5f74504b 100644 --- a/docs/en/flight_controller/autopilot_manufacturer_supported.md +++ b/docs/en/flight_controller/autopilot_manufacturer_supported.md @@ -12,6 +12,7 @@ This category includes boards that are not fully compliant with the pixhawk stan The boards in this category are: +- [Accton Godwit GA1](../flight_controller/accton-godwit_ga1.md) - [AirMind MindPX](../flight_controller/mindpx.md) - [AirMind MindRacer](../flight_controller/mindracer.md) - [ARK Electronics ARKV6X](../flight_controller/ark_v6x.md) (and [ARK Electronics Pixhawk Autopilot Bus Carrier](../flight_controller/ark_pab.md))