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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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<div v-if="$frontmatter.frame === 'Multicopter'">
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# 组装多旋翼飞行器
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本主题提供基本说明和链接，展示如何连接并组装运行 PX4 的典型多旋翼飞行器 (UAV) 的核心组件。
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这些组件包括飞行控制器，GPS，外置罗盘，手动控制器或数传系统，电机或其他控制执行器、有效载荷和电力系统。
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</div>
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<div v-else-if="$frontmatter.frame === 'Plane'">
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# 组装固定翼飞行器
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本主题提供基本说明和链接，展示如何连接并组装运行 PX4 的典型固定翼飞行器 (UAV) 的核心组件。
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这些组件包括飞行控制器，GPS，外置罗盘，空速计，手动控制器或数传系统，电机或其他控制执行器、有效载荷和电力系统。
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</div>
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<div v-else-if="$frontmatter.frame === 'VTOL'">
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# 组装垂直起降飞行器
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本主题提供基本说明和链接，展示如何连接并组装运行 PX4 的典型垂直起降飞行器 (UAV) 的核心组件。
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这些组件包括飞行控制器，GPS，外置罗盘，空速计，手动控制器或数传系统，电机或其他控制执行器、有效载荷和电力系统。
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</div>
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<div v-else>
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# 组装无人系统
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<!-- This is the introduction for the non-specific vehicle -->
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本主题提供基本说明和链接，展示如何连接并组装运行 PX4 的典型无人系统 (UAS) 的核心组件。
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:::tip
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If you're interested in a specific vehicle, see the more targeted topics in each vehicle section:
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- [多旋翼飞行器](../assembly/assembly_mc.md)
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- [垂直起降飞行器](../assembly/assembly_vtol.md)
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- [Fixed-wing](../assembly/assembly_vtol.md)
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:::
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The core components consist of a flight controller, GPS, external compass, manual controller and/or telemetry radio system, motors and/or other control actuators, payloads, and a power system.
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A forward flying vehicle, such as a VTOL or Fixed-wing, will generally also have an airspeed sensor.
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</div>
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The instructions are focussed on systems that use [Pixhawk-series](../flight_controller/pixhawk_series.md) flight controllers (FCs), and in particular those that have adopted the [Pixhawk connector standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf).
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For these FCs, much of the "wiring up" is as simple as connecting the components into the appropriately labelled ports using supplied cables.
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:::info If your FC does not use the connector standard ...
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Pixhawk series flight controllers that don't follow the connector standard will often provide cables for interconnecting with Pixhawk standard components.
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For other controllers you may need to manually create cables and connectors.
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The [flight controller-specific guides](#fc-specific-assembly-guides) contain FC-specific wiring and configuration information, as do guides on the manufacturer sites.
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:::
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## Flight Controller Overview
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The images below show Pixhawk v6x flight controllers from CUAV and Holybro.
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Their available ports are very similar because they are both [Pixhawk standard autopilots](../flight_controller/autopilot_pixhawk_standard.md) that have adopted the [Pixhawk connector standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf).
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<img src="../../assets/assembly/pixhawk6x_holybro.jpg" width="300px" title="Holybro Pixhawk6x" /><img src="../../assets/assembly/pixhawk6x_cuav.jpg" width="300px" title="Cuav Pixhawk6x" />
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The connector standard ports are listed below, along with their labels on each of the FCs, and what they are used for.
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The FCs have much the same ports with similar names, and core peripherals are connected in the same way.
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| Pixhawk Connector Standard | Holybro | CUAV | Connect to ... |
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| --------------------------- | -------------------------------- | -------------------------------- | ----------------------------------------------------------------------------------- |
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| Full GPS plus Safety Switch | GPS1 | GPS&SAFETY | Primary GNSS module (GPS, compass, safety switch, buzzer, LED) |
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| Basic GPS | GPS2 | GPS2 | Secondary GNSS module (GNSS/compass) |
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| CAN | CAN1/CAN2 | CAN1/CAN2 | DroneCAN devices, such as GNSS modules, motors, etc |
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| Telemetry | TELEM (1,2,3) | TELEM (1,2,3) | Telemetry radios, companion computers, MAVLink cameras, etc. |
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| Analog Power | POWER (1,2) | POWER (1,2) | SMbus (I2C) power modules |
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| I2C | I2C | None | Other I2C peripherals |
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| SPI | SPI | SPI6 | SPI devices (note: 11 pin, not 6 as in standard) |
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| PX4 Debug Full | FMU DEBUG | FMU DEBUG, IO DEBUG | Debugging on Pixhawk "x" FCs |
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| Pixhawk Debug Mini | None | None | Debugging on other Pixhawk variants |
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There are some other similarities that are not part of the standard: they both have the same ethernet port (`ETH`), `SBUS OUT`, `AD&IO`, `USB`, USB-C.
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There are also some important differences, most particularly in the way that the various RC Control protocols and PWM output are connected.
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We'll go into those in the relevant sections.
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:::tip
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Remove power from the flight controller before connecting peripherals!
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This is "best practice", even if it is not strictly necessary in all cases.
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:::
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## 飞控的安装和方向
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The flight controller should ideally be [mounted on the frame](../assembly/mount_and_orient_controller.md) as close to your vehicle’s center of gravity as possible, oriented top-side up with the arrow pointing towards the front of the vehicle.
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To reduce the impact of vibration on the flight controllers internal IMU(s) and gyroscope(s) you should mount the controller using mounting foam if provided, and otherwise follow manufacturer guidance.
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:::info
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If the controller cannot be mounted in the recommended/default orientation (e.g. due to space constraints) you will need to configure the autopilot software with the orientation that you actually used: [Flight Controller Orientation](../config/flight_controller_orientation.md).
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:::
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## GNSS/Compass (+ Buzzer + Safety Switch + LED)
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Pixhawk Autopilot systems usually include a primary [GNSS/Compass module](../gps_compass/#supported-gnss) that incorporates a [buzzer](../getting_started/px4_basic_concepts.md#buzzer), [safety switch](../getting_started/px4_basic_concepts.md#safety-switch), and [UI LED](../getting_started/led_meanings.md#ui-led), and may also have a secondary GPS/compass module.
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[RTK GNSS](../gps_compass/rtk_gps.md) modules with centimetre accuracy are also supported.
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GNSS/Compass modules should be mounted on the frame as far away from other electronics as possible — separating the compass from other electronics will reduce electromagnetic interference.
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Provided the direction marker is oriented upright and facing towards the front of the vehicle, or at some 45 degrees multiple offset in any axis, the orientation will be auto-detected during calibration.
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If needed you can orient at other offsets, but then you'll need to manually set the orientation.
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For more information see [Mounting a Compass (or GNSS/Compass)](../assembly/mount_gps_compass.md).
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The modules connect to either serial ports or to the CAN bus.
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### Serial Port GNSS Modules
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The primary GNSS/compass module is connected to the flight controller ort labeled `GPS1` or `GPS&SAFETY`, which should be a 10-Pin JST GH connector.
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A second GNSS/compass module, if present, is attached to the 6-pin port labeled `GPS2`.
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:::details
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The Pixhawk connector standard 10-pin _Full GPS plus Safety Switch Port_ is intended for connecting the primary GNSS.
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It includes a UART port for the GNSS, and I2C port for the Compass, and pins for the [buzzer](../getting_started/px4_basic_concepts.md#buzzer), [safety switch](../getting_started/px4_basic_concepts.md#safety-switch), and [UI LED](../getting_started/led_meanings.md#ui-led).
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PX4 configures this UART for use as the primary GPS by default.
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The 6-pin _Basic GPS Port_, if present, includes only a UART and I2C port.
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PX4 may not configure this as the secondary GPS port.
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You can check/configure it yourself by following the instructions in [Serial Port Configuration.](../peripherals/serial_configuration.md).
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You can use other UART ports for connecting to this kind of GPS module, but you may need to wire an appropriate cable, and port must be configured using the linked instructions.
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You can also use another I2C port for connecting a magnetometer that is either standalone or part of a GNSS/compass module.
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:::
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### DroneCAN GNSS Modules
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DroneCAN GNSS/Compass modules are connected to CAN bus ports, which are usually labeled `CAN1` and `CAN2` (as shown in the diagram above).
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The [DroneCAN](../dronecan/index.md) topic has connection and configuration instructions.
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### RTK GNSS Modules
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[RTK GNSS](../gps_compass/rtk_gps.md) modules are connected to the dedicated FC serial ports or CAN ports in the same way as "normal" GNSS modules.
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Note however that a separate base module is required for the ground station (see [RTK GNSS](../gps_compass/rtk_gps.md) for details).
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<!-- https://discord.com/channels/1022170275984457759/1022185721450213396/threads/1245295551784681512 -->
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<div v-if="(($frontmatter.frame === 'Plane') || ($frontmatter.frame === 'VTOL'))">
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## 空速传感器
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[Airspeed sensors](../sensor/airspeed.md) are highly recommended for fixed-wing and VTOL frames.
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They are so important because the autopilot does not have other means to detect stall.
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Almost all airspeeds sensors are connected support connection via the [I2C bus](../sensor_bus/i2c_general.md) and can be plugged into the Pixhawk standard I2C port as shown below (for a Holybro Airspeed sensor and Pixhawk 6C).
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There is no need to separately power the sensor.
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Note that if there are not enough free I2C ports for your peripherals, you can use an I2C Bus splitter to split the port into multiple ports.
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:::warning
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Some I2C devices use 5V SCL/SDA lines, while the Pixhawk standard I2C port expects 3.3V.
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You can use an I2C level converter to connect these devices to a Pixhawk flight controller.
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:::
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</div>
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## 距离传感器
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<div v-if="(($frontmatter.frame === 'Multicopter') || ($frontmatter.frame === 'VTOL'))">
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[Distance sensors](../sensor/rangefinders.md) can significantly improve vehicle robustness and performance, and are required for some use cases:
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- Landing can be much improved with a distance sensor:
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- Land detection is more robust.
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- Smoother landings because the sensor can help detect the right point to slow down vehicle before touchdown.
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- Reduced risk of very hard touchdown due to bad altitude estimate or incorrectly set touch point altitude.
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- Enables terrain following.
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- Required for robust state estimation when flying with GNSS-denied navigation (along with an [optical flow sensor](#optical-flow-sensor)).
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</div>
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<div v-if="$frontmatter.frame === 'VTOL'">
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- Allows disabling of "pusher assist" when close to the ground.
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</div>
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<div v-if="$frontmatter.frame === 'Plane'">
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[Distance sensors](../sensor/rangefinders.md) are highly recommended as they allow for proper flaring during landing, without which smooth automated fixed-wing landings are near-impossible.
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</div>
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Unlike for some other components, there is no particular bus or port that is commonly used for distance sensors.
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Different rangefinders will connect via I2C, CAN, serial ports, and even PWM inputs!
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See [Distance sensors](../sensor/rangefinders.md) and manufacturer documentation for instructions on how to integrate a specific sensor with PX4.
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<div v-if="(($frontmatter.frame === 'Multicopter') || ($frontmatter.frame === 'VTOL'))">
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## Optical Flow Sensor
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[Optical Flow](../sensor/optical_flow.md) is a computer vision technique that uses a downward facing camera and a downward facing distance sensor to estimate velocity over ground.
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It can be used to accurately estimate speed when navigating without GNSS — in buildings, underground, or in any other GNSS-denied environment.
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Optical flow sensors may integrate both a camera and distance sensor, or just a camera (in which case a separate distance sensor is needed).
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There is no standardisation on flow sensor connectivity options, and sensors may connect via I2C, CAN, MAVLink over serial ports, and so on.
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See [Optical Flow sensors](../sensor/optical_flow.md) and manufacturer documentation for instructions on how to integrate a specific sensor with PX4.
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</div>
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## Radio Control (Optional)
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A [Remote Control (RC) system](../getting_started/rc_transmitter_receiver.md) can be used to manually control a UAS.
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RC systems have two parts: of a vehicle-based radio receiver connected to the flight controller, and a ground-based radio transmitter that is integrated into a handheld controller.
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:::tip
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PX4 does not _require_ a manual controller for autonomous flight modes.
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However RC systems are essential when bringing up a new airframe, and highly recommended for other low-latency manual flight use cases.
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:::
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There are a number of different RC standards, such as Spektrum/DSM, S.BUS, PPM, and so on.
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[Remote Control Transmitters & Receivers](../getting_started/rc_transmitter_receiver.md) explains how to select and bind a compatible transmitter/receiver.
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RC Ports are not part of the Pixhawk connector standard.
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The [Connecting Receivers](../getting_started/rc_transmitter_receiver.md#connecting-receivers) section explains how to identify the port to connect your particular receiver.
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Generally the correct port is easy to infer from the labels on the flight controller:
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- Spektrum/DSM receivers usually connect to an input that includes `DSM` in the label, such as: `DSM`, `DSM/SBUS RC`, `DSM RC`, `DSM/SBUS/RSSI`.
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- PPM or SBUS receivers connect to the RC input, which is most commonly labeled `RC IN`, but may be a port with `SBUS` or `PPM` in the label.
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- Pixhawk flight controllers usually come with cables for connecting to the common RC receiver types.
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## Telemetry Radios (Optional)
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[Telemetry radios](../telemetry/index.md) can be used by [ground control stations](../getting_started/px4_basic_concepts.md#ground-control-stations) (GCS) to communicate with vehicles in flight.
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A GCS allows you to monitor and control the UAS via a graphical interface, edit, upload, and run missions, view video from a connected camera, capture video and images, and so on.
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Connect the vehicle-based radio to the `TELEM1` port as shown below.
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The other radio is connected to your ground station computer or mobile device (usually by USB).
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Low-power telemetry radios (<1.5 A) are powered from the port, and generally no further configuration should be required.
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If using higher power/range radios or another port you will need to separately power the radio from a BEC and modify the telemetry port data rates.
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You may also need to configure the radio itself, and for IP radios you may need to connect to it via Ethernet — check radio-specific documentation for setup and configuration information.
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::: details
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- `TELEM1` is configured for the typical data rates of low power radios such as [SIK Radios](../telemetry/sik_radio.md).
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- If you're using a radio that supports higher data rates, then you may want to modify the [serial port configuration](../peripherals/serial_configuration.md) as covered in PX4 and manufacturer documentation.
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- Low power radios such as most [SIK Radios](../telemetry/sik_radio.md) and [Wifi telemetry radios](../telemetry/telemetry_wifi.md) with around 300m range are powered from the flight controller.
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- High powered radios like the [Microhard Serial radio](../telemetry/microhard_serial.md) will need to be separately powered and may need to be configured (see the PX4 and manufacturer documentation).
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- You can also attach telemetry radios to the `TELEM2` and `TELEM3` telemetry ports (if present).
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Note however that `TELEM2` is configured by default for connecting to a companion computer, and might need to be [reconfigured](../peripherals/mavlink_peripherals.md) to connect to a ground station.
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:::
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## SD Card
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SD cards are highly recommended.
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Among other things they are required for [recording and analyzing flight details](../getting_started/flight_reporting.md) and using DroneCan/UAVCAN bus hardware.
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A SD card is factory-installed on many flight controllers, but you should check the documentation for your FC.
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:::tip
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For more information see [Basic Concepts > SD Cards (Removable Memory)](../getting_started/px4_basic_concepts.md#sd-cards-removable-memory).
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:::
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## Power & Actuators
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The diagram below shows how flight controller, motors, control surface actuators, other actuators and other systems might be wired, showing both power and PWM control signal connections.
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A particular vehicle might have more/fewer motors and actuators, but the wiring _approach_ when using PWM outputs is likely to be similar!
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<div v-if="$frontmatter.frame === 'Plane'">
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</div>
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<div v-else>
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</div>
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The following sections explain each part in more detail.
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:::tip
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If you're using [DroneCAN ESC](../peripherals/esc_motors.md#dronecan) the control signals will be connected to the CAN BUS instead of the PWM outputs as shown.
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:::
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### Flight Controller Power
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Pixhawk FCs require a regulated power supply that can supply at around 5V/3A continuous (check your specific FC)!
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This is sufficient to power the controller itself and a few low-power peripherals, such as a GNSS module, RC transmitter, and low power telemetry radio, but not for motors, actuators, and other peripherals.
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[Power modules](../power_module/index.md) are commonly used to "split off" this regulated power supply for the FC and also to provide measurements of the battery voltage and total current to the whole system — which PX4 can use to estimate power levels.
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The power module is connected to the FC power port, which is normally labeled `POWER` (or `POWER 1` or `POWER 2` for FCs that have redundant power supply).
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The diagram below shows what this might look like.
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The other output of the power module supplies battery power for other components, including motors and actuators, high power radios, and some payloads, such as cameras, and grippers.
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:::tip
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Flight controller manufacturers usually recommend suitable power modules for use with their FCs (and sometimes also _Power Distribution Boards_ (PDB) that contain suitable power modules).
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You don't have to use manufacturer-recommended power module (or PDB), but this is often the easiest way to ensure that the power supply matches both the FC power requirements and the communication protocol expected by its power port.
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:::
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:::info
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FCs may have power ports that provide power information via the CAN bus.
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For example, the CUAV Pixhawk 6x has I2C power ports `POWER 1` and `POWER 2`, and the CAN ports `POWER C1` and `POWER C2`.
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Even though power ports are part of the Pixhawk connector standard, you should check FC specific documentation for power setup.
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:::
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<div v-if="$frontmatter.frame !== 'Plane'">
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### Power Distribution Board (PDB)
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In this example the power output from the battery is first connected to a power distribution board (PDB), which breaks out the power from the input into multiple parallel outputs.
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You don't have to use a PDB, but it can simplify wiring, in particular for vehicles that have several motors.
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A more capable PDB may incorporate a power module (in which case they replace a stand alone module), ESCs for controlling a number of motors, and may also integrate a BEC (battery elimination circuit) for supplying power to servos and other peripherals.
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</div>
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### 电机
|
||||
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||||
Brushless motors are powered and controlled via ESCs (electronic speed controllers).
|
||||
PWM ESCs are connected with two input wires from the battery for power, two input wires from the flight controller that provide control signals (via three pin connector), and three output wires that are connected to the motor.
|
||||
|
||||
The power wires should be twisted in order to reduce electromagnetic interference, and kept as short and "tidy" on the frame as possible.
|
||||
|
||||
Any outputs on either PWM output bus can be connected to any actuators, motor, or other PWM controlled hardware, and later mapped to a particular actuator that is controlled by PX4 when configuring the [Actuator Outputs](../config/actuators.md#actuator-outputs).
|
||||
|
||||
注意：
|
||||
|
||||
- By preference you should connect ESC to FMU PWM bus outputs because they are lower-latency than IO PWM outputs.
|
||||
Note that the PWM outputs are often labeled `AUX` or `MAIN`.
|
||||
Use the `AUX` bus if both are present, and `MAIN` otherwise.
|
||||
- [DShot ESC](../peripherals/dshot.md) (recommended) can only be used on the FMU PWM outputs.
|
||||
- Motor outputs should be grouped together as much as possible rather than spread randomly across both the FMU and IO busses.
|
||||
This is because if you assign some function to an output, such as DShot ESC, you can't then assign adjacent unused pins for anything other than a DShot ESC.
|
||||
|
||||
### Servos
|
||||
|
||||
Servos are used to move flight control surfaces and payload actuators.
|
||||
Typical wiring for power and control is shown below.
|
||||
|
||||
|
||||
|
||||
PWM servos have a three wire connector that provides both power and PWM control signals (the middle pin is the power/voltage high).
|
||||
You can connect the servo outputs to any pins or bus you like, and later on configure what the output actually does in PX4.
|
||||
|
||||
The power rail cannot be powered by the FC itself!
|
||||
A battery elimination circuit may be used to provide a regulated voltage from the battery to the middle "Power" rail on the PWM output bus, which in turn powers all connected servos.
|
||||
|
||||
:::warning
|
||||
The power rail can only have the one voltage provided by your BEC.
|
||||
If you don't use servos that all accept the same voltage, you'll need to separately power those that use a different voltage.
|
||||
:::
|
||||
|
||||
## 其它外设
|
||||
|
||||
Other peripherals, such as high-power radios, cameras, and so on have their own power requirements.
|
||||
These will usually be supplied off a separate BEC.
|
||||
|
||||
The wiring and configuration of optional/less common components is covered within the [Hardware Hardware Selection & Setup](../hardware/drone_parts.md) topics for individual peripherals.
|
||||
|
||||
## Build Tutorials
|
||||
|
||||
Assembly of the autopilot system on a specific vehicle frame depends on the actual hardware you are using, including size, geometry, materials, attachment points, and the components that are used.
|
||||
This cannot be captured in a single generic set of instructions.
|
||||
|
||||
Instead we've provided links to specific examples of how this might be done in the build tutorials linked below.
|
||||
These show end-to-end setup and configuration of a number of vehicles.
|
||||
|
||||
<div v-if="$frontmatter.frame === 'Multicopter'">
|
||||
|
||||
- [Kits](../frames_multicopter/kits.md)
|
||||
- [DIY Builds](../frames_multicopter/diy_builds.md)
|
||||
|
||||
</div>
|
||||
<div v-else-if="$frontmatter.frame === 'Plane'">
|
||||
|
||||
- [DIY Builds](../frames_plane/diy_builds.md)
|
||||
|
||||
</div>
|
||||
<div v-else-if="$frontmatter.frame === 'VTOL'">
|
||||
|
||||
- [Standard VTOL](../frames_vtol/standardvtol.md)
|
||||
- [Tailsitter VTOL](../frames_vtol/tailsitter.md)
|
||||
- [Tiltrotor VTOL](../frames_vtol/tiltrotor.md)
|
||||
|
||||
</div>
|
||||
<div v-else>
|
||||
|
||||
- Check your build: [Airframe Builds](../airframes/index.md) for complete assembly examples on different vehicle frames.
|
||||
|
||||
</div>
|
||||
|
||||
## FC-Specific Assembly Guides
|
||||
|
||||
:::tip
|
||||
The manufacturer documentation for your [flight controller](../flight_controller/index.md) may include guides for controllers that are not listed below, or that are more up-to-date than the following guides.
|
||||
:::
|
||||
|
||||
These guides explain how to connect the core components of the autopilot system "off the frame" for a number of popular [flight controllers](../flight_controller/index.md).
|
||||
They recommend sensors, power systems, and other components from the same manufacturer.
|
||||
|
||||
- [CUAV Pixhawk V6X Wiring QuickStart](../assembly/quick_start_cuav_pixhawk_v6x.md)
|
||||
- [CUAV V5+ Wiring Quickstart](../assembly/quick_start_cuav_v5_plus.md)
|
||||
- [CUAV V5 nano Wiring Quickstart](../assembly/quick_start_cuav_v5_nano.md)
|
||||
- [Holybro Pixhawk 6C Wiring Quickstart](../assembly/quick_start_pixhawk6c.md)
|
||||
- [Holybro Pixhawk 6X Wiring Quickstart](../assembly/quick_start_pixhawk6x.md)
|
||||
- [Holybro Pixhawk 5X Wiring Quickstart](../assembly/quick_start_pixhawk5x.md)
|
||||
- [Holybro Pixhawk 4 Wiring Quickstart](../assembly/quick_start_pixhawk4.md)
|
||||
- [Holybro Pixhawk 4 Mini (Discontinued) Wiring Quickstart](../assembly/quick_start_pixhawk4_mini.md)
|
||||
- [Holybro Durandal Wiring Quickstart](../assembly/quick_start_durandal.md)
|
||||
- [Holybro Pix32 v5 Wiring Quickstart](../assembly/quick_start_holybro_pix32_v5.md)
|
||||
- [Cube Wiring Quickstart](../assembly/quick_start_cube.md) (All cube variants)
|
||||
- [Pixracer Wiring Quickstart](../assembly/quick_start_pixracer.md)
|
||||
- [mRo (3DR) Pixhawk Wiring Quickstart](../assembly/quick_start_pixhawk.md)
|
||||
|
||||
## See Also
|
||||
|
||||
- [Drone Components & Parts](../getting_started/px4_basic_concepts.md#drone-components-parts) (Basic Concepts)
|
||||
- [Payloads](../getting_started/px4_basic_concepts.md#payloads) (Basic Concepts)
|
||||
- [Hardware Selection & Setup](../hardware/drone_parts.md) — information about connecting and configuring specific flight controllers, sensors and other peripherals (e.g. airspeed sensor for planes).
|
||||
|
||||
- [Mounting the Flight Controller](../assembly/mount_and_orient_controller.md)
|
||||
- [Vibration Isolation](../assembly/vibration_isolation.md)
|
||||
- [Mounting a Compass](../assembly/mount_gps_compass.md)
|
||||
|
||||
<div v-if="$frontmatter.frame === 'Multicopter'">
|
||||
|
||||
- [Multicopter Racer Setup](../config_mc/racer_setup.md) — racer-specific assembly and configuration information (racers don't usually have a GNSS module)
|
||||
|
||||
</div>
|
||||
@@ -0,0 +1,7 @@
|
||||
---
|
||||
frame: Plane
|
||||
title: 组装固定翼飞行器
|
||||
newEditLink: en/assembly/_assembly.md
|
||||
---
|
||||
|
||||
<!--@include: _assembly.md-->
|
||||
@@ -0,0 +1,7 @@
|
||||
---
|
||||
frame: 多旋翼
|
||||
title: 组装多旋翼飞行器
|
||||
newEditLink: en/assembly/_assembly.md
|
||||
---
|
||||
|
||||
<!--@include: _assembly.md-->
|
||||
@@ -0,0 +1,7 @@
|
||||
---
|
||||
title: 组装垂直起降飞行器
|
||||
frame: 垂直起降
|
||||
newEditLink: en/assembly/_assembly.md
|
||||
---
|
||||
|
||||
<!--@include: _assembly.md-->
|
||||
@@ -0,0 +1,235 @@
|
||||
# Cable Wiring Basics
|
||||
|
||||
Cables are a common source of [electromagnetic interference (EMI)](https://en.wikipedia.org/wiki/Electromagnetic_interference), which can cause problems including flyways, "toilet bowling" and generally poor flight.
|
||||
These problems can be avoided by using appropriate cabling in the UAV.
|
||||
|
||||
The following basic concepts should be kept in mind when designing drone cabling:
|
||||
|
||||
- High-Power and signal cables should be separated as much as is practical.
|
||||
- Cable lengths should be the minimum needed to enable easy handling of wired components.
|
||||
The wire tension should be adequate to survive possible airframe deformations even in a crash landing
|
||||
(wires must not be the first thing to break).
|
||||
- Cable loops to reduce excess length should be avoided - use shorter lengths!
|
||||
- For digital signals you can decrease the baudrate to reduce radiated energy and increase the robustness of data transfer.
|
||||
This means that you may be able to use longer cables when high data rates are not needed.
|
||||
|
||||
## Signal wiring
|
||||
|
||||
Signalling protocols have different characteristics, and therefore the cables used in each case require slightly different specifications.
|
||||
|
||||
This topic provides specific guidance of cabling for different signalling protocols, along with the [colour coding](#cable-colour-coding) used by a number different drone hardware vendors.
|
||||
|
||||
### I2C cables
|
||||
|
||||
The [I2C bus](https://en.wikipedia.org/wiki/I%C2%B2C) is widely used for connecting sensors.
|
||||
Cable colors from several vendors are specified in following table.
|
||||
|
||||
| 信号 | Pixhawk Colors | ThunderFly colors | CUAV colors (I2C/CAN) |
|
||||
| --- | ------------------------- | ------------------------- | ---------------------------------------- |
|
||||
| +5V | ![red][rcircle] Red | ![red][rcircle] Red | ![red][rcircle] Red |
|
||||
| SCL | ![black][blkcircle] Black | ![yellow][ycircle] Yellow | ![white][wcircle] White |
|
||||
| SDA | ![black][blkcircle] Black | ![green][gcircle] Green | ![yellow][ycircle] Yellow |
|
||||
| GND | ![black][blkcircle] Black | ![black][blkcircle] Black | ![black][blkcircle] Black |
|
||||
|
||||
The [Dronecode standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf) assumes a 1.5k ohm pull-up resistor on SDA and SCL signals in autopilot.
|
||||
|
||||
#### Cable twisting
|
||||
|
||||
I2C bus signal cross-talk and electromagnetic compatibility can be greatly improved by proper twisting of the cable wires.
|
||||
[Twisted pairs](https://en.wikipedia.org/wiki/Twisted_pair) is especially important for sensor wiring.
|
||||
|
||||
- 10 turns for each pair SCL/+5V and SDA/GND per 30cm cable length.
|
||||
|
||||
- 4 turns of both pairs together per 30cm cable length.
|
||||
|
||||
|
||||
When using appropriate twisted pair cables, the I²C bus is generally suitable for submeter-scale airframes.
|
||||
For larger aircraft the use of CAN or other differential signaling based interface is generally more reliable.
|
||||
|
||||
:::info
|
||||
This turns/cable-length recommendation has been successfully used with I2C sensors including the [ThunderFly TFSLOT airspeed sensor](../sensor/airspeed_tfslot.md) and [TFRPM01 Revolution Counter](../sensor/thunderfly_tachometer.md).
|
||||
:::
|
||||
|
||||
#### Pull-up resistors
|
||||
|
||||
Pull-up resistors are required for all ends of an I2C bus.
|
||||
This acts both as [signal termination](https://en.wikipedia.org/wiki/Electrical_termination) and as bus idle signal generator.
|
||||
|
||||
An oscilloscope measurement is sometimes required to check correct value of pull-up resistors.
|
||||
The signals on the I2C bus should have clear sharp rectangle-like edges and amplitude of few volts.
|
||||
In case the signal has a low amplitude, the value of pull-up resistors is too low and should be decreased.
|
||||
In the case of rounded signals, the value of pull-up resistors is too high.
|
||||
|
||||
### UAVCAN cables
|
||||
|
||||
| 信号 | Pixhawk | ThunderFly | Zubax | CUAV (I2C/CAN) |
|
||||
| -------------------------- | ------------------------- | ------------------------- | ------------------------- | --------------------------------- |
|
||||
| +5V | ![red][rcircle] Red | ![red][rcircle] Red | ![red][rcircle] Red | ![red][rcircle] Red |
|
||||
| CAN_H | ![black][blkcircle] Black | ![white][wcircle] White | ![white][wcircle] White | ![white][wcircle] White |
|
||||
| CAN_L | ![black][blkcircle] Black | ![yellow][ycircle] Yellow | ![yellow][ycircle] Yellow | ![yellow][ycircle] Yellow |
|
||||
| GND | ![black][blkcircle] Black | ![black][blkcircle] Black | ![black][blkcircle] Black | ![black][blkcircle] Black |
|
||||
|
||||
#### Cable Twisting
|
||||
|
||||
CAN cables should also be twisted, for exactly the same reason as I2C cables.
|
||||
For CAN the recommended twisting is:
|
||||
|
||||
- 10 turns for each pair GND/+5V and CAN_L/CAN_H per 30cm cable length.
|
||||
|
||||
- 4 turns of both pairs together per 30cm cable length.
|
||||
|
||||
### SPI
|
||||
|
||||
[SPI](https://en.wikipedia.org/wiki/Serial_Peripheral_Interface) is synchronous serial communication interface used for connecting faster sensors and devices.
|
||||
This protocol is commonly use is for connecting [optical flow](../sensor/optical_flow.md) sensors or special telemetry modems.
|
||||
|
||||
| 信号 | Pixhawk Color | ThunderFly color |
|
||||
| ---- | ------------------------- | ------------------------- |
|
||||
| +5V | ![red][rcircle] Red | ![red][rcircle] Red |
|
||||
| SCK | ![black][blkcircle] Black | ![yellow][ycircle] Yellow |
|
||||
| MISO | ![black][blkcircle] Black | ![blue][bluecircle] Blue |
|
||||
| MOSI | ![black][blkcircle] Black | ![green][gcircle] Green |
|
||||
| CS! | ![black][blkcircle] Black | ![white][wcircle] White |
|
||||
| CS2 | ![black][blkcircle] Black | ![blue][bluecircle] Blue |
|
||||
| GND | ![black][blkcircle] Black | ![black][blkcircle] Black |
|
||||
|
||||
### UART
|
||||
|
||||
UART is used to connect peripherals to the autopilot.
|
||||
By default, UART does not support networking and therefore it directly connects two devices together.
|
||||
It is often used to connect an autopilot and a [radio modem](../telemetry/index.md).
|
||||
|
||||
CTS and RTS are signals that are used to indicate that data is being transmitted on TX/RX pins.
|
||||
This hand-shake mechanism increases reliability of data transfer.
|
||||
CTS and RTS may remain loose when it is not used by the device.
|
||||
|
||||
The connecting cable is not crossed.
|
||||
Therefore, it is necessary to connect only the autopilot and peripherals with this straight cable.
|
||||
The device must cross the wiring internally by swapping RX/TX and RTS/CTS pins.
|
||||
|
||||
| 信号 | Pixhawk Color | ThunderFly color |
|
||||
| -------------------- | ------------------------- | ------------------------- |
|
||||
| +5V | ![red][rcircle] Red | ![red][rcircle] Red |
|
||||
| TX | ![black][blkcircle] Black | ![white][wcircle] White |
|
||||
| RX | ![black][blkcircle] Black | ![green][gcircle] Green |
|
||||
| CTS | ![black][blkcircle] Black | ![blue][bluecircle] Blue |
|
||||
| RTS: | ![black][blkcircle] Black | ![yellow][ycircle] Yellow |
|
||||
| GND | ![black][blkcircle] Black | ![black][blkcircle] Black |
|
||||
|
||||
UART signals are common sources of low frequency EMI, therefore the length of the cable should be minimized as much as possible. Cable twisting is not needed for UART cables.
|
||||
|
||||
### GPS(UART) & SAFETY
|
||||
|
||||
[GPS receivers and magnetometers](../gps_compass/index.md) are generally very sensitive to EMI.
|
||||
Therefore these should be mounted far away from RF sources (high-power cabling, ESCs, radio modems and its antenna).
|
||||
This may be insufficient if the cabling is badly designed.
|
||||
|
||||
| 信号 | Pixhawk Color | ThunderFly color |
|
||||
| ------------------------------------------------------- | ------------------------- | ------------------------- |
|
||||
| +5V | ![red][rcircle] Red | ![red][rcircle] Red |
|
||||
| TX | ![black][blkcircle] Black | ![white][wcircle] White |
|
||||
| RX | ![black][blkcircle] Black | ![green][gcircle] Green |
|
||||
| SCL | ![black][blkcircle] Black | ![yellow][ycircle] Yellow |
|
||||
| SDA | ![black][blkcircle] Black | ![green][gcircle] Green |
|
||||
| SAFETY_SW | ![black][blkcircle] Black | ![white][wcircle] White |
|
||||
| SAFETY_SW_LED | ![black][blkcircle] Black | ![blue][bluecircle] Blue |
|
||||
| +3v3 | ![black][blkcircle] Black | ![red][rcircle] Red |
|
||||
| BUZZER | ![black][blkcircle] Black | ![blue][bluecircle] Blue |
|
||||
| GND | ![black][blkcircle] Black | ![black][blkcircle] Black |
|
||||
|
||||
### GPS
|
||||
|
||||
| 信号 | Pixhawk Color | ThunderFly color |
|
||||
| --- | ------------------------- | ------------------------- |
|
||||
| +5V | ![red][rcircle] Red | ![red][rcircle] Red |
|
||||
| TX | ![black][blkcircle] Black | ![white][wcircle] White |
|
||||
| RX | ![black][blkcircle] Black | ![green][gcircle] Green |
|
||||
| SCL | ![black][blkcircle] Black | ![yellow][ycircle] Yellow |
|
||||
| SDA | ![black][blkcircle] Black | ![green][gcircle] Green |
|
||||
| GND | ![black][blkcircle] Black | ![black][blkcircle] Black |
|
||||
|
||||
The GPS cable connects to both the UART and I2C bus.
|
||||
As twisting of UART is not applicable the length of the cable should be minimized as much as possible.
|
||||
|
||||
### Analog signal (power module)
|
||||
|
||||
| 信号 | Pixhawk Color | ThunderFly color | CUAV color |
|
||||
| --- | ------------------------- | ------------------------- | ------------------------- |
|
||||
| VCC | ![red][rcircle] Red | ![red][rcircle] Red | ![red][rcircle] Red |
|
||||
| VCC | ![black][blkcircle] Black | ![red][rcircle] Red | ![red][rcircle] Red |
|
||||
| 电流 | ![black][blkcircle] Black | ![white][wcircle] White | ![white][wcircle] White |
|
||||
| 电压 | ![black][blkcircle] Black | ![yellow][ycircle] Yellow | ![yellow][ycircle] Yellow |
|
||||
| GND | ![black][blkcircle] Black | ![black][blkcircle] Black | ![black][blkcircle] Black |
|
||||
| GND | ![black][blkcircle] Black | ![black][blkcircle] Black | ![black][blkcircle] Black |
|
||||
|
||||
This connector is example of mix of relatively high-power and low voltage signaling.
|
||||
Unfortunately, twisting is applicable for high-power GND and VCC wires only.
|
||||
That does not help much for noisy reading of analog signals by autopilot.
|
||||
|
||||
### SAFETY
|
||||
|
||||
| 信号 | Pixhawk Color | ThunderFly color |
|
||||
| ------------------------------------------------------- | ------------------------- | ------------------------- |
|
||||
| SAFE_VCC | ![red][rcircle] Red | ![red][rcircle] Red |
|
||||
| SAFETY_SW_LED | ![black][blkcircle] Black | ![blue][bluecircle] Blue |
|
||||
| SAFETY_SW | ![black][blkcircle] Black | ![white][wcircle] White |
|
||||
| BUZZER | ![black][blkcircle] Black | ![blue][bluecircle] Blue |
|
||||
| +5V | ![black][blkcircle] Black | ![red][rcircle] Red |
|
||||
| GND | ![black][blkcircle] Black | ![black][blkcircle] Black |
|
||||
|
||||
## High-power wiring
|
||||
|
||||
For high power wiring the most important design criteria is having an appropriate wire thickness, in order to allow sufficient current to flow.
|
||||
The general cross section requirement is area of 1 mm² per 8A of wire current.
|
||||
|
||||
While rarely practical, it is beneficial to have positive and negative wires twisted together.
|
||||
|
||||
EMI from high power cabling has a significant effect on magnetometers.
|
||||
For this reason a large seapration between high-power cables and navigation magnetometers is always required.
|
||||
|
||||
### Cable colour coding
|
||||
|
||||
Most manufacturers use red for the high voltage line and black for ground.
|
||||
Other colouring is at the manufacturer discretion.
|
||||
The [Pixhawk connector standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf) requires only that the Voltage Common Collector (VCC) pin/cable be red.
|
||||
|
||||
Color coding signal wires can help identify particular cables, making it easier to assemble your drone.
|
||||
|
||||
A colour coding scheme designed for easy cable identification might follow the following rules:
|
||||
|
||||
- The red and black colors are reserved for power.
|
||||
- The same signal type should have the same colour.
|
||||
- Color of the signal does not repeat in the connector for wires adjacent to each other.
|
||||
- Wiring harnesses of the same pin count have to have a unique color sequence.
|
||||
This determines the cable type.
|
||||
(This is especially useful on photographs used in a manual).
|
||||
|
||||
An example of a cable colouring designed to these rules is:
|
||||
|
||||
| 颜色 | 参数名 | Preferred usage |
|
||||
| ------------------- | ------ | ------------------------------------------- |
|
||||
| ![red][rcircle] | Red | Power voltage |
|
||||
| ![green][gcircle] | 绿色 | General purpose signal |
|
||||
| ![white][wcircle] | White | General purpose signal |
|
||||
| ![yellow][ycircle] | Yellow | General purpose signal |
|
||||
| ![blue][bluecircle] | 蓝色 | Power return, Open-collector control signal |
|
||||
| ![black][blkcircle] | Black | GND, Power return ground |
|
||||
|
||||
<!-- references for the image source.
|
||||
This approach just allows more compact markdown -->
|
||||
|
||||
[ycircle]: ../../assets/hardware/cables/yellow.png
|
||||
[rcircle]: ../../assets/hardware/cables/red.png
|
||||
[gcircle]: ../../assets/hardware/cables/green.png
|
||||
[wcircle]: ../../assets/hardware/cables/white.png
|
||||
[bluecircle]: ../../assets/hardware/cables/blue.png
|
||||
[blkcircle]: ../../assets/hardware/cables/black.png
|
||||
|
||||
:::info
|
||||
The above rules were provided by Thunderfly and are used in their cable design.
|
||||
|
||||
The cable colour-coding for Thunderfly and some other vendors are given in the sections below.
|
||||
The pin labels correspond to the pinout on the autopilot side.
|
||||
All cables are straight (1:1).
|
||||
If they require crossover (e.g. UART), this should be solved by internal connection of the devices.
|
||||
:::
|
||||
@@ -0,0 +1,6 @@
|
||||
---
|
||||
frame: 基本配置
|
||||
newEditLink: en/assembly/_assembly.md
|
||||
---
|
||||
|
||||
<!--@include: _assembly.md-->
|
||||
@@ -0,0 +1,51 @@
|
||||
# 安装固定飞控
|
||||
|
||||
The flight controller should be placed on the frame as close as possible to the centre-of-gravity (CoG), top-side up, and oriented so that the _heading mark arrow_ points towards the front of the vehicle.
|
||||
[Vibration isolation](#vibration-isolation) is often needed, and you should follow the manufacturer recommendations.
|
||||
若以这种方式安装，则无需进行进一步的PX4配置。
|
||||
|
||||
## 安装方向
|
||||
|
||||
Almost all Flight Controllers have a _heading mark arrow_ (shown below).
|
||||
飞控应该顶部朝上安装在机架上，并使箭头指向与载具的前向一致（在所有的飞行器机架：固定翼、多旋翼、垂直起降、地面载具等上都是如此）。
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
:::info
|
||||
If the controller cannot be mounted in the recommended/default orientation due to physical constraints, you will need to configure the autopilot software with the orientation that you actually used: [Flight Controller Orientation](../config/flight_controller_orientation.md).
|
||||
:::
|
||||
|
||||
## 安装位置
|
||||
|
||||
The flight controller should be placed on the frame as close as possible to the centre-of-gravity.
|
||||
|
||||
If you can't mount the controller in this position, then you should [configure](../advanced_config/parameters.md) the following parameters to set offset relative to the CoG: [EKF2_IMU_POS_X](../advanced_config/parameter_reference.md#EKF2_IMU_POS_X), [EKF2_IMU_POS_Y](../advanced_config/parameter_reference.md#EKF2_IMU_POS_Y), [EKF2_IMU_POS_Z](../advanced_config/parameter_reference.md#EKF2_IMU_POS_Z) (for the default EKF2 estimator).
|
||||
|
||||
Note that if you don't set these offsets then EKF2 position/velocity estimates will be at the IMU location rather that at the CoG.
|
||||
This may result in undesirable oscillations, depending on how far away the IMU is from the CoG.
|
||||
|
||||
:::details
|
||||
Explanation
|
||||
To understand the impact of not setting these offsets, consider the case when the flight controller (IMU) is in front of the CoG, you're flying in position mode, and there is a forward pitching motion around the CoG.
|
||||
The altitude estimate will go down, because the IMU has in fact moved down.
|
||||
As a reaction, the altitude controller will give more thrust to compensate.
|
||||
The amplitude depends on how far the IMU is located from the CoG.
|
||||
It might be negligible, but it is still some unneeded control effort that is constantly applied.
|
||||
If the offsets are specified, a pure pitch motion would not create any change in the altitude estimate so there will be less parasitic corrections.
|
||||
:::
|
||||
|
||||
## 振动隔离
|
||||
|
||||
Flight Control boards with in-built accelerometers or gyros are sensitive to vibrations.
|
||||
Some boards include in-built vibration-isolation, while others come with _mounting foam_ that you can use to isolate the controller from the vehicle.
|
||||
|
||||
|
||||
_Vibration damping foam_
|
||||
|
||||
You should use the mounting strategy recommended in your flight controller documentation.
|
||||
|
||||
:::tip
|
||||
[Log Analysis using Flight Review > Vibration](../log/flight_review.md#vibration) explains how to test whether vibration levels are acceptable, and [Vibration Isolation](../assembly/vibration_isolation.md) suggests a number of possible solutions if there is a problem.
|
||||
:::
|
||||
@@ -0,0 +1,34 @@
|
||||
# 安装GPS/指南针
|
||||
|
||||
Compass and GNSS/Compass modules should be mounted on the frame as far away from motor/ESC power lines and other sources of electromagnetic interference as possible, and [oriented](#compass-orientation) upright with the direction marker pointing towards the front of the vehicle.
|
||||
You should also configure PX4 to [set the position](#position) of the receiver relative to the centre-of-gravity (CoG).
|
||||
|
||||
On multicopters it is common to mount the compass on a pedestal, while for fixed-wing and VTOL vehicles the compass is usually mounted on a wing.
|
||||
|
||||
## Compass Orientation
|
||||
|
||||
The compass should ideally be oriented so that it is upright and the direction marker is pointing towards the front of the vehicle (the default orientation), but if needed can be oriented at multiples of 45° from this attitude (in any axis) as defined in the [standard MAVLink orientations](https://mavlink.io/en/messages/common.html#MAV_SENSOR_ORIENTATION) (these follow the same frame convention as when [orienting the flight controller](../config/flight_controller_orientation.md#calculating-orientation)).
|
||||
|
||||
The diagram below shows the heading marker on the Pixhawk 4 flight controller and compass.
|
||||
|
||||
|
||||
|
||||
PX4 will automatically detect the orientation for any of these standard orientations during [compass calibration](../config/compass.md) ([by default](../advanced_config/parameter_reference.md#SENS_MAG_AUTOROT)).
|
||||
|
||||
The compass can also be mounted at any other "custom euler angles", but in this case you will need to manually configure the orientations.
|
||||
For more information see [Setting the Compass Orientation](../config/flight_controller_orientation.md#setting-the-compass-orientation) in _Flight Controller/Sensor Orientation_.
|
||||
|
||||
## 安装位置
|
||||
|
||||
In order to compensate for the relative motion between the receiver and the CoG, you should [configure](../advanced_config/parameters.md) the following parameters to set the offsets: [EKF2_GPS_POS_X](../advanced_config/parameter_reference.md#EKF2_GPS_POS_X), [EKF2_GPS_POS_Y](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Y) and [EKF2_GPS_POS_Z](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Z).
|
||||
|
||||
This is important because the body frame estimated by the EKF will converge on the location of the GNSS module and assume it to be at the CoG. If the GNSS module is significantly offset from the CoG, then rotation around the COG will be interpreted as an altitude change, which in some flight modes (such as position mode) will result in unnecessary corrections.
|
||||
|
||||
It is particularly important if using [RTK GNSS](../advanced/rtk_gps.md) which has centimeter-level accuracy, because if the offsets are not set then GNSS measurements will often be rejected as inconsistent with the current EFK estimate.
|
||||
|
||||
:::details
|
||||
Explanation
|
||||
For example, if the GNSS module is 10cm above the CoG, and the IMU is located at the GoG, a pitch motion of 1 rad/s will create a GNSS velocity measurement of 10cm/s _even though the CoG isn't moving_.
|
||||
If the speed accuracy of the GNSS receiver is 1cm/s, the EKF might stop trusting the measurements because they appear inconsistent (wrong by 10x the accuracy).
|
||||
If the offsets are defined, the EKF will correct the measurements using the gyro data.
|
||||
:::
|
||||
@@ -0,0 +1,149 @@
|
||||
# CUAV Pixhawk V6X Wiring Quick Start
|
||||
|
||||
This quick start guide shows how to power the [Pixhawk V6X<sup>®</sup>](../flight_controller/cuav_pixhawk_v6x.md) flight controller and connect its most important peripherals.
|
||||
|
||||
## 接线图概述
|
||||
|
||||
下图展示了如何连接最重要的传感器和外围设备（电机和伺服舵机输出除外）。
|
||||
我们将在下面各节中介绍它们的细节。
|
||||
|
||||
|
||||
|
||||
| Interface | **Function** |
|
||||
| :------------------------------- | :------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
|
||||
| POWER C1 | Connect CAN PMU SE to this interface; this interface is connected to UAVCAN power module |
|
||||
| POWER C2 | Connect CAN PMU SE to this interface; this interface is connected to UAVCAN power module |
|
||||
| POWER 1 | Connect SMbus (I2C) power module |
|
||||
| POWER 2 | Connect SMbus (I2C) power module |
|
||||
| GPS&SAFETY | Connect Neo series GPS/C-RTK 9PS, including GPS, safety switch, buzzer interface. |
|
||||
| GPS2 | Connect GPS/RTK module |
|
||||
| UART 4 | User customizable |
|
||||
| TELEM (1,2,3) | Connect telemetry or MAVLink devices |
|
||||
| TF CARD | 用于日志存储的SD卡（出厂时SD已经装配好）。 |
|
||||
| M1~M8 | IO PWM output (for connecting to ESC and Servo) |
|
||||
| A1~A8 | FMU PWM output. Can be defined as PWM/GPIO; supports dshot; used to connect camera shutter/hot shoe, servo, etc. |
|
||||
| USB | 用于连接计算机，建立飞行控制器和计算机之间的通信；比如刷写固件。 |
|
||||
| CAN1/CAN2 | Connect Dronecan/UAVCAN devices such as NEO3 Pro. |
|
||||
| DSM/SUB/RSSI | Includes DSM, SBUS, RSSI signal input interface, DSM interface can be connected to DSM satellite receiver, SBUS interface to SBUS remote control receiver, RSSI for signal strength return module |
|
||||
| PPM | Connecting the PPM RC Receiver |
|
||||
| ETH | Ethernet interface. Connect Ethernet devices such as task computers |
|
||||
| AD&IO | There are two analog inputs (ADC3.3/ADC6.6); generally not used |
|
||||
|
||||
## Vehicle Front
|
||||
|
||||
:::info
|
||||
If the controller cannot be mounted in the recommended/default orientation (e.g. due to space constraints) you will need to configure the autopilot software with the orientation that you actually used: [Flight Controller Orientation](../config/flight_controller_orientation.md).
|
||||
:::
|
||||
|
||||
|
||||
|
||||
## GPS + 指南针 + 蜂鸣器 + 安全开关 + LED
|
||||
|
||||
The Pixhawk<sup>®</sup> V6X can be purchased with a [NEO3 GPS](https://store.cuav.net/shop/neo-3/) (10-pin connector) and should be connected to the **GPS1** port.
|
||||
These GNSS modules feature an integrated compass, safety switch, buzzer and LEDs.
|
||||
|
||||
If you need to use assisted GPS, connect to the **GPS2** port.
|
||||
|
||||
The GPS/compass should be [mounted on the frame](../assembly/mount_gps_compass.md) as far away from other electronics as possible, with the direction markings towards the front of the vehicle (separating the compass from other electronics will reduce interference).
|
||||
|
||||
|
||||
|
||||
:::info
|
||||
Pixhawk V6X<sup>&reg;</sup> is not compatible with NEO V2 GPS built-in buzzer: you should use [NEO3/NEO 3Pro](https://store.cuav.net/shop/neo-3/) instead.
|
||||
The GPS module's integrated safety switch is enabled _by default_ (when enabled, PX4 will not let you arm the vehicle).
|
||||
To disable the safety press and hold the safety switch for 1 second.
|
||||
You can press the safety switch again to enable safety and disarm the vehicle (this can be useful if, for whatever reason, you are unable to disarm the vehicle from your remote control or ground station).
|
||||
:::
|
||||
|
||||
## 遥控器
|
||||
|
||||
A remote control (RC) radio system is required if you want to _manually_ control your vehicle (PX4 does not require a radio system for autonomous flight modes).
|
||||
|
||||
You will need to [select a compatible transmitter/receiver](../getting_started/rc_transmitter_receiver.md) and then _bind_ them so that they communicate (read the instructions that come with your specific transmitter/receiver).
|
||||
|
||||
- Spektrum/DSM receivers connect to the **DSM/SBUS** input.
|
||||
- PPM receivers connect to the **PPM** input port.
|
||||
|
||||
For more information about selecting a radio system, receiver compatibility, and binding your transmitter/receiver pair, see: [Remote Control Transmitters & Receivers](../getting_started/rc_transmitter_receiver.md).
|
||||
|
||||
|
||||
|
||||
## 电源
|
||||
|
||||
Pixhawk V6X<sup>®</sup> is equipped with a CAN PMU lite module that supports 3~14s lithium battery.
|
||||
Connect the 6pin connector of the module to the flight control **Power C1** or **Power C2** interface.
|
||||
|
||||
|
||||
|
||||
_Pixhawk V6X_ power port receives Dronecan digital signal from CAN PMU lite power module for voltage, current and remaining battery data, the VCC line must provide at least 3A continuous current and should default to 5.2V.
|
||||
A lower voltage of 5V is still acceptable but discouraged.
|
||||
|
||||
## Telemetry (Radio) System
|
||||
|
||||
[Telemetry radios](../telemetry/index.md) may be used to communicate and control a vehicle in flight from a ground station (for example, you can direct the UAV to a particular position, or upload a new mission).
|
||||
|
||||
The vehicle-based radio should be connected to the **TELEM1**/**TELEM2**/**TELEM3** port as shown below (if connected to **TELEM1**, no further configuration is required).
|
||||
The other radio is connected to your ground station computer or mobile device (usually by USB).
|
||||
|
||||
You can also purchase telemetry radios from the [CUAV store](https://store.cuav.net/uav-telemetry-module/).
|
||||
|
||||
|
||||
|
||||
## SD Card
|
||||
|
||||
SD cards are highly recommended as they are required for [recording and analyzing flight details](../getting_started/flight_reporting.md), running tasks and using UAVCAN bus hardware.
|
||||
An SD card is already installed on Pixhawk V6X<sup>®</sup> when it leaves the factory.
|
||||
|
||||
:::tip
|
||||
For more information see [Basic Concepts > SD Cards (Removable Memory)](../getting_started/px4_basic_concepts.md#sd-cards-removable-memory).
|
||||
:::
|
||||
|
||||
## Motors/Servo
|
||||
|
||||
Motors/servos are connected to the **M1~M8** (**MAIN**) and **A1~A8** (**AUX**) ports in the order specified for your vehicle in the [Airframe Reference](../airframes/airframe_reference.md).
|
||||
|
||||
|
||||
|
||||
:::info
|
||||
The **MAIN** outputs in the PX4 firmware are mapped to the Pixhawk V6X's M1~M8 ports (from IO), while the **AUX outputs** are mapped to the A1~A8 ports (from the FMU).
|
||||
For example, **MAIN1** maps to M1 pin and **AUX1** maps to A1 pin.
|
||||
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).
|
||||
:::
|
||||
|
||||
:::warning
|
||||
The mapping is not consistent across frames (e.g. you can't rely on the throttle being on the same output for all plane frames).
|
||||
Make sure to use the correct mapping for your vehicle.
|
||||
:::
|
||||
|
||||
## Servo Power Supply
|
||||
|
||||
Pixhawk V6X<sup>®</sup> does not supply power to the servos.
|
||||
If using a plane or rover, an external BEC (e.g., BEC-equipped ESC or separate 5V BEC or 2S LiPo battery) needs to be connected to any of the power (+) pins in M1~M8/A1~A8 to drive the servos .
|
||||
|
||||
|
||||
|
||||
:::info
|
||||
The power rail voltage must be appropriate for the servo being used!
|
||||
:::
|
||||
|
||||
## 其它外设
|
||||
|
||||
The wiring and configuration of optional/less common components is covered within the topics for individual [peripherals](../peripherals/index.md).
|
||||
|
||||
## 针脚定义
|
||||
|
||||
|
||||
|
||||
## 配置
|
||||
|
||||
General configuration information is covered in: [Autopilot Configuration](../config/index.md).
|
||||
|
||||
QuadPlane specific configuration is covered here: [QuadPlane VTOL Configuration](../config_vtol/vtol_quad_configuration.md)
|
||||
|
||||
## 更多信息
|
||||
|
||||
- [CUAV Docs](https://doc.cuav.net/) (CUAV)
|
||||
- [Pixhawk V6X](../flight_controller/cuav_pixhawk_v6x.md) (PX4 Doc Overview page)
|
||||
- [Pixhawk Autopilot FMUv6X Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-012%20Pixhawk%20Autopilot%20v6X%20Standard.pdf)
|
||||
- [Pixhawk Autopilot Bus Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-010%20Pixhawk%20Autopilot%20Bus%20Standard.pdf)
|
||||
- [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf)
|
||||
@@ -0,0 +1,135 @@
|
||||
# 雷迅CUAV V5 nano飞控接线快速入门
|
||||
|
||||
:::warning
|
||||
PX4 does not manufacture this (or any) autopilot.
|
||||
Contact the [manufacturer](https://store.cuav.net/) for hardware support or compliance issues.
|
||||
:::
|
||||
|
||||
This quick start guide shows how to power the [CUAV V5 nano](../flight_controller/cuav_v5_nano.md) flight controller and connect its most important peripherals.
|
||||
|
||||
|
||||
|
||||
## 接线图概述
|
||||
|
||||
下图展示了如何连接最重要的传感器和外围设备（电机和伺服舵机输出除外）。
|
||||
我们将在下面各节中介绍它们的细节。
|
||||
|
||||
|
||||
|
||||
| 主要接口 | 功能 |
|
||||
| :----------------------------- | :---------------------------------------------------------------------------------- |
|
||||
| 电源 | 连接电源模块；提供能量、模拟电压和电流测量。 |
|
||||
| PM2 | [Do not use with PX4](../flight_controller/cuav_v5_nano.md#compatibility_pm2) |
|
||||
| TF CARD | 用于日志存储的SD卡（随卡提供） |
|
||||
| M1~M8 | PWM 输出接口。 可以使用它控制电机或舵机。 |
|
||||
| A1~A3 | Capture pins (not _currently_ supported on PX4). |
|
||||
| nARMED | 表示 FMU 处于待命状态。 低电平时表示激活（待命时是低电平）。 |
|
||||
| DSU7 | 用于 FMU 调试，读取调试信息。 |
|
||||
| I2C2/I2C3/I2C4 | 连接I2C总线设备；比如外部的罗盘。 |
|
||||
| CAN1/CAN2 | 用于连接 UAVCAN 设备，比如 CAN GPS。 |
|
||||
| TYPE-C(USB) | 连接到计算机，以便在飞控和计算机之间进行通信，例如加载固件。 |
|
||||
| GPS&SAFETY | 连接到 Neo GPS，其中包括GPS、安全开关、蜂鸣器接口。 |
|
||||
| TELEM1/TELEM2 | 连接到数传电台 |
|
||||
| DSM/SBUS/RSSI | 包含DSM、SBUS、RSSI信号输入接口；DSM接口可以连接DSM卫星接收机，SBUS接口可以连接SBUS总线的遥控器接收机，RSSI连接RSSI信号强度回传模块。 |
|
||||
|
||||
:::info
|
||||
For more interface information, please read [V5 nano Manual](http://manual.cuav.net/V5-nano.pdf).
|
||||
:::
|
||||
|
||||
|
||||
|
||||
:::info
|
||||
If the controller cannot be mounted in the recommended/default orientation (e.g. due to space constraints) you will need to configure the autopilot software with the orientation that you actually used: [Flight Controller Orientation](../gps_compass/rtk_gps.md).
|
||||
:::
|
||||
|
||||
## GPS + 罗盘 + 安全开关 + LED
|
||||
|
||||
The recommended GPS module is the _Neo v2 GPS_, which contains GPS, compass, safety switch, buzzer, LED status light.
|
||||
|
||||
:::info
|
||||
Other GPS modules may not work (see [this compatibility issue](../flight_controller/cuav_v5_nano.md#compatibility_gps)).
|
||||
:::
|
||||
|
||||
The GPS/Compass module should be [mounted on the frame](../assembly/mount_gps_compass.md) as far away from other electronics as possible, with the direction marker towards the front of the vehicle (Neo GPS arrow is in the same direction as the flight control arrow).
|
||||
Connect to the flight control GPS interface using a cable.
|
||||
|
||||
:::info
|
||||
If you use CAN GPS, please use the cable to connect to the flight control CAN interface.
|
||||
:::
|
||||
|
||||
|
||||
|
||||
## 安全开关
|
||||
|
||||
The dedicated safety switch that comes with the V5+ is only required if you are not using the recommended _Neo v2 GPS_ (which has an inbuilt safety switch).
|
||||
|
||||
If you are flying without the GPS you must attach the switch directly to the `GPS1` port in order to be able to arm the vehicle and fly (If you use the old 6-pin GPS, please read the definition of the bottom interface to change the line).
|
||||
|
||||
## 蜂鸣器
|
||||
|
||||
If you do not use the recommended _Neo v2 GPS_ the buzzer may not work.
|
||||
|
||||
## 遥控器
|
||||
|
||||
A remote control (RC) radio system is required if you want to manually control your vehicle (PX4 does not require a radio system for autonomous flight modes).
|
||||
将 <em>HW\\u PM</em> 模块的6针连接器连接到飞控的<code>电源</code>接口。
|
||||
|
||||
The figure below shows how you can access your remote receiver (please find the S.Bus cable in the kit)
|
||||
|
||||
|
||||
|
||||
## Spektrum 卫星接收器
|
||||
|
||||
通信频道是通过数传无线电实现的。
|
||||
If using a Spektrum satellite receiver, this should be connected to the flight controller `DSM/SBUS/RSSI` interface.
|
||||
|
||||
## 电源
|
||||
|
||||
The _v5 nano_ kit includes the _HV_PM_ module, which supports 2~14S LiPo batteries.
|
||||
Connect the 6pin connector of the _HW_PM_ module to the flight control `Power` interface.
|
||||
|
||||
:::warning
|
||||
The supplied power module is unfused.
|
||||
Power **must** be turned off while connecting peripherals.
|
||||
:::
|
||||
|
||||
|
||||
|
||||
:::info
|
||||
The power module is not a power source for peripherals connected to the PWM outputs.
|
||||
If you're connecting servos/actuators you will need to separately power them using a BEC.
|
||||
:::
|
||||
|
||||
## 数传系统（可选）
|
||||
|
||||
A telemetry system allows you to communicate with, monitor, and control a vehicle in flight from a ground station (for example, you can direct the UAV to a particular position, or upload a new mission).
|
||||
|
||||
The communication channel is via Telemetry Radios.
|
||||
The vehicle-based radio should be connected to the **TELEM1** or **TELEM2** port (if connected to these ports, no further configuration is required).
|
||||
The other radio is connected to your ground station computer or mobile device (usually via USB).
|
||||
|
||||
|
||||
|
||||
<a id="sd_card"></a>
|
||||
|
||||
## SD 卡
|
||||
|
||||
An [SD card](../getting_started/px4_basic_concepts.md#sd-cards-removable-memory) is inserted in the factory (you do not need to do anything).
|
||||
|
||||
## 电机
|
||||
|
||||
Motors/servos are connected to the MAIN ports in the order specified for your vehicle in the [Airframes Reference](../airframes/airframe_reference.md).
|
||||
|
||||
|
||||
|
||||
## 针脚定义
|
||||
|
||||
|
||||
|
||||
## 更多信息
|
||||
|
||||
- [Airframe buildlog using CUAV v5 nano on a DJI FlameWheel450](../frames_multicopter/dji_f450_cuav_5nano.md)
|
||||
- [CUAV V5 nano](../flight_controller/cuav_v5_nano.md)
|
||||
- [V5 nano manual](http://manual.cuav.net/V5-nano.pdf) (CUAV)
|
||||
- [FMUv5 reference design pinout](https://docs.google.com/spreadsheets/d/1-n0__BYDedQrc_2NHqBenG1DNepAgnHpSGglke-QQwY/edit#gid=912976165) (CUAV)
|
||||
- [CUAV Github](https://github.com/cuav) (CUAV)
|
||||
@@ -0,0 +1,136 @@
|
||||
# CUAV V5+ 快速接线指南
|
||||
|
||||
:::warning
|
||||
PX4 does not manufacture this (or any) autopilot.
|
||||
Contact the [manufacturer](https://store.cuav.net/) for hardware support or compliance issues.
|
||||
:::
|
||||
|
||||
This quick start guide shows how to power the [CUAV V5+](../flight_controller/cuav_v5_plus.md) flight controller and connect its most important peripherals.
|
||||
|
||||
|
||||
|
||||
## 接线图概述
|
||||
|
||||
下图展示了如何连接最重要的传感器和外围设备（电机和伺服舵机输出除外）。
|
||||
我们将在下面各节中介绍它们的细节。
|
||||
|
||||
|
||||
|
||||
| 主要接口 | 功能 |
|
||||
| :----------------------------- | :--------------------------------------------------------------------------------------------------------------- |
|
||||
| Power1 | 连接到电源模块（电流计）。 Power input with _analog_ voltage and current detection. 请不要连接数字电源模块（比如UAVCAN电流计）！ |
|
||||
| Power2 | 连接I2C总线的智能电池 |
|
||||
| TF CARD | 用于日志存储的SD卡（出厂时SD已经装配好）。 |
|
||||
| M1~M8 | PWM 输出接口。 可以使用它控制电机或舵机。 |
|
||||
| A1~A6 | PWM 输出接口。 可以使用它控制电机或舵机。 |
|
||||
| DSU7 | 用于 FMU 调试，读取调试信息。 |
|
||||
| I2C1/I2C2 | 连接I2C总线设备；比如外部的罗盘。 |
|
||||
| CAN1/CAN2 | 用于连接 UAVCAN 设备，比如 CAN GPS。 |
|
||||
| TYPE-C(USB) | 用于连接计算机，建立飞行控制器和计算机之间的通信；比如刷写固件。 |
|
||||
| SBUS OUT | 连接SBUS总线控制的相机和云台 |
|
||||
| GPS&SAFETY | 连接到 Neo GPS，其中包括GPS、安全开关、蜂鸣器接口。 |
|
||||
| TELEM1/TELEM2 | 连接到数传电台 |
|
||||
| DSM/SBUS/RSSI | 包含DSM、SBUS、RSSI信号输入接口；DSM接口可以连接DSM卫星接收机，SBUS接口可以连接SBUS总线的遥控器接收机，RSSI连接RSSI信号强度回传模块。 |
|
||||
|
||||
:::info
|
||||
For more interface information, please read [V5+ Manual](http://manual.cuav.net/V5-Plus.pdf).
|
||||
:::
|
||||
|
||||
|
||||
|
||||
:::info
|
||||
If the controller cannot be mounted in the recommended/default orientation (e.g. due to space constraints) you will need to configure the autopilot software with the orientation that you actually used: [Flight Controller Orientation](../gps_compass/rtk_gps.md).
|
||||
:::
|
||||
|
||||
## GPS + 罗盘 + 安全开关 + LED
|
||||
|
||||
The recommended GPS module is the _Neo v2 GPS_, which contains GPS, compass, safety switch, buzzer, LED status light.
|
||||
|
||||
:::info
|
||||
Other GPS modules may not work (see [this compatibility issue](../flight_controller/cuav_v5_nano.md#compatibility_gps)\)).
|
||||
:::
|
||||
|
||||
The GPS/Compass module should be [mounted on the frame](../assembly/mount_gps_compass.md) as far away from other electronics as possible, with the direction marker towards the front of the vehicle (_Neo v2 GPS_ arrow is in the same direction as the flight control arrow).
|
||||
Connect to the flight control GPS interface using a cable.
|
||||
|
||||
:::info
|
||||
If you use the [NEO V2 PRO GNSS (CAN GPS)](http://doc.cuav.net/gps/neo-series-gnss/en/neo-v2-pro.html), please use the cable to connect to the flight control CAN interface.
|
||||
:::
|
||||
|
||||
|
||||
|
||||
## 安全开关
|
||||
|
||||
The dedicated safety switch that comes with the V5+ is only required if you are not using the recommended _Neo V2 GPS_ (which has an inbuilt safety switch).
|
||||
|
||||
If you are flying without the GPS you must attach the switch directly to the `GPS1` port in order to be able to arm the vehicle and fly (if you use the old 6-pin GPS, please read the definition of the bottom interface to change the line).
|
||||
|
||||
## 蜂鸣器
|
||||
|
||||
If you do not use the recommended GPS, the buzzer may not work.
|
||||
|
||||
## 遥控器
|
||||
|
||||
A remote control (RC) radio system is required if you want to manually control your vehicle (PX4 does not require a radio system for autonomous flight modes).
|
||||
将 <em>HW\\u PM</em> 模块的6针连接器连接到飞控的<code>电源</code>接口。
|
||||
|
||||
The figure below shows how you can access your remote receiver (please find the SBUS cable in the kit).
|
||||
|
||||
|
||||
|
||||
## Spektrum 卫星接收器
|
||||
|
||||
The V5+ has a dedicated DSM cable.
|
||||
If using a Spektrum satellite receiver, this should be connected to the flight controller DSM/SBUS/RSSI interface.
|
||||
|
||||
## 电源
|
||||
|
||||
The V5+ kit includes the _HV_PM_ module, which supports 2~14S LiPo batteries.
|
||||
Connect the 6pin connector of the _HW_PM_ module to the flight control `Power1` interface.
|
||||
|
||||
:::warning
|
||||
The supplied power module is unfused.
|
||||
Power **must** be turned off while connecting peripherals.
|
||||
:::
|
||||
|
||||
|
||||
|
||||
:::info
|
||||
The power module is not a power source for peripherals connected to the PWM outputs.
|
||||
If you're connecting servos/actuators you will need to separately power them using a BEC.
|
||||
:::
|
||||
|
||||
## 数传系统（可选）
|
||||
|
||||
A telemetry system allows you to communicate with, monitor, and control a vehicle in flight from a ground station (for example, you can direct the UAV to a particular position, or upload a new mission).
|
||||
|
||||
The communication channel is via Telemetry Radios.
|
||||
The vehicle-based radio should be connected to either the `TELEM1` or `TELEM2` port (if connected to these ports, no further configuration is required).
|
||||
The other radio is connected to your ground station computer or mobile device (usually via USB).
|
||||
|
||||
|
||||
|
||||
<a id="sd_card"></a>
|
||||
|
||||
## SD 卡
|
||||
|
||||
An [SD card](../getting_started/px4_basic_concepts.md#sd-cards-removable-memory) is inserted in the factory (you do not need to do anything).
|
||||
|
||||
## 电机
|
||||
|
||||
Motors/servos are connected to the MAIN and AUX ports in the order specified for your vehicle in the [Airframes Reference](../airframes/airframe_reference.md).
|
||||
|
||||
|
||||
|
||||
## 针脚定义
|
||||
|
||||
Download **V5+** pinouts from [here](http://manual.cuav.net/V5-Plus.pdf).
|
||||
|
||||
## 更多信息
|
||||
|
||||
- [Airframe build-log using CUAV v5+ on a DJI FlameWheel450](../frames_multicopter/dji_f450_cuav_5plus.md)
|
||||
- [CUAV V5+ Manual](http://manual.cuav.net/V5-Plus.pdf) (CUAV)
|
||||
- [CUAV V5+ docs](http://doc.cuav.net/flight-controller/v5-autopilot/en/v5+.html) (CUAV)
|
||||
- [FMUv5 reference design pinout](https://docs.google.com/spreadsheets/d/1-n0__BYDedQrc_2NHqBenG1DNepAgnHpSGglke-QQwY/edit#gid=912976165) (CUAV)
|
||||
- [CUAV Github](https://github.com/cuav) (CUAV)
|
||||
- [Base board design reference](https://github.com/cuav/hardware/tree/master/V5_Autopilot/V5%2B/V5%2BBASE) (CUAV)
|
||||
@@ -0,0 +1,223 @@
|
||||
# 接线指南
|
||||
|
||||
:::warning
|
||||
PX4 does not manufacture this (or any) autopilot.
|
||||
Contact the [manufacturer](https://cubepilot.org/#/home) for hardware support or compliance issues.
|
||||
|
||||
Note also that while [Cube Black](../flight_controller/pixhawk-2.md) is [fully supported by PX4](../flight_controller/autopilot_pixhawk_standard.md), [Cube Yellow](../flight_controller/cubepilot_cube_yellow.md) and [Cube Orange](../flight_controller/cubepilot_cube_orange.md) are [Manufacturer Supported](../flight_controller/autopilot_manufacturer_supported.md).
|
||||
:::
|
||||
|
||||
This quick start guide shows how to power the _Cube_<sup>®</sup> flight controllers and connect their most important peripherals.
|
||||
|
||||
<img src="../../assets/flight_controller/cube/orange/cube_orange_hero.jpg" width="350px" /> <img src="../../assets/flight_controller/cube/cube_black_hero.png" width="350px" /> <img src="../../assets/flight_controller/cube/yellow/cube_yellow_hero.jpg" width="150px" />
|
||||
|
||||
:::tip
|
||||
The instructions apply to all Cube variants, including [Cube Black](../flight_controller/pixhawk-2.md), [Cube Yellow](../flight_controller/cubepilot_cube_yellow.md) and [Cube Orange](../flight_controller/cubepilot_cube_orange.md).
|
||||
Further/updated information may be available in the [Cube User Manual](https://docs.cubepilot.org/user-guides/autopilot/the-cube-user-manual) (Cube Docs).
|
||||
:::
|
||||
|
||||
## 配件
|
||||
|
||||
Cube comes with most (or all) of the accessories you will need when [purchased](../flight_controller/pixhawk-2.md#stores).
|
||||
|
||||
|
||||
|
||||
The exception is that some kits do not include a GPS, which will have to be purchased separately ([see below](#gps)).
|
||||
|
||||
## 接线图概览
|
||||
|
||||
The image below shows how to connect the most important sensors and peripherals. 我们将在下面各节中介绍它们的细节。
|
||||
|
||||
|
||||
|
||||
1. [Telemetry System](#telemetry) — Allows you to plan/run missions, and control and monitor the vehicle in real time. 典型的包括数传、平板电脑/PC、地面站软件。
|
||||
2. [Buzzer](#buzzer) — Provides audio signals that indicate what the UAV is doing
|
||||
3. [Remote Control Receiver System](#rc_control) — Connects to a hand-held transmitter that an operator can use to manually fly the vehicle (shown is a PWM receiver with PWM->PPM converter).
|
||||
4. (Dedicated) [Safety switch](#safety-switch) — Press and hold to lock and unlock motors. Only required if you are not using the recommended [GPS](#gps) with inbuilt safety switch.
|
||||
5. [GPS, Compass, LED, Safety Switch](#gps) — The recommended GPS module contains GPS, Compass, LED and Safety Switch.
|
||||
6. [Power System](#power) — Powers Cube and the motor ESCs. 包括锂电池、电源模块和可选的电源报警系统（如果电池电量低于预定时发出警报）。
|
||||
|
||||
:::info
|
||||
The port labeled `GPS2` maps to `TEL4` in PX4 (i.e. if connecting to the port labeled `GPS2`, assign the [serial port configuration parameter](../peripherals/serial_configuration.md) for the connected hardware to `TEL4`).
|
||||
:::
|
||||
|
||||
:::tip
|
||||
More information about available ports can be found here: [Cube > Ports](../flight_controller/pixhawk-2.md#ports).
|
||||
:::
|
||||
|
||||
## 飞控的安装和方向
|
||||
|
||||
Mount the Cube as close as possible to your vehicle’s center of gravity,
|
||||
ideally oriented top-side up and with the arrow pointing towards the front of the vehicle (note the _subtle_ arrow marker on top of the cube)
|
||||
|
||||
|
||||
|
||||
:::info
|
||||
If the controller cannot be mounted in the recommended/default orientation (e.g. due to space constraints) you will need to configure the autopilot software with the orientation that you actually used: [Flight Controller Orientation](../config/flight_controller_orientation.md).
|
||||
:::
|
||||
|
||||
The Cube can be mounted using either vibration-damping foam pads (included in the kit) or mounting screws.
|
||||
The mounting screws in the Cube accessories are designed for a 1.8mm thick frameboard.
|
||||
Customized screws are supposed to be M2.5 with thread length inside Cube in range 6mm~7.55mm.
|
||||
|
||||
|
||||
|
||||
<a id="gps"></a>
|
||||
|
||||
## GPS + 罗盘 + 安全开关 + LED
|
||||
|
||||
The recommended GPS modules are the _Here_ and [Here+](../gps_compass/rtk_gps_hex_hereplus.md), both of which incorporate a GPS module, Compass, Safety Switch and [LEDs](../getting_started/led_meanings.md).
|
||||
The difference between the modules is that _Here+_ supports centimeter level positioning via [RTK](../gps_compass/rtk_gps.md). Otherwise they are used/connected in the same way.
|
||||
|
||||
:::warning
|
||||
The [Here+](../gps_compass/rtk_gps_hex_hereplus.md) has been superseded by the [Here3](https://www.cubepilot.org/#/here/here3) a [DroneCAN](../dronecan/index.md) RTK-GNSS that incorporate a compass and [LEDs](../getting_started/led_meanings.md) (but no safety switch).
|
||||
See [DroneCAN](../dronecan/index.md) for _Here3_ wiring and PX4 configuration information.
|
||||
:::
|
||||
|
||||
The module should be mounted on the frame as far away from other electronics as possible, with the direction marker towards the front of the vehicle (separating the compass from other electronics will reduce interference). It must be connected to the `GPS1` port using the supplied 8-pin cable.
|
||||
|
||||
The diagram below shows a schematic view of the module and its connections.
|
||||
|
||||
|
||||
|
||||
:::info
|
||||
The GPS module's integrated safety switch is enabled _by default_ (when enabled, PX4 will not let you arm the vehicle).
|
||||
To disable the safety press and hold the safety switch for 1 second. You can press the safety switch again to enable safety and disarm the vehicle (this can be useful if, for whatever reason, you are unable to disarm the vehicle from your remote control or ground station).
|
||||
:::
|
||||
|
||||
:::tip
|
||||
If you want to use an old-style 6-pin GPS module, the kit comes with a cable that you can use to connect both the GPS and [Safety Switch](#safety-switch).
|
||||
:::
|
||||
|
||||
## 安全开关
|
||||
|
||||
The _dedicated_ safety switch that comes with the Cube is only required if you are not using the recommended [GPS](#gps) (which has an inbuilt safety switch).
|
||||
|
||||
If you are flying without the GPS you must attach the switch directly to the `GPS1` port in order to be able to arm the vehicle and fly (or via a supplied cable if using an old-style 6-pin GPS).
|
||||
|
||||
## 蜂鸣器
|
||||
|
||||
The buzzer plays [tones and tunes](../getting_started/tunes.md) that provide audible notification of vehicle status (including tones that are helpful for debugging startup issues, and that notify of conditions that might affect safe operation of the vehicle).
|
||||
|
||||
The buzzer should be connected to the USB port as shown (no further configuration is required).
|
||||
|
||||
|
||||
|
||||
<a id="rc_control"></a>
|
||||
|
||||
## 遥控器
|
||||
|
||||
A [remote control (RC) radio system](../getting_started/rc_transmitter_receiver.md) is required if you want to _manually_ control your vehicle (PX4 does not require a radio system for autonomous flight modes).
|
||||
|
||||
You will need to [select a compatible transmitter/receiver](../getting_started/rc_transmitter_receiver.md) and then _bind_ them so that they communicate (read the instructions that come with your specific transmitter/receiver).
|
||||
|
||||
The instructions below show how to connect the different types of receivers.
|
||||
|
||||
### PPM-SUM / Futaba S.Bus 接收机
|
||||
|
||||
Connect the ground(-),power(+),and signal(S) wires to the RC pins using the provided 3-wire servo cable.
|
||||
|
||||
|
||||
|
||||
### Spektrum 卫星接收器
|
||||
|
||||
Spektrum DSM, DSM2, and DSM-X Satellite RC receivers connect to the **SPKT/DSM** port.
|
||||
|
||||
|
||||
|
||||
### PWM 接收机
|
||||
|
||||
The Cube cannot directly connect to PPM or PWM receivers that have an _individual wire for each channel_.
|
||||
PWM receivers must therefore connect to the **RCIN** port _via_ a PPM encoder module,
|
||||
which may be purchased from hex.aero or proficnc.com.
|
||||
|
||||
## 电源
|
||||
|
||||
Cube is typically powered from a Lithium Ion Polymer (LiPo) Battery via a Power Module (supplied with the kit) that is connected to the **POWER1** port.
|
||||
The power module provides reliable supply and voltage/current indication to the board, and may _separately_ supply power to ESCs that are used to drive motors on a multicopter vehicle.
|
||||
|
||||
A typical power setup for a Multicopter vehicle is shown below.
|
||||
|
||||
|
||||
|
||||
:::info
|
||||
The power (+) rail of **MAIN/AUX** is _not powered_ by the power module supply to the flight controller.
|
||||
In order to drive servos for rudders, elevons, etc., it will need to be separately powered.
|
||||
|
||||
This can be done by connecting the power rail to a BEC equipped ESC, a standalone 5V BEC, or a 2S LiPo battery.
|
||||
Ensure the voltage of servo you are going to use is appropriate!
|
||||
:::
|
||||
|
||||
<a id="telemetry"></a>
|
||||
|
||||
## 数传系统（可选）
|
||||
|
||||
A telemetry system allows you to communicate with, monitor, and control a vehicle in flight from a ground station (for example, you can direct the UAV to a particular position, or upload a new mission).
|
||||
|
||||
The communication channel is via [Telemetry Radios](../telemetry/index.md). The vehicle-based radio should be connected to the **TELEM1** port (if connected to this port, no further configuration is required). The other radio is connected to your ground station computer or mobile device (usually via USB).
|
||||
|
||||
|
||||
|
||||
## SD 卡
|
||||
|
||||
SD cards are highly recommended as they are needed to [log and analyse flight details](../getting_started/flight_reporting.md), to run missions, and to use UAVCAN-bus hardware.
|
||||
Insert the Micro-SD card into Cube as shown (if not already present).
|
||||
|
||||
|
||||
|
||||
:::tip
|
||||
For more information see [Basic Concepts > SD Cards (Removable Memory)](../getting_started/px4_basic_concepts.md#sd-cards-removable-memory).
|
||||
:::
|
||||
|
||||
## 电机
|
||||
|
||||
Motors/servos are connected to the **MAIN** and **AUX** ports in the order specified for your vehicle in the [Airframe Reference](../airframes/airframe_reference.md).
|
||||
|
||||
|
||||
|
||||
:::info
|
||||
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).
|
||||
:::
|
||||
|
||||
:::warning
|
||||
The mapping is not consistent across frames (e.g. you can't rely on the throttle being on the same output for all plane frames). Make sure to use the correct mapping for your vehicle.
|
||||
:::
|
||||
|
||||
## 其它外设
|
||||
|
||||
The wiring and configuration of optional/less common components is covered within the topics for individual [peripherals](../peripherals/index.md).
|
||||
|
||||
:::info
|
||||
If connecting peripherals to the port labeled `GPS2`, assign the PX4 [serial port configuration parameter](../peripherals/serial_configuration.md) for the hardware to `TEL4` (not GPS2).
|
||||
:::
|
||||
|
||||
## 配置
|
||||
|
||||
Configuration is performed using [QGroundContro](http://qgroundcontrol.com/).
|
||||
|
||||
After downloading, installing and running _QGroundControl_, connect the board to your computer as shown.
|
||||
|
||||
|
||||
|
||||
Basic/common configuration information is covered in: [Autopilot Configuration](../config/index.md).
|
||||
|
||||
QuadPlane specific configuration is covered here: [QuadPlane VTOL Configuration](../config_vtol/vtol_quad_configuration.md)
|
||||
|
||||
<!-- what about config of other vtol types and plane. Do the instructions in these ones above apply for tailsitters etc? -->
|
||||
|
||||
### Bootloader Updates
|
||||
|
||||
If you get the [Program PX4IO(../getting_started/tunes.md#program-px4io) warning tone after flashing PX4 firmware, you may need to update the bootloader.
|
||||
|
||||
The safety switch can be used to force bootloader updates.
|
||||
To use this feature de-power the Cube, hold down the safety switch, then power the Cube over USB.
|
||||
|
||||
## 更多信息
|
||||
|
||||
- [Cube Black](../flight_controller/pixhawk-2.md)
|
||||
- [Cube Yellow](../flight_controller/cubepilot_cube_yellow.md)
|
||||
- [Cube Orange](../flight_controller/cubepilot_cube_orange.md)
|
||||
- Cube Docs (Manufacturer):
|
||||
- [Cube Module Overview](https://docs.cubepilot.org/user-guides/autopilot/the-cube-module-overview)
|
||||
- [Cube User Manual](https://docs.cubepilot.org/user-guides/autopilot/the-cube-user-manual)
|
||||
- [Mini Carrier Board](https://docs.cubepilot.org/user-guides/carrier-boards/mini-carrier-board)
|
||||
@@ -0,0 +1,218 @@
|
||||
# Durandal Wiring Quick Start
|
||||
|
||||
<Badge type="tip" text="PX4 v1.11" />
|
||||
|
||||
:::warning
|
||||
PX4 does not manufacture this (or any) autopilot.
|
||||
Contact the [manufacturer](https://holybro.com/) for hardware support or compliance issues.
|
||||
:::
|
||||
|
||||
This quick start guide shows how to power the Holybro [Durandal](../flight_controller/durandal.md)<sup>®</sup> flight controller and connect its most important peripherals.
|
||||
|
||||
|
||||
|
||||
## Unboxing
|
||||
|
||||
Durandal is sold bundled with a number of different combinations of accessories, including power modules: _PM02 V3_ and _PM07_, and the _Pixhawk 4 GPS/Compass_ ( u-blox NEO-M8N).
|
||||
|
||||
The content of the box with the _PM02 V3_ power module is shown below (the box also includes a pinout guide and power module instructions).
|
||||
|
||||
|
||||
|
||||
## 接线图概述
|
||||
|
||||
下图展示了如何连接最重要的传感器和外围设备（电机和伺服舵机输出除外）。
|
||||
我们将在下面各节中介绍它们的细节。
|
||||
|
||||
|
||||
|
||||
:::tip
|
||||
More information about available ports can be found here: [Durandal > Pinouts](../flight_controller/durandal.md#pinouts).
|
||||
:::
|
||||
|
||||
## 飞控的安装和方向
|
||||
|
||||
_Durandal_ should be mounted on the frame positioned as close to your vehicle’s center of gravity as possible, oriented top-side up with the arrow pointing towards the front of the vehicle.
|
||||
|
||||
|
||||
|
||||
If the controller cannot be mounted in the recommended/default orientation (e.g. due to space constraints) you will need to configure the autopilot software with the orientation that you actually used: [Flight Controller Orientation](../config/flight_controller_orientation.md).
|
||||
|
||||
:::tip
|
||||
The board has internal vibration-isolation.
|
||||
Do not use vibration-isolation foam to mount the controller (double sided tape is normally sufficient).
|
||||
:::
|
||||
|
||||
## GPS + 指南针 + 蜂鸣器 + 安全开关 + LED
|
||||
|
||||
Durandal is designed to work well with the _Pixhawk 4 GPS module_, which has an integrated compass, safety switch, buzzer and LED.
|
||||
It connects directly to the [GPS port](../flight_controller/durandal.md#gps) using the 10 pin cable.
|
||||
|
||||
The GPS/Compass should be mounted on the frame as far away from other electronics as possible, with the direction marker towards the front of the vehicle (separating the compass from other electronics will reduce interference).
|
||||
|
||||
|
||||
|
||||
:::info
|
||||
The GPS module's integrated safety switch is enabled _by default_ (when enabled, PX4 will not let you arm the vehicle).
|
||||
To disable the safety press and hold the safety switch for 1 second.
|
||||
You can press the safety switch again to enable safety and disarm the vehicle (this can be useful if, for whatever reason, you are unable to disarm the vehicle from your remote control or ground station).
|
||||
:::
|
||||
|
||||
## 电源
|
||||
|
||||
You can use a power module or power distribution board to power motors/servos and measure power consumption.
|
||||
The recommended power modules are shown below.
|
||||
|
||||
<a id="pm02_v3"></a>
|
||||
|
||||
### PM02 v3 Power Module
|
||||
|
||||
The [Power Module (PM02 v3)](../power_module/holybro_pm02.md) can be bundled with _Durandal_.
|
||||
It provides regulated power to flight controller and sends battery voltage/current to the flight controller.
|
||||
|
||||
Connect the output of the _Power Module_ as shown.
|
||||
|
||||
|
||||
|
||||
- PM voltage/current port: connect to [POWER1](../flight_controller/durandal.md#power) port (or `POWER2`) using the 6-wire GH cable supplied.
|
||||
- PM input (XT60 male connector): connect to the LiPo battery (2~12S).
|
||||
- PM power output (XT60 female connector): wire out to any motor ESCs.
|
||||
|
||||
:::tip
|
||||
As this power module does not include power distribution wiring, you would normally just connect all the ESCs in parallel to the power module output (the ESC must be appropriate for the supplied voltage level).
|
||||
:::
|
||||
|
||||
:::tip
|
||||
The 8 pin power (+) rail of **MAIN/AUX** is not powered by the power module supply to the flight controller.
|
||||
If it will need to be separately powered in order to drive servos for rudders, elevons etc., the power rail needs to be connected to a BEC equipped ESC or a standalone 5V BEC or a 2S LiPo battery.
|
||||
Ensure the voltage of servo you are going to use is appropriate.
|
||||
:::
|
||||
|
||||
遥测无线电台可用于地面站的通信和飞行控制 (例如, 您可以指定无人机飞行至特定位置, 或上传新的任务)。
|
||||
|
||||
- Max input voltage: 60V
|
||||
- Max current sensing: 120A Voltage
|
||||
- Current measurement configured for SV ADC Switching regulator outputs 5.2V and 3A max
|
||||
- Weight: 20g
|
||||
- Package includes:
|
||||
- PM02 board
|
||||
- 6pin MLX cable (1)
|
||||
- 6pin GH cable (1)
|
||||
|
||||
<a id="pm07"></a>
|
||||
|
||||
### Pixhawk 4 Power Module (PM07)
|
||||
|
||||
The [Pixhawk 4 Power Module (PM07)](https://holybro.com/collections/power-modules-pdbs/products/pixhawk-4-power-module-pm07) can be bundled/used with _Durandal_.
|
||||
It acts as both a power module and power distribution board, providing regulated power to flight controller and the ESCs, and sending battery voltage/current to the flight controller.
|
||||
|
||||
This is wired up in the same way as described in the [Pixhawk 4 Quick Start > Power](../assembly/quick_start_pixhawk4.md#power) documentation.
|
||||
|
||||
It has the following characteristics/limits:
|
||||
|
||||
- PCB Current: total 120A outputs (MAX)
|
||||
- UBEC 5V output current: 3A
|
||||
- UBEC input voltage : 7~51v (2~12s LiPo)
|
||||
- Dimensions: 68_50_8 mm
|
||||
- Mounting Holes: 45\*45mm
|
||||
- Weight: 36g
|
||||
- Package includes:
|
||||
- PM07 board (1)
|
||||
- 80mm XT60 connector wire (1)
|
||||
|
||||
:::info
|
||||
See also [PM07 Quick Start Guide](https://docs.holybro.com/power-module-and-pdb/power-module/pm07-quick-start-guide) (Holybro).
|
||||
:::
|
||||
|
||||
### Battery Configuration
|
||||
|
||||
The battery/power setup must be configured in [Battery Estimation Tuning](../config/battery.md).
|
||||
For either Power Module you will need to configure the _Number of Cells_.
|
||||
|
||||
You will not need to update the _voltage divider_ unless you are using some other power module (e.g. the one from the Pixracer).
|
||||
|
||||
## 遥控器
|
||||
|
||||
A remote control (RC) radio system is required if you want to _manually_ control your vehicle (PX4 does not require a radio system for autonomous flight modes).
|
||||
|
||||
You will need to [select a compatible transmitter/receiver](../getting_started/rc_transmitter_receiver.md) and then _bind_ them so that they communicate (read the instructions that come with your specific transmitter/receiver).
|
||||
|
||||
The instructions below show how to connect the different types of receivers to _Durandal_:
|
||||
|
||||
- Spektrum/DSM receivers connect to the [DSM RC](../flight_controller/durandal.md#dsm-rc-port) input.
|
||||
|
||||
|
||||
|
||||
- PPM and S.Bus receivers connect to the [SBUS_IN/PPM_IN](../flight_controller/durandal.md#rc-in) input port (marked as RC IN, next to the MAIN/AUX inputs).
|
||||
|
||||
|
||||
|
||||
- PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **PPM RC** port _via a PPM encoder_ [like this one](http://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels).
|
||||
|
||||
For more information about selecting a radio system, receiver compatibility, and binding your transmitter/receiver pair, see: [Remote Control Transmitters & Receivers](../getting_started/rc_transmitter_receiver.md).
|
||||
|
||||
## Telemetry Radios (Optional)
|
||||
|
||||
Telemetry radios may be used to communicate and control a vehicle in flight from a ground station (for example, you can direct the UAV to a particular position, or upload a new mission).
|
||||
|
||||
The vehicle-based radio should be connected to the [TELEM1](../flight_controller/durandal.md#telem1_2_3) port as shown below using one of the 6-pos connectors (if connected to this port, no further configuration is required).
|
||||
The other radio is connected to your ground station computer or mobile device (usually by USB).
|
||||
|
||||
|
||||
|
||||
## SD 卡
|
||||
|
||||
SD cards are highly recommended as they are needed to [log and analyse flight details](../getting_started/flight_reporting.md), to run missions, and to use UAVCAN-bus hardware.
|
||||
Insert an SD card into the _Durandal_ where indicated below.
|
||||
|
||||
|
||||
|
||||
:::tip
|
||||
For more information see [Basic Concepts > SD Cards (Removable Memory)](../getting_started/px4_basic_concepts.md#sd-cards-removable-memory).
|
||||
:::
|
||||
|
||||
## 电机
|
||||
|
||||
Motors/servos control signals are connected to the **I/O PWM OUT** (**MAIN OUT**) and **FMU PWM OUT** (**AUX**) ports in the order specified for your vehicle in the [Airframe Reference](../airframes/airframe_reference.md).
|
||||
|
||||
|
||||
|
||||
The motors must be separately [powered](#power).
|
||||
|
||||
:::info
|
||||
If your frame is not listed in the airframe reference then use a "generic" airframe of the correct type.
|
||||
:::
|
||||
|
||||
:::tip
|
||||
_Durandal_ has 5 AUX ports, so cannot be used with airframes that map AUX6, AUX7, AUX8 to motors or other critical flight controls.
|
||||
:::
|
||||
|
||||
## 其它外设
|
||||
|
||||
The wiring and configuration of optional/less common components is covered within the topics for individual [peripherals](../peripherals/index.md).
|
||||
|
||||
## 针脚定义
|
||||
|
||||
[Durandal > Pinouts](../flight_controller/durandal.md#pinouts)
|
||||
|
||||
<a id="configuration"></a>
|
||||
|
||||
## PX4 配置
|
||||
|
||||
First you will need to install [PX4 "Master" Firmware](../config/firmware.md#custom) onto the controller using _QGroundControl_.
|
||||
|
||||
:::info
|
||||
Durandal support will be in the _stable_ PX4 release that follows PX4 v1.10.
|
||||
:::
|
||||
|
||||
Further general configuration information is covered in: [Autopilot Configuration](../config/index.md).
|
||||
|
||||
QuadPlane specific configuration is covered here: [QuadPlane VTOL Configuration](../config_vtol/vtol_quad_configuration.md)
|
||||
|
||||
## 更多信息
|
||||
|
||||
- [Durandal Overview](../flight_controller/durandal.md)
|
||||
- [Durandal Technical Data Sheet](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Durandal_technical_data_sheet_90f8875d-8035-4632-a936-a0d178062077.pdf) (Holybro)
|
||||
- [Durandal Pinouts](https://holybro.com/collections/autopilot-flight-controllers/products/Durandal-Pinouts) (Holybro)
|
||||
- [Durandal_MB_H743sch.pdf](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/durandal/Durandal_MB_H743sch.pdf) (Durandal Schematics)
|
||||
- [STM32H743IIK_pinout.pdf](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/durandal/STM32H743IIK_pinout.pdf) (Durandal Pinmap)
|
||||
@@ -0,0 +1,185 @@
|
||||
# Pix32 v5 Wiring Quick Start
|
||||
|
||||
:::warning
|
||||
PX4 does not manufacture this (or any) autopilot.
|
||||
Contact the [manufacturer](https://holybro.com/) for hardware support or compliance issues.
|
||||
:::
|
||||
|
||||
This quick start guide shows how to power the [Holybro Pix32v5](../flight_controller/holybro_pix32_v5.md)<sup>®</sup> flight controller and connect its most important peripherals.
|
||||
|
||||
|
||||
|
||||
## Unboxing
|
||||
|
||||
Pix32 v5 is sold bundled with a number of different combinations of accessories, including the _pix32 v5 Base board_, power module _PM02 V3_, and the [Holybro M8N GPS](https://holybro.com/collections/gps/products/m8n-gps) (UBLOX NEO-M8N).
|
||||
|
||||
The content of the box with the _PM02 V3_ power module and _Pixhawk 4 GPS/Compass_ is shown below.
|
||||
The box also includes a pinout guide and power module instructions, and Base board (not shown on the schematic below).
|
||||
|
||||
|
||||
|
||||
## 接线图概述
|
||||
|
||||
下图展示了如何连接最重要的传感器和外围设备（电机和伺服舵机输出除外）。
|
||||
我们将在下面各节中介绍它们的细节。
|
||||
|
||||
|
||||
|
||||
:::tip
|
||||
More information about available ports can be found [here](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Holybro_Pix32-V5-Base-Mini-Pinouts.pdf).
|
||||
:::
|
||||
|
||||
## 飞控的安装和方向
|
||||
|
||||
_Pix32 v5_ should be mounted on the frame positioned as close to your vehicle’s center of gravity as possible, oriented top-side up with the arrow pointing towards the front of the vehicle.
|
||||
|
||||
|
||||
|
||||
:::info
|
||||
If the controller cannot be mounted in the recommended/default orientation (e.g. due to space constraints) you will need to configure the autopilot software with the orientation that you actually used: [Flight Controller Orientation](../config/flight_controller_orientation.md).
|
||||
:::
|
||||
|
||||
:::tip
|
||||
The board has internal vibration-isolation.
|
||||
Do not use vibration-isolation foam to mount the controller (double sided tape is normally sufficient).
|
||||
:::
|
||||
|
||||
## GPS + 指南针 + 蜂鸣器 + 安全开关 + LED
|
||||
|
||||
Pix32 v5 is designed to work well with the [Holybro M8N GPS](https://holybro.com/collections/gps/products/m8n-gps), which has an integrated compass, safety switch, buzzer and LED.
|
||||
It connects directly to the **GPS port** using the 10 pin cable.
|
||||
|
||||
|
||||
|
||||
The GPS/Compass should be mounted on the frame as far away from other electronics as possible, with the direction marker towards the front of the vehicle (separating the compass from other electronics will reduce interference).
|
||||
|
||||
:::info
|
||||
The GPS module's integrated safety switch is enabled _by default_ (when enabled, PX4 will not let you arm the vehicle).
|
||||
To disable the safety press and hold the safety switch for 1 second.
|
||||
You can press the safety switch again to enable safety and disarm the vehicle (this can be useful if, for whatever reason, you are unable to disarm the vehicle from your remote control or ground station).
|
||||
:::
|
||||
|
||||
## 电源
|
||||
|
||||
You can use a power module or power distribution board to power motors/servos and measure power consumption.
|
||||
The recommended power modules are shown below.
|
||||
|
||||
<a id="pm02_v3"></a>
|
||||
|
||||
### PM02 v3 Power Module
|
||||
|
||||
The [Power Module (PM02 v3)](../power_module/holybro_pm02.md) can be bundled with _pix32 v5_.
|
||||
It provides regulated power to flight controller and sends battery voltage/current to the flight controller.
|
||||
|
||||
Connect the output of the _Power Module_ as shown.
|
||||
|
||||
|
||||
|
||||
- PM voltage/current port: connect to POWER1 port (or `POWER2`) using the 6-wire GH cable supplied.
|
||||
- PM input (XT60 male connector): connect to the LiPo battery (2~12S).
|
||||
- PM power output (XT60 female connector): wire out to any motor ESCs.
|
||||
|
||||
:::info
|
||||
As this power module does not include power distribution wiring, you would normally just connect all the ESCs in parallel to the power module output (the ESC must be appropriate for the supplied voltage level).
|
||||
:::
|
||||
|
||||
:::info
|
||||
The 8 pin power (+) rail of **MAIN/AUX** is not powered by the power module supply to the flight controller.
|
||||
If it will need to be separately powered in order to drive servos for rudders, elevons etc., the power rail needs to be connected to a BEC equipped ESC or a standalone 5V BEC or a 2S LiPo battery.
|
||||
Ensure the voltage of servo you are going to use is appropriate.
|
||||
:::
|
||||
|
||||
遥测无线电台可用于地面站的通信和飞行控制 (例如, 您可以指定无人机飞行至特定位置, 或上传新的任务)。
|
||||
|
||||
- Max input voltage: 60V
|
||||
- Max current sensing: 120A Voltage
|
||||
- Current measurement configured for SV ADC Switching regulator outputs 5.2V and 3A max
|
||||
- Weight: 20g
|
||||
- Package includes:
|
||||
- PM02 board
|
||||
- 6pin MLX cable (1)
|
||||
- 6pin GH cable (1)
|
||||
|
||||
### Battery Configuration
|
||||
|
||||
The battery/power setup must be configured in [Battery Estimation Tuning](../config/battery.md).
|
||||
For either Power Module you will need to configure the _Number of Cells_.
|
||||
|
||||
You will not need to update the _voltage divider_ unless you are using some other power module (e.g. the one from the Pixracer).
|
||||
|
||||
## 遥控器
|
||||
|
||||
A remote control (RC) radio system is required if you want to _manually_ control your vehicle (PX4 does not require a radio system for autonomous flight modes).
|
||||
|
||||
You will need to [select a compatible transmitter/receiver](../getting_started/rc_transmitter_receiver.md) and then _bind_ them so that they communicate (read the instructions that come with your specific transmitter/receiver).
|
||||
|
||||
The instructions below show how to connect the different types of receivers to _Pix32 v5_ with Baseboard:
|
||||
|
||||
- Spektrum/DSM receivers connect to the **DSM RC** input shown below.
|
||||
|
||||
|
||||
|
||||
- PPM and S.Bus receivers connect to the **SBUS_IN/PPM_IN** input port (marked as RC IN):
|
||||
|
||||
|
||||
|
||||
- PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **PPM RC** port _via a PPM encoder_ [like this one](http://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels).
|
||||
|
||||
For more information about selecting a radio system, receiver compatibility, and binding your transmitter/receiver pair, see: [Remote Control Transmitters & Receivers](../getting_started/rc_transmitter_receiver.md).
|
||||
|
||||
## Telemetry Radios (Optional)
|
||||
|
||||
Telemetry radios may be used to communicate and control a vehicle in flight from a ground station (for example, you can direct the UAV to a particular position, or upload a new mission).
|
||||
|
||||
The vehicle-based radio should be connected to the **TELEM1** port as shown below (if connected to this port, no further configuration is required).
|
||||
The other radio is connected to your ground station computer or mobile device (usually by USB).
|
||||
|
||||
|
||||
|
||||
## SD 卡
|
||||
|
||||
SD cards are most commonly used to [log and analyse flight details](../getting_started/flight_reporting.md).
|
||||
A micro SD card should come preinstalled on the pix32 v5, if you have your own micro SD card, insert the card into _pix32 v5_ as shown below.
|
||||
|
||||
|
||||
|
||||
:::tip
|
||||
The SanDisk Extreme U3 32GB is [highly recommended](../dev_log/logging.md#sd-cards).
|
||||
:::
|
||||
|
||||
## 电机
|
||||
|
||||
Motors/servos control signals are connected to the **I/O PWM OUT** (**MAIN**) and **FMU PWM OUT** (**AUX**) ports in the order specified for your vehicle in the [Airframe Reference](../airframes/airframe_reference.md).
|
||||
|
||||
|
||||
|
||||
The motors must be separately [powered](#power).
|
||||
|
||||
:::info
|
||||
If your frame is not listed in the airframe reference then use a "generic" airframe of the correct type.
|
||||
:::
|
||||
|
||||
## 其它外设
|
||||
|
||||
The wiring and configuration of optional/less common components is covered within the topics for individual [peripherals](../peripherals/index.md).
|
||||
|
||||
## 针脚定义
|
||||
|
||||
[Pix32 v5 Pinouts](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Holybro_Pix32-V5-Base-Mini-Pinouts.pdf) (Holybro)
|
||||
|
||||
## 配置
|
||||
|
||||
General configuration information is covered in: [Autopilot Configuration](../config/index.md).
|
||||
|
||||
QuadPlane specific configuration is covered here: [QuadPlane VTOL Configuration](../config_vtol/vtol_quad_configuration.md)
|
||||
|
||||
<!-- Nice to have detailed wiring infographic and instructions for different vehicle types. -->
|
||||
|
||||
## 更多信息
|
||||
|
||||
- [Pix32 v5 Overview](../flight_controller/holybro_pix32_v5.md) (Overview page)
|
||||
- [Pix32 v5 Technical Data Sheet](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Holybro_PIX32-V5_technical_data_sheet_v1.1.pdf)
|
||||
- [Pix32 v5 Pinouts](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Holybro_Pix32-V5-Base-Mini-Pinouts.pdf)
|
||||
- [Pix32 v5 Base Schematic Diagram](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Holybro_PIX32-V5-BASE-Schematic_diagram.pdf)
|
||||
- [Pix32 v5 Base Components Layout](https://holybro.com/manual/Holybro_PIX32-V5-BASE-ComponentsLayout.pdf)
|
||||
- [FMUv5 reference design pinout](https://docs.google.com/spreadsheets/d/1-n0__BYDedQrc_2NHqBenG1DNepAgnHpSGglke-QQwY/edit#gid=912976165).
|
||||
@@ -0,0 +1,136 @@
|
||||
# Pixhawk快速使用指导
|
||||
|
||||
:::warning
|
||||
PX4 does not manufacture this (or any) autopilot.
|
||||
Contact the [manufacturer](https://store.mrobotics.io/) for hardware support or compliance issues.
|
||||
:::
|
||||
|
||||
This quick start guide shows how to power the _3DR Pixhawk_ flight controller and connect its most important peripherals.
|
||||
|
||||
|
||||
|
||||
:::info
|
||||
The [3DR Pixhawk](../flight_controller/pixhawk.md) is no longer available from 3DR.
|
||||
Other flight controllers based on the [Pixhawk FMUv2 architecture](../flight_controller/pixhawk_series.md) are available from other companies (these share the same connections, outputs, functions, etc. and are wired in a similar way).
|
||||
:::
|
||||
|
||||
## 接线图概述
|
||||
|
||||
The image below shows standard Pixhawk connections (excepting the motor and servo outputs).
|
||||
We'll go through each main part in the following sections.
|
||||
|
||||
|
||||
|
||||
:::info
|
||||
More detailed wiring information is [shown below](#detailed-wiring-infographic-copter).
|
||||
:::
|
||||
|
||||
## 飞控的安装和方向
|
||||
|
||||
The _Pixhawk_ should be mounted on the frame using vibration-damping foam pads (included in the kit).
|
||||
It should be positioned as close to your vehicle’s center of gravity as possible, oriented top-side up with the arrow points towards the front of the vehicle.
|
||||
|
||||
|
||||
|
||||
:::info
|
||||
If the controller cannot be mounted in the recommended/default orientation (e.g. due to space constraints) you will need to configure the autopilot software with the orientation that you actually used: [Flight Controller Orientation](../config/flight_controller_orientation.md).
|
||||
:::
|
||||
|
||||
## 蜂鸣器与安全开关
|
||||
|
||||
Connect the included buzzer and safety switch as shown below (these are mandatory).
|
||||
|
||||
|
||||
|
||||
## GPS + Compass
|
||||
|
||||
Attach a GPS (required) to the GPS port using the 6-wire cable supplied in the kit. Optionally attach a compass to the I2C port using a 4-wire cable (the Pixhawk has an internal compass, which can be used if necessary).
|
||||
|
||||
:::info
|
||||
The diagram shows a combined GPS and Compass.
|
||||
The GPS/Compass should be mounted on the frame as far away from other electronics as possible, with the direction marker towards the front of the vehicle (separating the compass from other electronics will reduce interference).
|
||||
:::
|
||||
|
||||
|
||||
|
||||
## 电源
|
||||
|
||||
Connect the output of a _Power module_ (PM) to the **POWER** port using a 6-wire cable as shown. The PM input will be connected to your LiPo battery, while the main output will supply vehicle ESCs/motors (possibly via a power distribution board).
|
||||
|
||||
The power module supplies the flight controller with power from the battery and also sends information about the analog current and voltage supplied via the module (including both power to the flight controller and to motors etc).
|
||||
|
||||
|
||||
|
||||
:::warning
|
||||
The power module supplies the flight controller itself, but cannot power servos and other hardware connected to the controller's output ports (rail). For copter this does not matter because the motors are separately powered.
|
||||
:::
|
||||
|
||||
For planes and VTOL the output rail will need to be separately powered in order to drive servos for rudders, elevons etc. Often the main pusher/puller motor uses an ESC with an integrated [BEC](https://en.wikipedia.org/wiki/Battery_eliminator_circuit) that can be connected to the Pixhawk output rail. If not, you will need to setup a 5V BEC to connect to one of the free Pixhawk ports (without power, the servos will not work).
|
||||
|
||||
<!-- It would be good to have real example of this powering -->
|
||||
|
||||
## 遥控器
|
||||
|
||||
A remote control (RC) radio system is required if you want to _manually_ control your vehicle (PX4 does not require a radio system for autonomous flight modes).
|
||||
|
||||
You will need to [select a compatible transmitter/receiver](../getting_started/rc_transmitter_receiver.md) and then _bind_ them so that they communicate (read the instructions that come with your specific transmitter/receiver).
|
||||
|
||||
The instructions below show how to connect the different types of receivers to Pixhawk:
|
||||
|
||||
- Spektrum and DSM receivers connect to the **SPKT/DSM** input.
|
||||
|
||||
|
||||
- PPM-SUM and S.BUS receivers connect to the **RC** ground, power and signal pins as shown.
|
||||
|
||||
|
||||
- PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **RC** port _via a PPM encoder_ [like this one](http://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels).
|
||||
|
||||
For more information about selecting a radio system, receiver compatibility, and binding your transmitter/receiver pair, see: [Remote Control Transmitters & Receivers](../getting_started/rc_transmitter_receiver.md).
|
||||
|
||||
## Telemetry Radios (Optional)
|
||||
|
||||
Telemetry radios may be used to communicate and control a vehicle in flight from a ground station (for example, you can direct the UAV to a particular position, or upload a new mission). One radio must be connected to your vehicle as shown below. The other is connected to your ground station computer or mobile device (usually by USB).
|
||||
|
||||
|
||||
|
||||
<!-- what configuration is required once you've set up a radio) -->
|
||||
|
||||
## 电机
|
||||
|
||||
The mappings between MAIN/AUX output ports and motor/servos for all supported air and ground frames are listed in the [Airframe Reference](../airframes/airframe_reference.md).
|
||||
|
||||
:::warning
|
||||
The mapping is not consistent across frames (e.g. you can't rely on the throttle being on the same output for all plane frames).
|
||||
Make sure to use the correct mapping for your vehicle.
|
||||
:::
|
||||
|
||||
:::tip
|
||||
If your frame is not listed in the reference then use a "generic" airframe of the correct type.
|
||||
:::
|
||||
|
||||
:::info
|
||||
The output rail must be separately powered, as discussed in the [Power](#power) section above.
|
||||
:::
|
||||
|
||||
<!-- INSERT image of the motor AUX/MAIN ports? -->
|
||||
|
||||
## 其它外设
|
||||
|
||||
The wiring and configuration of other components is covered within the topics for individual [peripherals](../peripherals/index.md).
|
||||
|
||||
## 配置
|
||||
|
||||
General configuration information is covered in: [Autopilot Configuration](../config/index.md).
|
||||
|
||||
QuadPlane specific configuration is covered here: [QuadPlane VTOL Configuration](../config_vtol/vtol_quad_configuration.md)
|
||||
|
||||
<!-- what about config of other vtol types and plane. Do the instructions in these ones above apply for tailsitters etc? -->
|
||||
|
||||
## 详细接线示意图(直升机)。
|
||||
|
||||
|
||||
|
||||
## 更多信息
|
||||
|
||||
- [Pixhawk Series](../flight_controller/pixhawk_series.md)
|
||||
- [3DR Pixhawk](../flight_controller/pixhawk.md)
|
||||
@@ -0,0 +1,196 @@
|
||||
# Pixhawk 4 接线快速入门
|
||||
|
||||
:::warning
|
||||
PX4 does not manufacture this (or any) autopilot.
|
||||
Contact the [manufacturer](https://holybro.com/) for hardware support or compliance issues.
|
||||
:::
|
||||
|
||||
This quick start guide shows how to power the [Pixhawk 4](../flight_controller/pixhawk4.md)<sup>®</sup> flight controller and connect its most important peripherals.
|
||||
|
||||
<img src="../../assets/flight_controller/pixhawk4/pixhawk4_logo_view.jpg" width="420px" title="Pixhawk4 Image" />
|
||||
|
||||
## 接线图概述
|
||||
|
||||
下图展示了如何连接最重要的传感器和外围设备（电机和伺服舵机输出除外）。 我们将在下面各节中介绍它们的细节。
|
||||
|
||||
|
||||
|
||||
:::tip
|
||||
More information about available ports can be found here: [Pixhawk 4 > Connections](../flight_controller/pixhawk4.md#connectors).
|
||||
:::
|
||||
|
||||
## 飞控的安装和方向
|
||||
|
||||
_Pixhawk 4_ should be mounted on the frame using vibration-damping foam pads (included in the kit). It should be positioned as close to your vehicle’s center of gravity as possible, oriented top-side up with the arrow pointing towards the front of the vehicle.
|
||||
|
||||
<img src="../../assets/flight_controller/pixhawk4/pixhawk4_mounting_and_foam.png" align="center"/>
|
||||
|
||||
:::info
|
||||
If the controller cannot be mounted in the recommended/default orientation (e.g. due to space constraints) you will
|
||||
need to configure the autopilot software with the orientation that you actually used: [Flight Controller Orientation](../config/flight_controller_orientation.md).
|
||||
:::
|
||||
|
||||
## GPS + 指南针 + 蜂鸣器 + 安全开关 + LED
|
||||
|
||||
Attach the provided GPS with integrated compass, safety switch, buzzer and LED to the **GPS MODULE** port.
|
||||
|
||||
The GPS/Compass should be [mounted on the frame](../assembly/mount_gps_compass.md) as far away from other electronics as possible, with the direction marker towards the front of the vehicle (separating the compass from other electronics will reduce interference).
|
||||
|
||||
|
||||
|
||||
:::info
|
||||
The GPS module's integrated safety switch is enabled _by default_ (when enabled, PX4 will not let you arm the vehicle).
|
||||
To disable the safety press and hold the safety switch for 1 second.
|
||||
You can press the safety switch again to enable safety and disarm the vehicle (this can be useful if, for whatever reason, you are unable to disarm the vehicle from your remote control or ground station).
|
||||
:::
|
||||
|
||||
## 电源
|
||||
|
||||
Connect the output of the _Power Management Board_ (PM board) that comes with the kit to one of the **POWER** bricks of _Pixhawk 4_ using a 6-wire cable.
|
||||
The PM input **2~12S** will be connected to your LiPo battery.
|
||||
The connections of Power Management Board, including power supply and signal connections to the ESCs and servos, are explained in the table below.
|
||||
Note that the PM board does not supply power to the servos via + and - pins of **FMU PWM-OUT**.
|
||||
|
||||
The image below shows the power management board provided with _Pixhawk 4_.
|
||||
|
||||
|
||||
|
||||
:::info
|
||||
If using a plane or rover, the 8 pin power (+) rail of **FMU PWM-OUT** will need to be separately powered in order to drive servos for rudders, elevons etc.
|
||||
To do this, the power rail needs to be connected to a BEC equipped ESC or a standalone 5V BEC or a 2S LiPo battery.
|
||||
Be careful with the voltage of servo you are going to use here.
|
||||
:::
|
||||
|
||||
| PIN&Connector | 功能 |
|
||||
| --------------------------------- | ----------------------------------------------------------------------------------------------------------- |
|
||||
| I/O PWM-IN | See note below for connection to _Pixhawk 4_ |
|
||||
| M1 | I/O PWM OUT 1：将信号线连接到到电机 1 的电调 |
|
||||
| M2 | I/O PWM OUT 2：将信号线连接到到电机 2 的电调 |
|
||||
| M3 | I/O PWM OUT 3：将信号线连接到到电机 3 的电调 |
|
||||
| M4 | I/O PWM OUT 4：将信号线连接到到电机 4 的电调 |
|
||||
| M5 | I/O PWM OUT 5：将信号线连接到到电机 5 的电调 |
|
||||
| M6 | I/O PWM OUT 6：将信号线连接到到电机 6 的电调 |
|
||||
| M7 | I/O PWM OUT 7：将信号线连接到到电机 7 的电调 |
|
||||
| M8 | I/O PWM OUT 8：将信号线连接到到电机 8 的电调 |
|
||||
| FMU PWM-IN | See note below for connection to _Pixhawk 4_ |
|
||||
| FMU PWM-OUT | If FMU PWM-IN is connected to _Pixhawk 4_, connect signal wires to ESC or signal, +, - wires to servos here |
|
||||
| CAP&ADC-OUT | connect to CAP & ADC IN port of _Pixhawk 4_ |
|
||||
| CAP&ADC-IN | CAP&ADC input: Pinouts are printed on the back side of the board |
|
||||
| B+ | 连接到 ESC电调B+以为 ESC电调供电 |
|
||||
| GND | 连接到 ESC电调负极 |
|
||||
| PWR1 | 5v output 3A, connect to _Pixhawk 4_ POWER 1 |
|
||||
| PWR2 | 5v output 3A, connect to _Pixhawk 4_ POWER 2 |
|
||||
| 2~12S | 电源输入，连接到12~S的LiPo电池 |
|
||||
|
||||
:::info
|
||||
Depending on your airframe type, refer to [Airframe Reference](../airframes/airframe_reference.md) to connect **I/O PWM OUT** and **FMU PWM OUT** ports of _Pixhawk 4_ to PM board.
|
||||
**MAIN** outputs in PX4 firmware map to **I/O PWM OUT** port of _Pixhawk 4_ whereas **AUX outputs** map to **FMU PWM OUT** of _Pixhawk 4_.
|
||||
For example, **MAIN1** maps to IO_CH1 pin of **I/O PWM OUT** and **AUX1** maps to FMU_CH1 pin of **FMU PWM OUT**. **FMU PWM-IN** of PM board is internally connected to **FMU PWM-OUT**. **I/O PWM-IN** of PM board is internally connected to **M1-8**.
|
||||
:::
|
||||
|
||||
The following table summarizes how to connect _Pixhawk 4_'s PWM OUT ports to PM board's PWM-IN ports, depending on the Airframe Reference.
|
||||
|
||||
| 机架参考 | Connection between _Pixhawk 4_ --> PM board |
|
||||
| ------------------------------- | ------------------------------------------- |
|
||||
| **MAIN**: motor | I/O PWM OUT --> I/O PWM IN |
|
||||
| **MAIN**: servo | I/O PWM OUT --> FMU PWM IN |
|
||||
| **AUX**: motor | FMU PWM OUT --> I/O PWM IN |
|
||||
| **AUX**: servo | FMU PWM OUT --> FMU PWM IN |
|
||||
|
||||
<!--In the future, when Pixhawk 4 kit is available, add wiring images/videos for different airframes.-->
|
||||
|
||||
The pinout of _Pixhawk 4_’s power ports is shown below.
|
||||
The CURRENT signal should carry an analog voltage from 0-3.3V for 0-120A as default.
|
||||
The VOLTAGE signal should carry an analog voltage from 0-3.3V for 0-60V as default.
|
||||
The VCC lines have to offer at least 3A continuous and should default to 5.1V.
|
||||
A lower voltage of 5V is still acceptable, but discouraged.
|
||||
|
||||
| 针脚 | 信号 | 电压 |
|
||||
| ---- | --- | --------------------- |
|
||||
| 1（红） | VCC | +5V |
|
||||
| 2（黑） | VCC | +5V |
|
||||
| 3（黑） | 电流 | +3.3V |
|
||||
| 4（黑） | 电压 | +3.3V |
|
||||
| 5（黑） | GND | GND |
|
||||
| 6（黑） | GND | GND |
|
||||
|
||||
:::info
|
||||
Using the Power Module that comes with the kit you will need to configure the _Number of Cells_ in the [Power Settings](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/power.html) but you won't need to calibrate the _voltage divider_.
|
||||
You will have to update the _voltage divider_ if you are using any other power module (e.g. the one from the Pixracer).
|
||||
:::
|
||||
|
||||
## 遥控器
|
||||
|
||||
A remote control (RC) radio system is required if you want to _manually_ control your vehicle (PX4 does not require a radio system for autonomous flight modes).
|
||||
|
||||
You will need to [select a compatible transmitter/receiver](../getting_started/rc_transmitter_receiver.md) and then _bind_ them so that they communicate (read the instructions that come with your specific transmitter/receiver).
|
||||
|
||||
The instructions below show how to connect the different types of receivers to _Pixhawk 4_:
|
||||
|
||||
- Spektrum/DSM or S.BUS receivers connect to the **DSM/SBUS RC** input.
|
||||
|
||||
|
||||
|
||||
- PPM receivers connect to the **PPM RC** input port.
|
||||
|
||||
|
||||
|
||||
- PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **PPM RC** port _via a PPM encoder_ [like this one](http://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels).
|
||||
|
||||
For more information about selecting a radio system, receiver compatibility, and binding your transmitter/receiver pair, see: [Remote Control Transmitters & Receivers](../getting_started/rc_transmitter_receiver.md).
|
||||
|
||||
## Telemetry Radios (Optional)
|
||||
|
||||
Telemetry radios may be used to communicate and control a vehicle in flight from a ground station (for example, you can direct the UAV to a particular position, or upload a new mission).
|
||||
|
||||
The vehicle-based radio should be connected to the **TELEM1** port as shown below (if connected to this port, no further configuration is required). The other radio is connected to your ground station computer or mobile device (usually by USB).
|
||||
|
||||
|
||||
|
||||
<a id="sd_card"></a>
|
||||
|
||||
## SD 卡
|
||||
|
||||
SD cards are highly recommended as they are needed to [log and analyse flight details](../getting_started/flight_reporting.md), to run missions, and to use UAVCAN-bus hardware.
|
||||
Insert the card (included in Pixhawk 4 kit) into _Pixhawk 4_ as shown below.
|
||||
|
||||
|
||||
|
||||
:::tip
|
||||
For more information see [Basic Concepts > SD Cards (Removable Memory)](../getting_started/px4_basic_concepts.md#sd-cards-removable-memory).
|
||||
:::
|
||||
|
||||
## 电机
|
||||
|
||||
Motors/servos are connected to the **I/O PWM OUT** (**MAIN**) and **FMU PWM OUT** (**AUX**) ports in the order specified for your vehicle in the [Airframe Reference](../airframes/airframe_reference.md).
|
||||
|
||||
:::info
|
||||
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).
|
||||
:::
|
||||
|
||||
:::warning
|
||||
The mapping is not consistent across frames (e.g. you can't rely on the throttle being on the same output for all plane frames). Make sure to use the correct mapping for your vehicle.
|
||||
:::
|
||||
|
||||
## 其它外设
|
||||
|
||||
The wiring and configuration of optional/less common components is covered within the topics for individual [peripherals](../peripherals/index.md).
|
||||
|
||||
## 针脚定义
|
||||
|
||||
[Pixhawk 4 Pinouts](https://holybro.com/manual/Pixhawk4-Pinouts.pdf) (Holybro)
|
||||
|
||||
## 配置
|
||||
|
||||
General configuration information is covered in: [Autopilot Configuration](../config/index.md).
|
||||
|
||||
QuadPlane specific configuration is covered here: [QuadPlane VTOL Configuration](../config_vtol/vtol_quad_configuration.md)
|
||||
|
||||
<!-- Nice to have detailed wiring infographic and instructions for different vehicle types. -->
|
||||
|
||||
## 更多信息
|
||||
|
||||
- [Pixhawk 4](../flight_controller/pixhawk4.md) (Overview page)
|
||||
- [Pixhawk 4 Technical Data Sheet](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/pixhawk4/pixhawk4_technical_data_sheet.pdf)
|
||||
- [Pixhawk 4 Pinouts](https://holybro.com/manual/Pixhawk4-Pinouts.pdf) (Holybro)
|
||||
- [Pixhawk 4 Quick Start Guide (Holybro)](https://holybro.com/manual/Pixhawk4-quickstartguide.pdf)
|
||||
@@ -0,0 +1,161 @@
|
||||
# _Pixhawk 4 Mini_ Wiring Quick Start
|
||||
|
||||
:::warning
|
||||
PX4 does not manufacture this (or any) autopilot.
|
||||
Contact the [manufacturer](https://holybro.com/) for hardware support or compliance issues.
|
||||
:::
|
||||
|
||||
This quick start guide shows how to power the [_Pixhawk<sup>®</sup> 4 Mini_](../flight_controller/pixhawk4_mini.md) flight controller and connect its most important peripherals.
|
||||
|
||||
|
||||
|
||||
## 接线图概述
|
||||
|
||||
The image below shows where to connect the most important sensors and peripherals (except for motors and servos).
|
||||
|
||||
|
||||
|
||||
:::tip
|
||||
More information about available ports can be found here: [_Pixhawk 4 Mini_ > Interfaces](../flight_controller/pixhawk4_mini.md#interfaces).
|
||||
:::
|
||||
|
||||
## 飞控的安装和方向
|
||||
|
||||
_Pixhawk 4 Mini_ should be mounted on your frame using vibration-damping foam pads (included in the kit).
|
||||
It should be positioned as close to your vehicle’s center of gravity as possible, oriented top-side up with the arrow pointing towards the front of the vehicle.
|
||||
|
||||
|
||||
|
||||
:::info
|
||||
If the controller cannot be mounted in the recommended/default orientation (e.g. due to space constraints) you will need to configure the autopilot software with the orientation that you actually used: [Flight Controller Orientation](../config/flight_controller_orientation.md).
|
||||
:::
|
||||
|
||||
## GPS + 指南针 + 蜂鸣器 + 安全开关 + LED
|
||||
|
||||
Attach the provided GPS with integrated compass, safety switch, buzzer, and LED to the **GPS MODULE** port. The GPS/Compass should be [mounted on the frame](../assembly/mount_gps_compass.md) as far away from other electronics as possible, with the direction marker towards the front of the vehicle (separating the compass from other electronics will reduce interference).
|
||||
|
||||
|
||||
|
||||
:::info
|
||||
The GPS module's integrated safety switch is enabled _by default_ (when enabled, PX4 will not let you arm the vehicle).
|
||||
To disable the safety press and hold the safety switch for 1 second.
|
||||
You can press the safety switch again to enable safety and disarm the vehicle (this can be useful if, for whatever reason, you are unable to disarm the vehicle from your remote control or ground station).
|
||||
:::
|
||||
|
||||
## 电源
|
||||
|
||||
The Power Management Board (PMB) serves the purpose of a power module as well as a power distribution board.
|
||||
In addition to providing regulated power to _Pixhawk 4 Mini_ and the ESCs, it sends information to the autopilot about the battery’s voltage and current draw.
|
||||
|
||||
Connect the output of the PMB that comes with the kit to the **POWER** port of the _Pixhawk 4 Mini_ using a 6-wire cable.
|
||||
The connections of the PMB, including power supply and signal connections to the ESCs and servos, are explained in the image below.
|
||||
|
||||
|
||||
|
||||
:::info
|
||||
The image above only shows the connection of a single ESC and a single servo.
|
||||
Connect the remaining ESCs and servos similarly.
|
||||
:::
|
||||
|
||||
| Pin(s) 或连接器 | 功能 |
|
||||
| ------------------------------ | -------------------------------------------------------------------------- |
|
||||
| B+ | 连接到 ESC电调B+以为 ESC电调供电 |
|
||||
| GND | 连接到 ESC电调负极 |
|
||||
| PWR | JST-GH 6-pin Connector, 5V 3A output<br> connect to _Pixhawk 4 Mini_ POWER |
|
||||
| BAT | 电源输入，连接到2~12S的LiPo电池 |
|
||||
|
||||
The pinout of the _Pixhawk 4 Mini_ **POWER** port is shown below.
|
||||
The `CURRENT` signal should carry an analog voltage from 0-3.3V for 0-120A as default.
|
||||
The `VOLTAGE` signal should carry an analog voltage from 0-3.3V for 0-60V as default.
|
||||
The VCC lines have to offer at least 3A continuous and should default to 5.1V. A lower voltage of 5V is still acceptable, but discouraged.
|
||||
|
||||
| 针脚 | 信号 | 电压 |
|
||||
| ---- | --- | --------------------- |
|
||||
| 1（红） | VCC | +5V |
|
||||
| 2（黑） | VCC | +5V |
|
||||
| 3（黑） | 电流 | +3.3V |
|
||||
| 4（黑） | 电压 | +3.3V |
|
||||
| 5（黑） | GND | GND |
|
||||
| 6（黑） | GND | GND |
|
||||
|
||||
:::info
|
||||
If using a plane or rover, the 8 pin power (+) rail of **MAIN OUT** will need to be separately powered in order to drive servos for rudders, elevons, etc.
|
||||
To do this, the power rail needs to be connected to a BEC equipped ESC, a standalone 5V BEC, or a 2S LiPo battery.
|
||||
Be careful with the voltage of servo you are going to use here.
|
||||
:::
|
||||
|
||||
<!--In the future, when Pixhawk 4 kit is available, add wiring images/videos for different airframes.-->
|
||||
|
||||
:::info
|
||||
Using the Power Module that comes with the kit you will need to configure the _Number of Cells_ in the [Power Settings](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/power.html) but you won't need to calibrate the _voltage divider_.
|
||||
You will have to update the _voltage divider_ if you are using any other power module (e.g. the one from the Pixracer).
|
||||
:::
|
||||
|
||||
## 遥控器
|
||||
|
||||
A remote control (RC) radio system is required if you want to _manually_ control your vehicle (PX4 does not require a radio system for autonomous flight modes).
|
||||
|
||||
You will need to [select a compatible transmitter/receiver](../getting_started/rc_transmitter_receiver.md) and then _bind_ them so that they communicate (read the instructions that come with your specific transmitter/receiver).
|
||||
|
||||
The instructions below show how to connect the different types of receivers to _Pixhawk 4 Mini_:
|
||||
|
||||
- Spektrum/DSM or S.BUS receivers connect to the **DSM/SBUS RC** input.
|
||||
|
||||
|
||||
|
||||
- PPM receivers connect to the **PPM RC** input port.
|
||||
|
||||
|
||||
|
||||
- PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **PPM RC** port _via a PPM encoder_ [like this one](http://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels).
|
||||
|
||||
For more information about selecting a radio system, receiver compatibility, and binding your transmitter/receiver pair, see: [Remote Control Transmitters & Receivers](../getting_started/rc_transmitter_receiver.md).
|
||||
|
||||
## Telemetry Radio (Optional)
|
||||
|
||||
Telemetry radios may be used to communicate and control a vehicle in flight from a ground station (for example, you can direct the UAV to a particular position, or upload a new mission).
|
||||
|
||||
The vehicle-based radio should be connected to the **TELEM1** port as shown below (if connected to this port, no further configuration is required).
|
||||
The other radio is connected to your ground station computer or mobile device (usually by USB).
|
||||
|
||||
|
||||
|
||||
## SD卡（可选）
|
||||
|
||||
SD cards are highly recommended as they are needed to [log and analyse flight details](../getting_started/flight_reporting.md), to run missions, and to use UAVCAN-bus hardware.
|
||||
Insert the card (included in the kit) into _Pixhawk 4 Mini_ as shown below.
|
||||
|
||||
|
||||
|
||||
:::tip
|
||||
For more information see [Basic Concepts > SD Cards (Removable Memory)](../getting_started/px4_basic_concepts.md#sd-cards-removable-memory).
|
||||
:::
|
||||
|
||||
## 电机
|
||||
|
||||
Motors/servos are connected to the **MAIN OUT** ports in the order specified for your vehicle in the [Airframe Reference](../airframes/airframe_reference.md). See [_Pixhawk 4 Mini_ > Supported Platforms](../flight_controller/pixhawk4_mini.md#supported-platforms) for more information.
|
||||
|
||||
:::info
|
||||
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).
|
||||
:::
|
||||
|
||||
:::warning
|
||||
The mapping is not consistent across frames (e.g. you can't rely on the throttle being on the same output for all plane frames).
|
||||
Make sure to use the correct mapping for your vehicle.
|
||||
:::
|
||||
|
||||
## 其它外设
|
||||
|
||||
The wiring and configuration of optional/less common components is covered within the topics for individual [peripherals](../peripherals/index.md).
|
||||
|
||||
## 配置
|
||||
|
||||
General configuration information is covered in: [Autopilot Configuration](../config/index.md).
|
||||
|
||||
QuadPlane specific configuration is covered here: [QuadPlane VTOL Configuration](../config_vtol/vtol_quad_configuration.md)
|
||||
|
||||
<!-- Nice to have detailed wiring infographic and instructions for different vehicle types. -->
|
||||
|
||||
## 更多信息
|
||||
|
||||
- [_Pixhawk 4 Mini_](../flight_controller/pixhawk4_mini.md)
|
||||
@@ -0,0 +1,157 @@
|
||||
# Holybro Pixhawk 5x Wiring Quick Start
|
||||
|
||||
:::warning
|
||||
PX4 does not manufacture this (or any) autopilot.
|
||||
Contact the [manufacturer](https://holybro.com/) for hardware support or compliance issues.
|
||||
:::
|
||||
|
||||
This quick start guide shows how to power the [Pixhawk<sup>®</sup> 5X](../flight_controller/pixhawk5x.md) flight controller and connect its most important peripherals.
|
||||
|
||||
<img src="../../assets/flight_controller/pixhawk5x/pixhawk5x_standard_set.jpg" width="520px" title="Pixhawk5x standard set" />
|
||||
|
||||
Pixhawk 5 Standard Set
|
||||
|
||||
## 接线图概述
|
||||
|
||||
The image below shows how to connect the most important sensors and peripherals.
|
||||
|
||||
|
||||
|
||||
:::tip
|
||||
More information about available ports can be found here: [Pixhawk 5X > Connections](../flight_controller/pixhawk5x.md#connections).
|
||||
:::
|
||||
|
||||
## 飞控的安装和方向
|
||||
|
||||
_Pixhawk 5X_ can be mounted on the frame using double side tape included in the kit.
|
||||
It should be positioned as close to your vehicle’s center of gravity as possible, oriented top-side up with the arrow pointing towards the front of the vehicle.
|
||||
|
||||
<img src="../../assets/flight_controller/pixhawk5x/pixhawk5x_vehicle_front1.jpg" width="400px" title="Pixhawk5x standard set" />
|
||||
|
||||
:::info
|
||||
If the controller cannot be mounted in the recommended/default orientation (e.g. due to space constraints) you will need to configure the autopilot software with the orientation that you actually used: [Flight Controller Orientation](../config/flight_controller_orientation.md).
|
||||
:::
|
||||
|
||||
## GPS + 指南针 + 蜂鸣器 + 安全开关 + LED
|
||||
|
||||
The _Pixhawk5X Standard Set_ can be purchased with M8N or M9N GPS (10-pin connector) that should be connected to the **GPS1** port.
|
||||
These GNSS modules have an integrated compass, safety switch, buzzer and LED.
|
||||
|
||||
A secondary [M8N or M9N GPS](https://holybro.com/collections/gps) (6-pin connector) can be purchased separately and connected to the **GPS2** port.
|
||||
|
||||
The GPS/Compass should be [mounted on the frame](../assembly/mount_gps_compass.md) as far away from other electronics as possible, with the direction marker towards the front of the vehicle (separating the compass from other electronics will reduce interference).
|
||||
|
||||
<img src="../../assets/flight_controller/pixhawk5x/pixhawk5x_gps_front.jpg" width="200px" title="Pixhawk5x standard set" />
|
||||
|
||||
:::info
|
||||
The GPS module's integrated safety switch is enabled _by default_ (when enabled, PX4 will not let you arm the vehicle).
|
||||
To disable the safety press and hold the safety switch for 1 second.
|
||||
You can press the safety switch again to enable safety and disarm the vehicle (this can be useful if, for whatever reason, you are unable to disarm the vehicle from your remote control or ground station).
|
||||
:::
|
||||
|
||||
## 电源
|
||||
|
||||
Connect the output of the _PM02D Power Module_ (PM board) that comes with the Standard Set to one of the **POWER** port of _Pixhawk 5X_ using the 6-wire cable.
|
||||
The PM02D and Power ports on the Pixhawk 5X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/molex/products/part-detail/pcb_receptacles/5024430670) & [Housing](https://www.molex.com/molex/products/part-detail/crimp_housings/5024390600).
|
||||
|
||||
The PM02D Power Module supports **2~6S** battery, the board input should be connected to your LiPo battery. Note that the PM board does not supply power to the + and - pins of **FMU PWM OUT** and **I/O PWM OUT**.
|
||||
|
||||
If using a plane or rover, the **FMU PWM-OUT** will need to be separately powered in order to drive servos for rudders, elevons etc. This can be done by connecting the 8 pin power (+) rail of the **FMU PWM-OUT** to a voltage regulator (for example, a BEC equipped ESC or a standalone 5V BEC or a 2S LiPo battery).
|
||||
|
||||
:::info
|
||||
The power rail voltage must be appropriate for the servo being used!
|
||||
:::
|
||||
|
||||
| PIN & Connector | 功能 |
|
||||
| ----------------------------------- | ------------------------------------------------------------------- |
|
||||
| I/O PWM Out | Connect Motor Signal and GND wires here. |
|
||||
| FMU PWM Out | Connect Servo Signal, positive, and GND wires here. |
|
||||
|
||||
:::info
|
||||
**MAIN** outputs in PX4 firmware map to **I/O PWM OUT** port of _Pixhawk 5X_ whereas **AUX outputs** map to **FMU PWM OUT** of _Pixhawk 5x_.
|
||||
For example, **MAIN1** maps to IO_CH1 pin of **I/O PWM OUT** and **AUX1** maps to FMU_CH1 pin of **FMU PWM OUT**.
|
||||
:::
|
||||
|
||||
The pinout of _Pixhawk 5X_’s power ports is shown below. The power ports takes in I2C digital signal from the PM02D power module for voltage and current data. The VCC lines have to offer at least 3A continuous and should default to 5.2V. A lower voltage of 5V is still acceptable, but discouraged.
|
||||
|
||||
| 针脚 | 信号 | 电压 |
|
||||
| ---- | --- | --------------------- |
|
||||
| 1（红） | VCC | +5V |
|
||||
| 2（黑） | VCC | +5V |
|
||||
| 3（黑） | SCL | +3.3V |
|
||||
| 4（黑） | SDA | +3.3V |
|
||||
| 5（黑） | GND | GND |
|
||||
| 6（黑） | GND | GND |
|
||||
|
||||
## 遥控器
|
||||
|
||||
A remote control (RC) radio system is required if you want to _manually_ control your vehicle (PX4 does not require a radio system for autonomous flight modes).
|
||||
|
||||
You will need to [select a compatible transmitter/receiver](../getting_started/rc_transmitter_receiver.md) and then _bind_ them so that they communicate (read the instructions that come with your specific transmitter/receiver).
|
||||
|
||||
- Spektrum/DSM receivers connect to the **DSM/SBUS RC** input.
|
||||
- PPM or SBUS receivers connect to the **RC IN** input port.
|
||||
|
||||
PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **RC IN** port _via a PPM encoder_ [like this one](http://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels).
|
||||
|
||||
For more information about selecting a radio system, receiver compatibility, and binding your transmitter/receiver pair, see: [Remote Control Transmitters & Receivers](../getting_started/rc_transmitter_receiver.md).
|
||||
|
||||
## Telemetry Radios (Optional)
|
||||
|
||||
[Telemetry radios](../telemetry/index.md) may be used to communicate and control a vehicle in flight from a ground station (for example, you can direct the UAV to a particular position, or upload a new mission).
|
||||
|
||||
The vehicle-based radio should be connected to the **TELEM1** port as shown below (if connected to this port, no further configuration is required).
|
||||
The other radio is connected to your ground station computer or mobile device (usually by USB).
|
||||
|
||||
Radios are also available for purchase on [Holybro's website](https://holybro.com/collections/telemetry-radios) .
|
||||
|
||||
## SD 卡
|
||||
|
||||
SD cards are highly recommended as they are needed to [log and analyse flight details](../getting_started/flight_reporting.md), to run missions, and to use UAVCAN-bus hardware.
|
||||
Insert the card (included in Pixhawk 5X kit) into _Pixhawk 5X_ as shown below.
|
||||
|
||||
<img src="../../assets/flight_controller/pixhawk5x/pixhawk5x_sd_slot.jpg" width="420px" title="Pixhawk5x standard set" />
|
||||
|
||||
:::tip
|
||||
For more information see [Basic Concepts > SD Cards (Removable Memory)](../getting_started/px4_basic_concepts.md#sd-cards-removable-memory).
|
||||
:::
|
||||
|
||||
## 电机
|
||||
|
||||
Motors/servos are connected to the **I/O PWM OUT** (**MAIN**) and **FMU PWM OUT** (**AUX**) ports in the order specified for your vehicle in the [Airframe Reference](../airframes/airframe_reference.md).
|
||||
|
||||
:::info
|
||||
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).
|
||||
:::
|
||||
|
||||
:::warning
|
||||
The mapping is not consistent across frames (e.g. you can't rely on the throttle being on the same output for all plane frames). Make sure to use the correct mapping for your vehicle.
|
||||
:::
|
||||
|
||||
## 其它外设
|
||||
|
||||
The wiring and configuration of optional/less common components is covered within the topics for individual [peripherals](../peripherals/index.md).
|
||||
|
||||
## 针脚定义
|
||||
|
||||
|
||||
|
||||
You can also download _Pixhawk 5X_ pinouts from [here](https://github.com/PX4/PX4-user_guide/blob/main/assets/flight_controller/pixhawk5x/pixhawk5x_pinout.pdf) or [here](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Holybro_Pixhawk5X_Pinout.pdf).
|
||||
|
||||
## 配置
|
||||
|
||||
General configuration information is covered in: [Autopilot Configuration](../config/index.md).
|
||||
|
||||
QuadPlane specific configuration is covered here: [QuadPlane VTOL Configuration](../config_vtol/vtol_quad_configuration.md)
|
||||
|
||||
<!-- Nice to have detailed wiring infographic and instructions for different vehicle types. -->
|
||||
|
||||
## 更多信息
|
||||
|
||||
- [Pixhawk 5X](../flight_controller/pixhawk5x.md) (PX4 Doc Overview page)
|
||||
- [Pixhawk 5X Overview & Specification](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Holybro_Pixhawk5X_Spec_Overview.pdf) (Holybro)
|
||||
- [Pixhawk 5X Pinouts](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Holybro_Pixhawk5X_Pinout.pdf) (Holybro)
|
||||
- [FMUv5X reference design pinout](https://docs.google.com/spreadsheets/d/1Su7u8PHp-Y1AlLGVuH_I8ewkEEXt_bHHYBHglRuVH7E/edit#gid=562580340).
|
||||
- [Pixhawk Autopilot FMUv5X Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-011%20Pixhawk%20Autopilot%20v5X%20Standard.pdf).
|
||||
- [Pixhawk Autopilot Bus Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-010%20Pixhawk%20Autopilot%20Bus%20Standard.pdf).
|
||||
- [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf).
|
||||
@@ -0,0 +1,144 @@
|
||||
# Holybro Pixhawk 6C Wiring Quick Start
|
||||
|
||||
:::warning
|
||||
PX4 does not manufacture this (or any) autopilot.
|
||||
Contact the [manufacturer](https://holybro.com/) for hardware support or compliance issues.
|
||||
:::
|
||||
|
||||
This quick start guide shows how to power the [Pixhawk 6C<sup>®</sup>](../flight_controller/pixhawk6c.md) flight controller and connect its most important peripherals.
|
||||
|
||||
## Kit Contents
|
||||
|
||||
Pixhawk 6C + PM02 + M8N GPS.
|
||||
|
||||
|
||||
|
||||
## 飞控的安装和方向
|
||||
|
||||
_Pixhawk 6C_ can be mounted on the frame using double side tape included in the kit.
|
||||
It should be positioned as close to your vehicle’s center of gravity as possible, oriented top-side up with the arrow pointing towards the front of the vehicle.
|
||||
|
||||
<img src="../../assets/flight_controller/pixhawk6c/pixhawk6c_vehicle_front1.jpg" width="300px" title="Pixhawk6c - mounting orientation" />
|
||||
|
||||
:::info
|
||||
If the controller cannot be mounted in the recommended/default orientation (e.g. due to space constraints) you will need to configure the autopilot software with the orientation that you actually used: [Flight Controller Orientation](../config/flight_controller_orientation.md).
|
||||
:::
|
||||
|
||||
## GPS + 指南针 + 蜂鸣器 + 安全开关 + LED
|
||||
|
||||
The _Pixhawk6C_ can be purchased with M8N or M9N GPS (10-pin connector) that should be connected to the **GPS1** port.
|
||||
These GNSS modules have an integrated compass, safety switch, buzzer and LED.
|
||||
|
||||
A secondary [M8N or M9N GPS](https://holybro.com/collections/gps) (6-pin connector) can be purchased separately and connected to the **GPS2** port.
|
||||
|
||||
The GPS/Compass should be [mounted on the frame](../assembly/mount_gps_compass.md) as far away from other electronics as possible, with the direction marker towards the front of the vehicle (separating the compass from other electronics will reduce interference).
|
||||
|
||||
<img src="../../assets/flight_controller/pixhawk5x/pixhawk5x_gps_front.jpg" width="200px" title="Pixhawk5x standard set" />
|
||||
|
||||
:::info
|
||||
The GPS module's integrated safety switch is enabled _by default_ (when enabled, PX4 will not let you arm the vehicle).
|
||||
To disable the safety press and hold the safety switch for 1 second.
|
||||
You can press the safety switch again to enable safety and disarm the vehicle (this can be useful if, for whatever reason, you are unable to disarm the vehicle from your remote control or ground station).
|
||||
:::
|
||||
|
||||
## 电源
|
||||
|
||||
Connect the output of the power module of your selection that comes with the Standard Set to one of the **POWER** port of _Pixhawk 6C_ using the 6-wire cable.
|
||||
|
||||
If using a plane or rover, the **FMU PWM-OUT** will need to be separately powered in order to drive servos for rudders, elevons etc. This can be done by connecting the 8 pin power (+) rail of the **FMU PWM-OUT** to a voltage regulator (for example, a BEC equipped ESC or a standalone 5V BEC or a 2S LiPo battery).
|
||||
|
||||
:::info
|
||||
The power rail voltage must be appropriate for the servo being used!
|
||||
:::
|
||||
|
||||
| PIN & Connector | 功能 |
|
||||
| ----------------------------------- | ------------------------------------------------------------------- |
|
||||
| I/O PWM Out | Connect Motor Signal and GND wires here. |
|
||||
| FMU PWM Out | Connect Servo Signal, positive, and GND wires here. |
|
||||
|
||||
:::info
|
||||
**MAIN** outputs in PX4 firmware map to **I/O PWM OUT** port of _Pixhawk 6C_ whereas **AUX outputs** map to **FMU PWM OUT** of _Pixhawk 6C_.
|
||||
For example, **MAIN1** maps to IO_CH1 pin of **I/O PWM OUT** and **AUX1** maps to FMU_CH1 pin of **FMU PWM OUT**.
|
||||
:::
|
||||
|
||||
The pinout of _Pixhawk 6C_’s power ports is shown below.
|
||||
|
||||
| 针脚 | 信号 | 电压 |
|
||||
| ---- | --- | --------------------- |
|
||||
| 1（红） | VDD | +5V |
|
||||
| 2（黑） | VDD | +5V |
|
||||
| 3（黑） | 电流 | +3.3V |
|
||||
| 4（黑） | 电压 | +3.3V |
|
||||
| 5（黑） | GND | GND |
|
||||
| 6（黑） | GND | GND |
|
||||
|
||||
## 遥控器
|
||||
|
||||
A remote control (RC) radio system is required if you want to _manually_ control your vehicle (PX4 does not require a radio system for autonomous flight modes).
|
||||
|
||||
You will need to [select a compatible transmitter/receiver](../getting_started/rc_transmitter_receiver.md) and then _bind_ them so that they communicate (read the instructions that come with your specific transmitter/receiver).
|
||||
|
||||
- Spektrum/DSM receivers connect to the **DSM** input.
|
||||
- PPM or SBUS receivers connect to the **PPM/SBUS** input port.
|
||||
|
||||
PPM and PWM receivers that have an _individual wire for each channel_ must connect to the \*PPM/SBUS\*\* port \*via a PPM encoder\* [like this one](http://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels).
|
||||
|
||||
For more information about selecting a radio system, receiver compatibility, and binding your transmitter/receiver pair, see: [Remote Control Transmitters & Receivers](../getting_started/rc_transmitter_receiver.md).
|
||||
|
||||
## Telemetry Radios (Optional)
|
||||
|
||||
[Telemetry radios](../telemetry/index.md) may be used to communicate and control a vehicle in flight from a ground station (for example, you can direct the UAV to a particular position, or upload a new mission).
|
||||
|
||||
The vehicle-based radio should be connected to the **TELEM1** port as shown below (if connected to this port, no further configuration is required).
|
||||
The other radio is connected to your ground station computer or mobile device (usually by USB).
|
||||
|
||||
Radios are also available for purchase on [Holybro's website](https://holybro.com/collections/telemetry-radios) .
|
||||
|
||||
## SD 卡
|
||||
|
||||
SD cards are highly recommended as they are needed to [log and analyse flight details](../getting_started/flight_reporting.md), to run missions, and to use UAVCAN-bus hardware.
|
||||
Insert the card (included in Pixhawk 6C) into _Pixhawk 6C_ as shown below.
|
||||
|
||||
<img src="../../assets/flight_controller/pixhawk6c/pixhawk6c_sd_slot.jpg" width="320px" title="Pixhawk6c SD" />
|
||||
|
||||
:::tip
|
||||
For more information see [Basic Concepts > SD Cards (Removable Memory)](../getting_started/px4_basic_concepts.md#sd-cards-removable-memory).
|
||||
:::
|
||||
|
||||
## 电机
|
||||
|
||||
Motors/servos are connected to the **I/O PWM OUT** (**MAIN**) and **FMU PWM OUT** (**AUX**) ports in the order specified for your vehicle in the [Airframe Reference](../airframes/airframe_reference.md).
|
||||
|
||||
:::info
|
||||
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).
|
||||
:::
|
||||
|
||||
:::warning
|
||||
The mapping is not consistent across frames (e.g. you can't rely on the throttle being on the same output for all plane frames). Make sure to use the correct mapping for your vehicle.
|
||||
:::
|
||||
|
||||
## 其它外设
|
||||
|
||||
The wiring and configuration of optional/less common components is covered within the topics for individual [peripherals](../peripherals/index.md).
|
||||
|
||||
## 针脚定义
|
||||
|
||||
- [Holybro Pixhawk -6C Pinout](https://docs.holybro.com/autopilot/pixhawk-6c/pixhawk-6c-pinout)
|
||||
|
||||
## 配置
|
||||
|
||||
General configuration information is covered in: [Autopilot Configuration](../config/index.md).
|
||||
|
||||
QuadPlane specific configuration is covered here: [QuadPlane VTOL Configuration](../config_vtol/vtol_quad_configuration.md)
|
||||
|
||||
<!-- Nice to have detailed wiring infographic and instructions for different vehicle types. -->
|
||||
|
||||
## 更多信息
|
||||
|
||||
- [Holybro Docs](https://docs.holybro.com/) (Holybro)
|
||||
- [Pixhawk 6C](../flight_controller/pixhawk6c.md) (PX4 Doc Overview page)
|
||||
- [PM02 Power Module](../power_module/holybro_pm02.md)
|
||||
- [PM06 Power Module](../power_module/holybro_pm06_pixhawk4mini_power_module.md)
|
||||
- [PM07 Power Module](../power_module/holybro_pm07_pixhawk4_power_module.md)
|
||||
- [Pixhawk Autopilot Bus Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-010%20Pixhawk%20Autopilot%20Bus%20Standard.pdf).
|
||||
- [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf).
|
||||
@@ -0,0 +1,176 @@
|
||||
# Holybro Pixhawk 6X Wiring Quick Start
|
||||
|
||||
:::warning
|
||||
PX4 does not manufacture this (or any) autopilot.
|
||||
Contact the [manufacturer](https://holybro.com/) for hardware support or compliance issues.
|
||||
:::
|
||||
|
||||
This quick start guide shows how to power the [Pixhawk 6X<sup>®</sup>](../flight_controller/pixhawk6x.md) flight controller and connect its most important peripherals.
|
||||
|
||||
## Kit Contents
|
||||
|
||||
:::: tabs
|
||||
|
||||
:::tab Pixhawk 6X Standard Set
|
||||
|
||||
|
||||
|
||||
:::
|
||||
|
||||
:::tab Pixhawk 6X Mini Set
|
||||
|
||||
|
||||
|
||||
:::
|
||||
::::
|
||||
|
||||
## 接线图概述
|
||||
|
||||
The image below is sample wiring diagram that shows how to connect the most important sensors and peripherals.
|
||||
|
||||
|
||||
|
||||
:::tip
|
||||
More information about available ports can be found here: [Pixhawk 6X > Connections](../flight_controller/pixhawk6x.md#connections).
|
||||
:::
|
||||
|
||||
## 飞控的安装和方向
|
||||
|
||||
_Pixhawk 6X_ can be mounted on the frame using double side tape included in the kit.
|
||||
It should be positioned as close to your vehicle’s center of gravity as possible, oriented top-side up with the arrow pointing towards the front of the vehicle.
|
||||
|
||||
<img src="../../assets/flight_controller/pixhawk6x/pixhawk6x_vehicle_front1.jpg" width="400px" title="Pixhawk6x" />
|
||||
|
||||
:::info
|
||||
If the controller cannot be mounted in the recommended/default orientation (e.g. due to space constraints) you will need to configure the autopilot software with the orientation that you actually used: [Flight Controller Orientation](../config/flight_controller_orientation.md).
|
||||
:::
|
||||
|
||||
## GPS + 指南针 + 蜂鸣器 + 安全开关 + LED
|
||||
|
||||
The _Pixhawk6X Standard Set_ & _Pixhawk6X Mini Set_ can be purchased with M8N or M9N GPS (10-pin connector) that should be connected to the **GPS1** port.
|
||||
These GNSS modules have an integrated compass, safety switch, buzzer and LED.
|
||||
|
||||
A secondary [M8N or M9N GPS](https://holybro.com/collections/gps) (6-pin connector) can be purchased separately and connected to the **GPS2** port.
|
||||
|
||||
The GPS/Compass should be [mounted on the frame](../assembly/mount_gps_compass.md) as far away from other electronics as possible, with the direction marker towards the front of the vehicle (separating the compass from other electronics will reduce interference).
|
||||
|
||||
<img src="../../assets/flight_controller/pixhawk5x/pixhawk5x_gps_front.jpg" width="200px" title="Pixhawk5x standard set" />
|
||||
|
||||
:::info
|
||||
The GPS module's integrated safety switch is enabled _by default_ (when enabled, PX4 will not let you arm the vehicle).
|
||||
To disable the safety press and hold the safety switch for 1 second.
|
||||
You can press the safety switch again to enable safety and disarm the vehicle (this can be useful if, for whatever reason, you are unable to disarm the vehicle from your remote control or ground station).
|
||||
:::
|
||||
|
||||
## 电源
|
||||
|
||||
Connect the output of the _PM02D Power Module_ (PM board) that comes with the Standard Set to one of the **POWER** port of _Pixhawk 6X_ using the 6-wire cable.
|
||||
The PM02D and Power ports on the Pixhawk 6X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/molex/products/part-detail/pcb_receptacles/5024430670) & [Housing](https://www.molex.com/molex/products/part-detail/crimp_housings/5024390600).
|
||||
|
||||
The PM02D Power Module supports **2~6S** battery, the board input should be connected to your LiPo battery. Note that the PM board does not supply power to the + and - pins of **FMU PWM OUT** and **I/O PWM OUT**.
|
||||
|
||||
If using a plane or rover, the **FMU PWM-OUT** will need to be separately powered in order to drive servos for rudders, elevons etc. This can be done by connecting the 8 pin power (+) rail of the **FMU PWM-OUT** to a voltage regulator (for example, a BEC equipped ESC or a standalone 5V BEC or a 2S LiPo battery).
|
||||
|
||||
:::info
|
||||
The power rail voltage must be appropriate for the servo being used!
|
||||
:::
|
||||
|
||||
| PIN & Connector | 功能 |
|
||||
| ----------------------------------- | ------------------------------------------------------------------- |
|
||||
| I/O PWM Out | Connect Motor Signal and GND wires here. |
|
||||
| FMU PWM Out | Connect Servo Signal, positive, and GND wires here. |
|
||||
|
||||
:::info
|
||||
**MAIN** outputs in PX4 firmware map to **I/O PWM OUT** port of _Pixhawk 6X_ whereas **AUX outputs** map to **FMU PWM OUT** of _Pixhawk 6X_.
|
||||
For example, **MAIN1** maps to IO_CH1 pin of **I/O PWM OUT** and **AUX1** maps to FMU_CH1 pin of **FMU PWM OUT**.
|
||||
:::
|
||||
|
||||
The pinout of _Pixhawk 6X_’s power ports is shown below. The power ports takes in I2C digital signal from the PM02D power module for voltage and current data. The VCC lines have to offer at least 3A continuous and should default to 5.2V. A lower voltage of 5V is still acceptable, but discouraged.
|
||||
|
||||
| 针脚 | 信号 | 电压 |
|
||||
| ---- | --- | --------------------- |
|
||||
| 1（红） | VCC | +5V |
|
||||
| 2（黑） | VCC | +5V |
|
||||
| 3（黑） | SCL | +3.3V |
|
||||
| 4（黑） | SDA | +3.3V |
|
||||
| 5（黑） | GND | GND |
|
||||
| 6（黑） | GND | GND |
|
||||
|
||||
## 遥控器
|
||||
|
||||
A remote control (RC) radio system is required if you want to _manually_ control your vehicle (PX4 does not require a radio system for autonomous flight modes).
|
||||
|
||||
You will need to [select a compatible transmitter/receiver](../getting_started/rc_transmitter_receiver.md) and then _bind_ them so that they communicate (read the instructions that come with your specific transmitter/receiver).
|
||||
|
||||
- Spektrum/DSM receivers connect to the **DSM/SBUS RC** input.
|
||||
- PPM or SBUS receivers connect to the **RC IN** input port.
|
||||
|
||||
PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **RC IN** port _via a PPM encoder_ [like this one](http://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels).
|
||||
|
||||
For more information about selecting a radio system, receiver compatibility, and binding your transmitter/receiver pair, see: [Remote Control Transmitters & Receivers](../getting_started/rc_transmitter_receiver.md).
|
||||
|
||||
## Telemetry Radios (Optional)
|
||||
|
||||
[Telemetry radios](../telemetry/index.md) may be used to communicate and control a vehicle in flight from a ground station (for example, you can direct the UAV to a particular position, or upload a new mission).
|
||||
|
||||
The vehicle-based radio should be connected to the **TELEM1** port as shown below (if connected to this port, no further configuration is required).
|
||||
The other radio is connected to your ground station computer or mobile device (usually by USB).
|
||||
|
||||
Radios are also available for purchase on [Holybro's website](https://holybro.com/collections/telemetry-radios) .
|
||||
|
||||
## SD 卡
|
||||
|
||||
SD cards are highly recommended as they are needed to [log and analyse flight details](../getting_started/flight_reporting.md), to run missions, and to use UAVCAN-bus hardware.
|
||||
Insert the card (included in Pixhawk 6X) into _Pixhawk 6X_ as shown below.
|
||||
|
||||
<img src="../../assets/flight_controller/pixhawk5x/pixhawk5x_sd_slot.jpg" width="420px" title="Pixhawk5x standard set" />
|
||||
|
||||
:::tip
|
||||
For more information see [Basic Concepts > SD Cards (Removable Memory)](../getting_started/px4_basic_concepts.md#sd-cards-removable-memory).
|
||||
:::
|
||||
|
||||
## 电机
|
||||
|
||||
Motors/servos are connected to the **I/O PWM OUT** (**MAIN**) and **FMU PWM OUT** (**AUX**) ports in the order specified for your vehicle in the [Airframe Reference](../airframes/airframe_reference.md).
|
||||
|
||||
:::info
|
||||
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).
|
||||
:::
|
||||
|
||||
:::warning
|
||||
The mapping is not consistent across frames (e.g. you can't rely on the throttle being on the same output for all plane frames). Make sure to use the correct mapping for your vehicle.
|
||||
:::
|
||||
|
||||
## 其它外设
|
||||
|
||||
- [Telemetry Radio Modules](https://holybro.com/collections/telemetry-radios?orderby=date)
|
||||
- [Rangefinders/Distance sensors](../sensor/rangefinders.md)
|
||||
- [Holybro Sensors](https://holybro.com/collections/sensors)
|
||||
- [Holybro GPS & RTK Systems](https://holybro.com/collections/gps-rtk-systems)
|
||||
- [Power Modules & PDBs](https://holybro.com/collections/power-modules-pdbs)
|
||||
|
||||
The wiring and configuration of optional/less common components is covered within the topics for individual [peripherals](../peripherals/index.md).
|
||||
|
||||
## 针脚定义
|
||||
|
||||
- [Holybro Pixhawk Baseboard Pinout](https://docs.holybro.com/autopilot/pixhawk-6x/pixhawk-baseboard-pinout)
|
||||
- [Holybro Pixhawk Mini-Baseboard Pinout](https://docs.holybro.com/autopilot/pixhawk-6x/pixhawk-mini-baseboard-pinout)
|
||||
- [Holybro Pixhawk Jetson Baseboard](https://docs.holybro.com/autopilot/pixhawk-baseboards/pixhawk-jetson-baseboard)
|
||||
- [Holybro Pixhawk RPi CM4 Baseboard](https://docs.holybro.com/autopilot/pixhawk-baseboards/pixhawk-rpi-cm4-baseboard)
|
||||
|
||||
## 配置
|
||||
|
||||
General configuration information is covered in: [Autopilot Configuration](../config/index.md).
|
||||
|
||||
QuadPlane specific configuration is covered here: [QuadPlane VTOL Configuration](../config_vtol/vtol_quad_configuration.md)
|
||||
|
||||
<!-- Nice to have detailed wiring infographic and instructions for different vehicle types. -->
|
||||
|
||||
## 更多信息
|
||||
|
||||
- [Holybro Docs](https://docs.holybro.com/) (Holybro)
|
||||
- [Pixhawk 6X](../flight_controller/pixhawk6x.md) (PX4 Doc Overview page)
|
||||
- [Pixhawk 6X Pro](../flight_controller/pixhawk6x_pro.md) (PX4 Doc Overview page)
|
||||
- [Pixhawk Autopilot FMUv6X Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-012%20Pixhawk%20Autopilot%20v6X%20Standard.pdf).
|
||||
- [Pixhawk Autopilot Bus Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-010%20Pixhawk%20Autopilot%20Bus%20Standard.pdf).
|
||||
- [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf).
|
||||
@@ -0,0 +1,60 @@
|
||||
# Pixracer接线指南
|
||||
|
||||
:::warning
|
||||
PX4 does not manufacture this (or any) autopilot.
|
||||
Contact the [manufacturer](https://store.mrobotics.io/) for hardware support or compliance issues.
|
||||
:::
|
||||
|
||||
:::warning
|
||||
Under construction
|
||||
:::
|
||||
|
||||
This quick start guide shows how to power the [Pixracer](../flight_controller/pixracer.md) flight controller and connect its most important peripherals.
|
||||
|
||||
<img src="../../assets/flight_controller/pixracer/pixracer_hero_grey.jpg" width="300px" title="pixracer + 8266 grey" />
|
||||
|
||||
## Wiring Guides/Assembly
|
||||
|
||||
|
||||
|
||||
### 主要设置
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
### Radio/Remote Control
|
||||
|
||||
A remote control (RC) radio system is required if you want to _manually_ control your vehicle (PX4 does not require a radio system for autonomous flight modes).
|
||||
|
||||
You will need to [select a compatible transmitter/receiver](../getting_started/rc_transmitter_receiver.md) and then _bind_ them so that they communicate (read the instructions that come with your specific transmitter/receiver).
|
||||
|
||||
The instructions below show how to connect the different types of receivers:
|
||||
|
||||
- Frsky 的接收机通过所示的端口连接, 并可以使用提供的 I/o 连接器。
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
- PPM-SUM and S.BUS receivers connect to the **RCIN** port.
|
||||
|
||||
|
||||
|
||||
- PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **RCIN** port _via a PPM encoder_ [like this one](http://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels).
|
||||
|
||||
### 电源模块 (ASCP4)
|
||||
|
||||
|
||||
|
||||
### External Telemetry
|
||||
|
||||
Pixracer has inbuilt WiFi, but also supports telemetry via external Wi-Fi or radio telemetry modules connected to the `TELEM1` or `TELEM2` ports.
|
||||
This is shown in the wiring diagram below.
|
||||
|
||||
|
||||
|
||||
:::info
|
||||
The `TELEM2` port must be configured as a second MAVLink instance using the [MAV_2_CONFIG](../advanced_config/parameter_reference.md#MAV_2_CONFIG) parameter.
|
||||
For more information see [MAVLink Peripherals > MAVLink Instances](../peripherals/mavlink_peripherals.md#mavlink-instances) (and [Serial Port Configuration](../peripherals/serial_configuration.md)).
|
||||
:::
|
||||
@@ -0,0 +1,35 @@
|
||||
# 振动隔离
|
||||
|
||||
本主题展示了如何确定振动水平是否过高，并列出了一些改善振动特征的简单步骤。
|
||||
|
||||
## 综述
|
||||
|
||||
Flight Control boards with in-built accelerometers or gyros are sensitive to vibrations.
|
||||
高振动会引发一系列问题，包含飞行效率或性能降低，缩短飞行时间，增加机体磨损。 在极端情况下，振动可能会引发传感器削波失真/故障，可能导致姿态估算失败，失控。
|
||||
|
||||
设计很好的机身会在自驾仪安装的位置处减少特定结构共振的幅度。
|
||||
为了将振动降低到敏感元器件能够处理的程度，进一步的隔离是需要的。（例如 ，一些飞控必须使用某种防震泡沫安装固定在机身上，其他的是一些内部隔离）。
|
||||
|
||||
## 振动分析
|
||||
|
||||
[Log Analysis using Flight Review > Vibration](../log/flight_review.md#vibration) explains how to use logs to confirm whether vibration is a probable cause of flight problems.
|
||||
|
||||
## 基本振动修复
|
||||
|
||||
可以减少振动的一些简单步骤：
|
||||
|
||||
- 确保所有的东西都可靠的固定在机身上（起落架，GPS 天线等）。
|
||||
- 使用平衡螺旋桨。
|
||||
- 确保使用高质量的螺旋桨、发动机、电调和机架。
|
||||
这些组成部分中的每一个都有很大的不同。
|
||||
- 使用隔振方法安装自动驾驶仪。
|
||||
Many flight controllers come with _mounting foam_ that you can use for this purpose, while others have inbuilt vibration-isolation mechanisms.
|
||||
- As a _last_ measure, adjust the [software filters](../config_mc/filter_tuning.md).
|
||||
最好是减少振动源，而不是在软件中过滤。
|
||||
|
||||
## 参考
|
||||
|
||||
一些可能对您有用的参考资料：
|
||||
|
||||
- [An Introduction to Shock & Vibration Response Spectra, Tom Irvine](http://www.vibrationdata.com/tutorials2/srs_intr.pdf) (free paper)
|
||||
- [Structural Dynamics and Vibration in Practice - An Engineering Handbook, Douglas Thorby](https://books.google.ch/books?id=PwzDuWDc8AgC\&printsec=frontcover) (preview).
|
||||
Reference in New Issue
Block a user