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Move PX4 Guide source into /docs (#24490)
* Add vitepress tree * Update existing workflows so they dont trigger on changes in the docs path * Add nojekyll, package.json, LICENCE etc * Add crowdin docs upload/download scripts * Add docs flaw checker workflows * Used docs prefix for docs workflows * Crowdin obvious fixes * ci: docs move to self hosted runner runs on a beefy server for faster builds Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: don't run build action for docs or ci changes Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: update runners Signed-off-by: Ramon Roche <mrpollo@gmail.com> * Add docs/en * Add docs assets and scripts * Fix up editlinks to point to PX4 sources * Download just the translations that are supported * Add translation sources for zh, uk, ko * Update latest tranlsation and uorb graphs * update vitepress to latest --------- Signed-off-by: Ramon Roche <mrpollo@gmail.com> Co-authored-by: Ramon Roche <mrpollo@gmail.com>
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Hamish Willee
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Ramon Roche
Ramon Roche
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# Holybro Pixhawk 4 Mini (Discontinued)
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:::warning
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PX4 does not manufacture this (or any) autopilot.
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Contact the [manufacturer](https://holybro.com/) for hardware support or compliance issues.
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:::
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The _Pixhawk<sup>®</sup> 4 Mini_ autopilot is designed for engineers and hobbyists who are looking to tap into the power of _Pixhawk 4_ but are working with smaller drones.
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_Pixhawk 4 Mini_ takes the FMU processor and memory resources from the _Pixhawk 4_ while eliminating interfaces that are normally unused.
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This allows the _Pixhawk 4 Mini_ to be small enough to fit in a 250mm racer drone.
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_Pixhawk 4 Mini_ was designed and developed in collaboration with Holybro<sup>®</sup> and Auterion<sup>®</sup>.
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It is based on the [Pixhawk](https://pixhawk.org/) **FMUv5** design standard and is optimized to run PX4 flight control software.
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:::tip
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This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md) by the PX4 maintenance and test teams.
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:::
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## Quick Summary
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- Main FMU Processor: STM32F765
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- 32 Bit Arm® Cortex®-M7, 216MHz, 2MB memory, 512KB RAM
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- On-board sensors:
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- Accel/Gyro: ICM-20689
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- Accel/Gyro: BMI055 or ICM20602
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- Magnetometer: IST8310
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- Barometer: MS5611
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- GPS: u-blox Neo-M8N GPS/GLONASS receiver; integrated magnetometer IST8310
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- Interfaces:
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- 8 PWM outputs
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- 4 dedicated PWM/Capture inputs on FMU
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- Dedicated R/C input for CPPM
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- Dedicated R/C input for Spektrum / DSM and S.Bus with analog / PWM RSSI input
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- 3 general purpose serial ports
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- 2 I2C ports
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- 3 SPI buses
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- 1 CANBuses for CAN ESC
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- Analog inputs for voltage / current of battery
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- 2 additional analog input
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- Power System:
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- Power Brick Input: 4.75~5.5V
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- USB Power Input: 4.75~5.25V
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- Servo Rail Input: 0~24V
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- Max current sensing: 120A
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- Weight and Dimensions:
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- Weight: 37.2g
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- Dimensions: 38x55x15.5mm
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- Other Characteristics:
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- Operating temperature: -40 ~ 85°c
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Additional information can be found in the [_Pixhawk 4 Mini_ Technical Data Sheet](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/pixhawk4mini/pixhawk4mini_technical_data_sheet.pdf).
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## Where to Buy
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Order from [Holybro](https://holybro.com/collections/autopilot-flight-controllers/products/pixhawk4-mini).
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## Interfaces
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:::warning
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The **RC IN** and **PPM** ports are for RC receivers only. These are powered! NEVER connect any servos, power supplies or batteries (or to any connected receiver).
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:::
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## Pinouts
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Download _Pixhawk 4 Mini_ pinouts from [here](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/pixhawk4mini/pixhawk4mini_pinouts.pdf).
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## Dimensions
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## Voltage Ratings
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_Pixhawk 4 Mini_ can have power supply redundancy — if two power sources are supplied. The power rails are: **POWER** and **USB**.
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::: info
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The output power rail of **MAIN OUT** does not power the flight controller board (and is not powered by it).
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You must [supply power](../assembly/quick_start_pixhawk4_mini.md#power) to one of **POWER** or **USB** or the board will be unpowered.
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:::
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**Normal Operation Maximum Ratings**
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Under these conditions all power sources will be used in this order to power the system:
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1. **POWER** (4.75V to 5.5V)
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1. **USB** input (4.75V to 5.25V)
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**Absolute Maximum Ratings**
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Under these conditions the system will remain intact.
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1. **POWER** input (0V to 6V undamaged)
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1. **USB** input (0V to 6V undamaged)
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1. Servo input: VDD_SERVO pin of **MAIN OUT** (0V to 24V undamaged)
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## Assembly/Setup
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The [_Pixhawk 4 Mini_ Wiring Quick Start](../assembly/quick_start_pixhawk4_mini.md) provides instructions on how to assemble required/important peripherals including GPS, Power Management Board, etc.
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## Building Firmware
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:::tip
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Most users will not need to build this firmware!
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It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected.
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:::
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To [build PX4](../dev_setup/building_px4.md) for this target:
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```
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make px4_fmu-v5_default
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```
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## Debug Port
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The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) run on the **FMU Debug** port.
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In order to access these ports, the user must remove the _Pixhawk 4 Mini_ casing.
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The port has a standard serial pinout and can be connected to a standard FTDI cable (3.3V, but it's 5V tolerant) or a [Dronecode probe](https://kb.zubax.com/display/MAINKB/Dronecode+Probe+documentation). The pinout uses the standard [Pixhawk debug connector](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf) pinout. Please refer to the [wiring](../debug/system_console.md) page for details of how to wire up this port.
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## Serial Port Mapping
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| UART | Device | QGC Parameter Description | Port Label on FC |
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| :----: | :--------: | :-----------------------: | :----------------------: |
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| UART1 | /dev/ttyS0 | GPS1 | GPS Module |
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| USART2 | /dev/ttyS1 | TELEM1 | TELEM1 |
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| USART3 | /dev/ttyS2 | TELEM2 | N/A |
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| UART4 | /dev/ttyS3 | TELEM/SERIAL4 | UART/l2C B |
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| USART6 | /dev/ttyS4 | N/A | RC IN |
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| UART7 | /dev/ttyS5 | N/A | Debug |
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| UART8 | /dev/ttyS6 | N/A | Not connected (no PX4IO) |
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## Peripherals
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- [Digital Airspeed Sensor](https://holybro.com/products/digital-air-speed-sensor)
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- [Telemetry Radio Modules](../telemetry/index.md)
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- [Rangefinders/Distance sensors](../sensor/rangefinders.md)
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## Supported Platforms
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Motors and servos are connected to the **MAIN OUT** ports in the order specified for your vehicle in the [Airframe Reference](../airframes/airframe_reference.md).
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This reference lists the output port to motor/servo mapping for all supported air and ground frames (if your frame is not listed in the reference then use a "generic" airframe of the correct type).
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:::warning
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_Pixhawk 4 Mini_ does not have AUX ports.
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The board cannot be used with frames that require more than 8 ports or which use AUX ports for motors or control surfaces.
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It can be used for airframes that use AUX for non-essential peripherals (e.g. "feed-through of RC AUX1 channel").
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:::
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## Further info
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- [_Pixhawk 4 Mini_ Technical Data Sheet](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/pixhawk4mini/pixhawk4mini_technical_data_sheet.pdf)
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- [FMUv5 reference design pinout](https://docs.google.com/spreadsheets/d/1-n0__BYDedQrc_2NHqBenG1DNepAgnHpSGglke-QQwY/edit#gid=912976165).
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