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---------

Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Co-authored-by: Ramon Roche <mrpollo@gmail.com>
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docs/zh/flight_controller/airlink.md
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# Sky-Drones AIRLink
:::warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://sky-drones.com/) for hardware support or compliance issues.
:::
[AIRLink](https://sky-drones.com/airlink) stands for Artificial Intelligence & Remote Link. The unit includes a cutting-edge drone autopilot, AI mission computer and LTE/5Gs connectivity unit. AIRLink helps to reduce the time to market for new drone manufacturers from years and months down to weeks.
![AIRLink](../../assets/flight_controller/airlink/airlink-main.jpg)
:::info
This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
:::
AIRLink has two computers and integrated LTE Module:
- The flight control computer (autopilot) has a triple-redundant vibration-dampened and temperature-stabilized IMU.
- The powerful AI mission computer enables advanced drone software features like computer vision and obstacle avoidance, digital HD video streaming, and payload data streaming.
- LTE/5G and WiFi connectivity modules provide permanent broadband internet connection which is enabler for remote workflows.
## Feature Highlights
<lite-youtube videoid="VcBx9DLPN54" title="SmartAP AIRLink - The Most Advanced AI Drone Avionics"/>
## 产品规格
- **Sensors**
- 3x Accelerometers, 3x Gyroscopes, 3x Magnetometers, 3x Pressure sensorss
- GNSS, Rangefinders, Lidars, Optical Flow, Cameras
- 3x-redundant IMU
- Vibration dampening
- Temperature stabilization
- **Flight Controller**
- STM32F7, ARM Cortex M7 with FPU, 216 MHz, 2MB Flash, 512 kB RAM
- STM32F1, I/O co-processor
- Ethernet, 10/100 Mbps
- LAN with AI Mission Computer
- 8x UARTs: Telemetry 1, Telemetry 2 (AI Mission Computer), Telemetry 3, GPS 1, GPS 2, Extra UART, Serial Debug Console, IO
- 2x CAN: CAN1, CAN2
- USB with MAVLink
- Serial console for debugging
- RC Input, SBUS input, RSSI input, PPM input
- 16x PWM servo outputs (8 from IO, 8 from FMU)
- 3x I2C ports
- High-powered piezo buzzer driver
- High-power RGB LED
- Safety switch / LED option
- **AI Mission Computer**
- 6-Core CPU: Dual-Core Cortex-A72 + Quad-Core Cortex-A53
- GPU Mali-T864, OpenGL ES1.1/2.0/3.0/3.1
- VPU with 4K VP8/9, 4K 10bits H265/H264 60fps Decoding
- Remote power control, software reset, power down, RTC Wake-Up, sleep mode
- RAM Dual-Channel 4GB LPDDR4
- 16GB eMMC
- MicroSD up to 256GB
- Ethernet 10/100/1000 Native Gigabit
- WiFi 802.11a/b/g/n/ac, Bluetooth
- USB 3.0 Type C
- 2x Video: 4-Lane MIPI CSI (FPV Camera) and 4-Lane MIPI CSI with HMDI Input (Payload Camera)
- **LTE/5G Connectivity Module**
- Up to 600 Mbps bandwidth
- 5G sub-6 and mmWave, SA and NSA operations
- 4G Cat 20, up to 7xCA, 256-QAM DL/UL, 2xCA UL
- 4 x 4 MIMO for 4G and 5G (sub-6 bands)
- 3G HSPA+
- Approved by JRL/JTBL, FCC, PTCRB, RED, GCF
- Antenna, 4x4 MIMO
- Bands: Worldwide
## 购买渠道
Purchase from the original Sky-Drones Store (worldwide shipping with 1-2 days order processing time):
- [Buy AIRLink Enterprise 4G](https://sky-drones.com/sets/airlink-enterprise-set.html)
- [Buy AIRLink Enterprise 5G](https://sky-drones.com/sets/airlink-5g-enterprise-set.html)
- [Buy AIRLink Core 4G](https://sky-drones.com/autopilots/airlink-core.html)
- [Buy AIRLink Core 5G](https://sky-drones.com/store/airlink-5g-core.html)
## AIRLink Enterprise Kit Accessories
<lite-youtube videoid="lex7axW8WQg" title="SmartAP AIRLink - Unboxing"/>
AIRLink Enterprise arrives with everything needed to setup the autopilot system.
The standard set contains:
- 1x AIRLink Enterprise unit
- 1x FPV camera with CSI cable
- 1x WiFi antenna with MMCX connector
- 2x/4x LTE/5G antenna with MMCX connector
- 1x HDMI to mini HDMI cable1x set of cables (7 cables for all connectors)
[AIRLink Telemetry](https://sky-drones.com/sets/airlink-telemetry-set.html) based on the Microhard LAN/IP-based RF micromodule is available as an add-on and is fully compatible with AIRLink.
## Editions
There are AIRLink editions that offer different integration levels required by drone manufacturers: _Enterprise_ and _Core_.
AIRLink Enterprise is ideal for a quick start, evaluation and prototyping while Core is optimised for deep integration and mid-high volume manufacturing.
**AIRLink Enterprise**
SmartAP AIRLink's Enterprise edition is intended for prototyping and low to medium volume drone production.
Quick and easy installation thanks to the dedicated mounting holes and integrated heatsink for power dissipation.
![AIRLink Enterprise](../../assets/flight_controller/airlink/airlink-enterprise.jpg)
**AIRLink Core**
SmartAP AIRLink's Core edition is intended for medium to high volume production and deep integration with customer's hardware. It weighs only 89 g and can be attached to a metal frame for optimum cooling.
![AIRLink Core](../../assets/flight_controller/airlink/airlink-core.jpg)
| 参数 | AIRLink Enterprise | AIRLink Core |
| ------------------- | --------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------- |
| Enclosure | Aluminum, with integrated heatsink and fan mounting option. | External heatsink or reasonable power dissipation should be provided by the design. |
| 尺寸 | L103 x W61 x H37 mm | L100 x W57 x H22 mm |
| 重量 | 198 g | 89 g |
| Ambient temperature | -40°C-..+50°C | -40°C-..+50°C |
## 主要特性
- **Easy to mount**
![Easy mount](../../assets/flight_controller/airlink/airlink-easy-to-mount.jpg)
- **FPV camera comes as standard**
![FPV camera comes as standard](../../assets/flight_controller/airlink/airlink-fpv-camera.jpg)
## 接口
### Left Side
![Left side](../../assets/flight_controller/airlink/airlink-interfaces-left.jpg)
- **Left side interfaces:**
- Power input with voltage & current monitoring
- AI Mission Computer micro SD card
- Flight Controller micro SD card
- AI Mission Computer USB Type-C
- PPM input, SBUS output, RSSI monitor
- **POWER - JST GH SM10B-GHS-TB**
| Pin number | Pin name | 方向 | Voltage | 功能 |
| ---------- | -------------------------------- | ------ | --------------------- | --------------------------- |
| 1 | 12V | IN | +12V | Main power input |
| 2 | 12V | IN | +12V | Main power input |
| 3 | 12V | IN | +12V | Main power input |
| 4 | BAT_CURRENT | IN | +3.3V | Battery current monitoring |
| 5 | BAT_VOLTAGE | IN | +3.3V | Battery voltage monitoring |
| 6 | 3V3 | OUT | +3.3V | 3.3V output |
| 7 | PWR_KEY | IN | +3.3V | Power key input |
| 8 | GND | Ground | | |
| 9 | GND | Ground | | |
| 10 | GND | Ground | | |
- **CPU SD card - microSD**
- **CPU USB - USB Type C**
- **RC Connector - JST GH SM06B-GHS-TB**
| Pin number | Pin name | 方向 | Voltage | 功能 | | | |
| ---------- | ----------------------------- | --- | --------------------- | ----------- | - | --- | ------ |
| 1 | 5V | OUT | +5V | 5V output | | | |
| 2 | PPM_IN | IN | +3.3V | PPM 输入 | | | |
| 3 | RSSI_IN | IN | +3.3V | RSSI 输入 | | | |
| 4 | FAN_OUT | OUT | +5V | Fan output | | | |
| 5 | SBUS_OUT | OUT | +3.3V | SBUS output | 6 | GND | Ground |
* **FMU SD card - microSD**
### Right Side
![Right side](../../assets/flight_controller/airlink/airlink-interfaces-right.jpg)
- **Right side interfaces:**
- Ethernet port with power output
- Telemetry port
- Second GPS port
- Spare I2C / UART port
- Flight controller USB Type-C
- Micro SIM Card
- HDMI input port (payload camera)
- **ETHERNET - JST GH SM08B-GHS-TB**
| Pin number | Pin name | 方向 | Voltage | 功能 |
| ---------- | ---------------------------- | ------ | --------------------- | -------------------------- |
| 1 | 5V | OUT | +5V | Radio module power supply |
| 2 | 5V | OUT | +5V | Radio module power supply |
| 3 | ETH_TXP | OUT | +3.3V | Ethernet transmit positive |
| 4 | ETH_TXN | OUT | +3.3V | Ethernet transmit negative |
| 5 | ETH_RXP | IN | +3.3V | Ethernet receive positive |
| 6 | ETH_RXN | IN | +3.3V | Ethernet receive negative |
| 7 | GND | Ground | | |
| 8 | GND | Ground | | |
- **TEL3 - JST GH SM06B-GHS-TB**
| Pin number | Pin name | 方向 | Voltage | 功能 |
| ---------- | ------------------------------- | ------ | --------------------- | ------------------- |
| 1 | 5V | OUT | +5V | Power supply output |
| 2 | USART2_TX | OUT | +3.3V | Telemetry 3 TX |
| 3 | USART2_RX | IN | +3.3V | Telemetry 3 RX |
| 4 | USART2_CTS | IN | +3.3V | Telemetry 3 CTS |
| 5 | USART2_RTS | OUT | +3.3V | Telemetry 3 RTS |
| 6 | GND | Ground | | |
- **I2C3 / UART4 - JST GH SM06B-GHS-TB**
| Pin number | Pin name | 方向 | Voltage | 功能 |
| ---------- | ------------------------------ | ------ | --------------------- | ------------------- |
| 1 | 5V | OUT | +5V | Power supply output |
| 2 | USART4_TX | OUT | +3.3V | UART 4 TX |
| 3 | USART4_RX | IN | +3.3V | UART 4 RX |
| 4 | I2C3_SCL | I/O | +3.3V | I2C3 Clock |
| 5 | I2C3_SDA | I/O | +3.3V | I2C3 Data |
| 6 | GND | Ground | | |
- **GPS2 - JST GH SM06B-GHS-TB**
| Pin number | Pin name | 方向 | Voltage | 功能 |
| ---------- | ------------------------------ | ------ | --------------------- | ------------------- |
| 1 | 5V | OUT | +5V | Power supply output |
| 2 | USART8_TX | OUT | +3.3V | UART 8 TX |
| 3 | USART8_RX | IN | +3.3V | UART 8 RX |
| 4 | I2C2_SCL | I/O | +3.3V | I2C2 Clock |
| 5 | I2C2_SDA | I/O | +3.3V | I2C2 Data |
| 6 | GND | Ground | | |
- **FMU USB - USB Type C**
- **SIM Card - micro SIM**
- **HDMI - mini HDMI**
### Front Side
![Front side](../../assets/flight_controller/airlink/airlink-interfaces-front.jpg)
- **Front side interfaces:**
- Main GNSS and compass port
- Main telemetry port
- CSI camera input
- CAN 1
- CAN 2
- **TEL1 - JST GH SM06B-GHS-TB**
| Pin number | Pin name | 方向 | Voltage | 功能 |
| ---------- | ------------------------------- | ------ | --------------------- | ------------------- |
| 1 | 5V | OUT | +5V | Power supply output |
| 2 | USART7_TX | OUT | +3.3V | Telemetry 1 TX |
| 3 | USART7_RX | IN | +3.3V | Telemetry 1 RX |
| 4 | USART7_CTS | IN | +3.3V | Telemetry 1 CTS |
| 5 | USART7_RTS | OUT | +3.3V | Telemetry 1 RTS |
| 6 | GND | Ground | | |
- **GPS1 - JST GH SM10B-GHS-TB**
| Pin number | Pin name | 方向 | Voltage | 功能 |
| ---------- | ------------------------------- | ------ | --------------------- | --------------------------- |
| 1 | 5V | OUT | +5V | Power supply output |
| 2 | USART1_TX | OUT | +3.3V | GPS 1 TX |
| 3 | USART1_RX | IN | +3.3V | GPS 1 RX |
| 4 | I2C1_SCL | I/O | +3.3V | Mag 1 Clock |
| 5 | I2C1_SDA | I/O | +3.3V | Mag 1 Data |
| 6 | SAFETY_BTN | IN | +3.3V | Safety button |
| 7 | SAFETY_LED | OUT | +3.3V | Safety LED |
| 8 | +3V3 | OUT | +3.3V | 3.3V output |
| 9 | BUZZER | OUT | +5V | 蜂鸣器输出 |
| 10 | GND | Ground | | |
- **CAN1 - JST GH SM04B-GHS-TB**
| Pin number | Pin name | 方向 | Voltage | 功能 |
| ---------- | --------------------------- | ------ | ------- | ------------------------------------ |
| 1 | 5V | OUT | +5V | Power supply output |
| 2 | CAN1_H | I/O | +5V | CAN 1 High (120Ω) |
| 3 | CAN1_L | I/O | +5V | CAN 1 Low (120Ω) |
| 4 | GND | Ground | | |
- **CAN2 - JST GH SM04B-GHS-TB**
| Pin number | Pin name | 方向 | Voltage | 功能 |
| ---------- | --------------------------- | ------ | ------- | ------------------------------------ |
| 1 | 5V | OUT | +5V | Power supply output |
| 2 | CAN2_H | I/O | +5V | CAN 2 High (120Ω) |
| 3 | CAN2_L | I/O | +5V | CAN 2 Low (120Ω) |
| 4 | GND | Ground | | |
- **CAMERA - FPC 30 pin, 0.5mm pitch**
### Rear Side
![Back side](../../assets/flight_controller/airlink/airlink-interfaces-back.jpg)
- **Rear side interfaces:**
- SBUS input
- 16 PWM output channels
- 2x LTE antenna sockets (MIMO)
- WiFi antenna socket (AP & Station modes)
# Serial Mapping
AIRLink has a large number of internal and external serial ports:
| Serial | UART | 功能 |
| -------- | ------- | ---------------------------------------------------------------------- |
| Serial 0 | USB | Console |
| Serial 1 | UART 7 | Telemetry 1 |
| Serial 2 | UART 5 | Telemetry 2 (used internally with Mission Computer) |
| Serial 3 | USART 1 | GPS 1 |
| Serial 4 | UART 8 | GPS 2 |
| Serial 5 | USART 3 | Debug console (internal connector) |
| Serial 6 | USART 2 | Telemetry 3 |
| Serial 7 | UART 4 | External UART |
## RC Input
RC input is configured on the SBUS pin and is connected to IO MCU via an inverter internally.
For PPM receivers please use RC Connector PPM pin located on the left side of the unit.
![RC Input](../../assets/flight_controller/airlink/airlink-rc-input.jpg)
## Outputs
AIRLink has 16 PWM ouputs. Main outputs 1-8 and connected to IO MCU. AUX outputs 1-8 are connected to FMU.
| 输出 | Timer | Channel |
| ----- | -------- | --------- |
| AUX 1 | Timer 1 | Channel 4 |
| AUX 2 | Timer 1 | Channel 3 |
| AUX 3 | Timer 1 | Channel 2 |
| AUX 4 | Timer 1 | Channel 1 |
| AUX 5 | Timer 4 | Channel 2 |
| AUX 6 | Timer 4 | Channel 3 |
| AUX 7 | Timer 12 | Channel 1 |
| AUX 8 | Timer 12 | Channel 2 |
[DShot](../peripherals/dshot.md) can be used on the first four AUX pins.
## 编译固件
:::tip
Most users will not need to build this firmware!
It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected.
:::
To [build PX4](../dev_setup/building_px4.md) for this target:
```
make sky-drones_smartap-airlink
```
## 外部设备
- [SmartAP GPS](../gps_compass/gps_smartap.md) - GPS module with compass, pressure sensor and RGB LED
- [SmartAP PDB](../power_module/sky-drones_smartap-pdb.md) - Power Distribution Board
## Reference Design
![Reference design](../../assets/flight_controller/airlink/airlink-reference-design.png)
AIRLink CAD model is available [here](https://docs.sky-drones.com/airlink/cad-model)
AIRLink Reference design can be provided by request.
Get in touch at [Sky-Drones contact page](https://sky-drones.com/contact-us)
## More Information
For more information and instructions on setting up and using the AIRLink system see [AIRLink Documentation](https://docs.sky-drones.com/airlink/).
For technical help, support and customization please get in touch at [Sky-Drones contact page](https://sky-drones.com/contact-us).
More information can be found at [www.sky-drones.com](https://sky-drones.com).
Frequently asked questions are answered in [FAQ](https://docs.sky-drones.com/airlink/faq).
## Useful Links
- [AIRLink product page](https://sky-drones.com/airlink)
- [AIRLink documentation](https://docs.sky-drones.com/avionics/airlink)
- [AIRLink datasheet](https://3182378893-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-MTMlWysgDtJq8Hid1v7%2Fuploads%2F8AiuNNSwLYnZSscj7uIV%2FAIRLink-Datasheet.pdf?alt=media\&token=cbf0c4bf-9ab1-40c5-a0af-c6babdddb690)
- [Buy AIRLink Enterprise 4G](https://sky-drones.com/sets/airlink-enterprise-set.html)
- [Buy AIRLink Enterprise 5G](https://sky-drones.com/sets/airlink-5g-enterprise-set.html)
- [Buy AIRLink Core 4G](https://sky-drones.com/autopilots/airlink-core.html)
- [Buy AIRLink Core 5G](https://sky-drones.com/store/airlink-5g-core.html)
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# ARK FPV Flight Controller
:::warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://arkelectron.com/contact-us/) for hardware support or compliance issues.
:::
The USA-built ARK FPV flight controller is based on the [ARKV6X](https://arkelectron.com/product/arkv6x/) in a 30.5mm standard mounting pattern, supporting a 3-12s battery input with a regulated 12V 2A output for video transmitters and payloads.
![ARK FPV Main Photo](../../assets/flight_controller/arkfpv/ark_fpv.jpg)
:::info
This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
:::
## Where To Buy
Order from [Ark Electronics](https://arkelectron.com/product/arkv6x/) (US)
## 文档
See the documentation [Ark Electronics GitBook](https://arkelectron.gitbook.io/ark-documentation/flight-controllers/ark-fpv)
## 传感器
- [Invensense IIM-42653 Industrial IMU](https://invensense.tdk.com/products/motion-tracking/6-axis/iim-42653/)
- [Bosch BMP390 Barometer](https://www.bosch-sensortec.com/products/environmental-sensors/pressure-sensors/bmp390/)
- [ST IIS2MDC Magnetometer](https://www.st.com/en/magnetic-sensors/iis2mdc.html)
## Microprocessor
- [STM32H743IIK6 MCU](https://www.st.com/en/microcontrollers-microprocessors/stm32h743ii.html)
- 480 MHz
- 2 MB Flash
- 1 MB RAM
## 连接器
- USB C
- VBUS In, USB
- PWM
- VBAT In, Analog Current Input, Telem RX, 4x PWM
- JST-GH 8 Pin
- PWM EXTRA
- 5x PWM
- JST-SH 6 Pin
- RC INPUT
- 5V Out, UART
- JST-GH 4 Pin
- POWER AUX
- 12V Out, VBAT In/Out
- JST-GH 3 Pin
- TELEM
- 5V Out, UART with flow control
- JST-GH 6 Pin
- GPS
- 5V Out, UART, I2C
- JST-GH 6 Pin
- CAN
- 5V Out, CAN
- JST-GH 4 Pin
- VTX
- 12V Out, UART TX/RX, UART RX
- JST-GH 6 Pin
- SPI (OSD or External IMU)
- 5V Out, SPI
- JST-SH 8 Pin
- DEBUG
- 3.3V Out, UART, SWD
- JST-SH 6 Pin
## Power Requirements
- 5.5V - 54V
- 500 mA (300 mA main system, 200 mA heater)
## 附加信息
- Weight: 7.5 g g with MicroSD card
- Dimensions: 3.6 x 3.6 x 0.8 cm
- USA Built - NDAA compliant
- Heater: 1W for warming sensors in extreme cold
- LED Indicators
- MicroSD Slot
## 针脚定义
See the [DS-10 Pixhawk Autopilot Bus Standard](https://arkelectron.gitbook.io/ark-documentation/flight-controllers/ark-fpv/pinout)
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# ARK Pixhawk Autopilot Bus Carrier
:::warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://arkelectron.com/contact-us/) for hardware support or compliance issues.
:::
The [ARK Pixhawk Autopilot Bus (PAB) Carrier](https://arkelectron.gitbook.io/ark-documentation/flight-controllers/ark-pixhawk-autopilot-bus-carrier) is a USA-built flight controller carrier board, based on the [Pixhawk Autopilot Bus open source standard](https://github.com/pixhawk/Pixhawk-Standards).
The PAB form factor enables the ARK PAB Carrier to be used with any [PAB-compatible flight controller](../flight_controller/pixhawk_autopilot_bus.md), such as the [ARKV6X](../flight_controller/ark_v6x.md).
![ARKPAB Main Photo](../../assets/flight_controller/arkpab/ark_pab_main.jpg)
### Where To Buy
Order From [Ark Electronics](https://arkelectron.com/product/ark-pixhawk-autopilot-bus-carrier/) (US)
## 特性
- [Pixhawk Autopilot Bus (PAB) Form Factor](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-010%20Pixhawk%20Autopilot%20Bus%20Standard.pdf?_ga=2.20605755.2081055420.1671562222-391294592.1671562222)
- USA Built
## 连接器
- PAB Board to Board Interface
- 100 Pin Hirose DF40
- 40 Pin Hirose DF40
- Dual Digital Power Module Inputs
- 5V Input
- I2C Power Monitor
- 6 Pin Molex CLIK-Mate
- Ethernet
- 100Mbps
- Built in Magnetics
- 4 Pin JST-GH
- Full GPS Plus Safety Switch Port
- 10 Pin JST-GH
- Basic GPS Port
- 6 Pin JST-GH
- Dual CAN Ports
- 4 Pin JST-GH
- Triple Telemetry Ports with Flow - Control
- 6 Pin JST-GH
- Eight PWM Outputs
- 10 Pin JST-GH
- UART/I2C Port
- 6 Pin JST-GH
- I2C Port
- 4 Pin JST-GH
- PPM RC Port
- 3 Pin JST-GH
- DSM RC Port
- 3 Pin JST-ZH
- SPI Port
- 11 Pin JST-GH
- ADIO Port
- 8 Pin JST-GH
- 调试接口
- 10 Pin JST-SH
## 尺寸
- Without Flight Controller Module
- 74.0mm x 43.5mm x 12.0mm
- 22g
## 电源
- 5V input on `POWER1`, `POWER2`, `USB C`, and the `USB JST-GH` connector
- Input is prioritized in the following order: POWER1 > POWER2 > USB
- `USB C` and the `USB JST-GH` are in parallel
- Overvoltage protection at 5.8V
- Undervoltage protection at 3.9V
- `VDD_5V_HIPOWER` and `VDD_5V_PERIPH` can each provide a total of 1.5A across all the connectors
## LEDS
- There are two LEDs on the ARK PAB
- `Red` is the ethernet power LED
- `Green` is the ethernet activity LED
## 针脚定义
![ARKPAB Pinout](../../assets/flight_controller/arkpab/arkpab_pinout.jpg)
## POWER1
| 针脚 | 信号 | 电压 |
| ---- | ----------------------------- | --------------------- |
| 1（红） | `VBRICK1` | +5.0V |
| 2 | `VBRICK1` | +5.0V |
| 3 | I2C1_SCL | +3.3V |
| 4（黑） | I2C1_SDA | +3.3V |
| 6 | `GND` | GND |
| 6 | `GND` | GND |
## POWER2
| 针脚 | 信号 | 电压 |
| ---- | ----------------------------- | --------------------- |
| 1（红） | `VBRICK2` | +5.0V |
| 2 | `VBRICK2` | +5.0V |
| 3 | I2C2_SCL | +3.3V |
| 4（黑） | I2C2_SDA | +3.3V |
| 6 | `GND` | GND |
| 6 | `GND` | GND |
## PWM
| 针脚 | 信号 | 电压 |
| --------------------------- | ----------------------------------------------------------------- | --------------------- |
| 1（红） | VDD_SERVO (Not Connected) | +5.0V |
| 2 | FMU_CH1 | +3.3V |
| 3 | FMU_CH2 | +3.3V |
| 4（黑） | FMU_CH3 | +3.3V |
| 6 | FMU_CH4 | +3.3V |
| 6 | FMU_CH5 | +3.3V |
| 7 | FMU_CH6 | +3.3V |
| 8 (blk) | FMU_CH7 | +3.3V |
| 9 (blk) | FMU_CH8 | +3.3V |
| 10 (blk) | `GND` | GND |
## GPS1
| 针脚 | 信号 | 电压 |
| --------------------------- | ------------------------------------------------------------------------------------- | --------------------- |
| 1（红） | `VDD_5V_PERIPH` | +5.0V |
| 2 | USART1_TX_GPS1 | +3.3V |
| 3 | USART1_RX_GPS1 | +3.3V |
| 4（黑） | I2C1_SCL | +3.3V |
| 6 | I2C1_SDA | +3.3V |
| 6 | nSAFETY_SWITCH_IN | +3.3V |
| 7 | nSAFETY_SWITCH_LED_OUT | +3.3V |
| 8 (blk) | `3V3_FMU` | +3.3V |
| 9 (blk) | BUZZER | +5.0V |
| 10 (blk) | `GND` | GND |
## GPS2
| 针脚 | 信号 | 电压 |
| ---- | ------------------------------------------------------- | --------------------- |
| 1（红） | `VDD_5V_HIPOWER` | +5.0V |
| 2 | UART8_TX_GPS2 | +3.3V |
| 3 | UART8_RX_GPS2 | +3.3V |
| 4（黑） | I2C2_SCL | +3.3V |
| 6 | I2C2_SDA | +3.3V |
| 6 | `GND` | GND |
## TELEM1
| 针脚 | 信号 | 电压 |
| ---- | ------------------------------ | --------------------- |
| 1（红） | `VDD_5V_HIPOWER` | +5.0V |
| 2 | UART7_TX | +3.3V |
| 3 | UART7_RX | +3.3V |
| 4（黑） | UART7_CTS | +3.3V |
| 6 | UART7_RTS | +3.3V |
| 6 | `GND` | GND |
## TELEM2
| 针脚 | 信号 | 电压 |
| ---- | ------------------------------ | --------------------- |
| 1（红） | `VDD_5V_PERIPH` | +5.0V |
| 2 | UART5_TX | +3.3V |
| 3 | UART5_RX | +3.3V |
| 4（黑） | UART5_CTS | +3.3V |
| 6 | UART5_RTS | +3.3V |
| 6 | `GND` | GND |
## TELEM3
| 针脚 | 信号 | 电压 |
| ---- | ------------------------------- | --------------------- |
| 1（红） | `VDD_5V_HIPOWER` | +5.0V |
| 2 | USART2_TX | +3.3V |
| 3 | USART2_RX | +3.3V |
| 4（黑） | USART2_CTS | +3.3V |
| 6 | USART2_RTS | +3.3V |
| 6 | `GND` | GND |
## UART4/I2C3
| 针脚 | 信号 | 电压 |
| ---- | ----------------------------- | --------------------- |
| 1（红） | `VDD_5V_PERIPH` | +5.0V |
| 2 | UART4_TX | +3.3V |
| 3 | UART4_RX | +3.3V |
| 4（黑） | I2C3_SCL | +3.3V |
| 6 | I2C3_SDA | +3.3V |
| 6 | `GND` | GND |
## I2C3
| 针脚 | 信号 | 电压 |
| ---- | ----------------------------- | --------------------- |
| 1（红） | `VDD_5V_PERIPH` | +5.0V |
| 2 | I2C3_SCL | +3.3V |
| 3 | I2C3_SDA | +3.3V |
| 4（黑） | `GND` | GND |
## CAN1
| 针脚 | 信号 | 电压 |
| ---- | --------------------------- | --------------------- |
| 1（红） | `VDD_5V_HIPOWER` | +5.0V |
| 2 | CAN1_H | +3.3V |
| 3 | CAN1_L | +3.3V |
| 4（黑） | `GND` | GND |
## CAN2
| 针脚 | 信号 | 电压 |
| ---- | --------------------------- | --------------------- |
| 1（红） | `VDD_5V_PERIPH` | +5.0V |
| 2 | CAN2_H | +3.3V |
| 3 | CAN2_L | +3.3V |
| 4（黑） | `GND` | GND |
## USB
All signals in parallel with USB C connector
| 针脚 | 信号 | 电压 |
| ---- | -------------------------- | --------------------- |
| 1（红） | `VBUS_IN` | +5.0V |
| 2 | USB_N | +3.3V |
| 3 | USB_P | +3.3V |
| 4（黑） | `GND` | GND |
## ETH
| 针脚 | 信号 | 电压 |
| ---- | -------------------------------------------------- | ------------------------------- |
| 1（红） | ETH_RD_N | +50.0V Tolerant |
| 2 | ETH_RD_P | +50.0V Tolerant |
| 3 | ETH_TD_N | +50.0V Tolerant |
| 4（黑） | ETH_TD_P | +50.0V Tolerant |
## ADIO
| 针脚 | 信号 | 电压 |
| -------------------------- | ----------------------------------------------------- | --------------------- |
| 1（红） | `VDD_5V_PERIPH` | +5.0V |
| 2 | FMU_CAP | +3.3V |
| 3 | BOOTLOADER | +3.3V |
| 4（黑） | FMU_RST_REQ | +3.3V |
| 6 | nARMED | +3.3V |
| 6 | ADC1_3V3 | +3.3V |
| 7 | ADC1_6V6 | +3.3V |
| 8 (blk) | `GND` | GND |
## RC/SBUS
| 针脚 | 信号 | 电压 |
| ---- | -------------------------------------------------------------------------------- | --------------------- |
| 1（红） | `VDD_5V_SBUS_RC` | +5.0V |
| 2 | USART6_RX_SBUS_IN | +3.3V |
| 3 | USART6_TX | +3.3V |
| 4（黑） | `VDD_3V3_SPEKTRUM` | +3.3V |
| 6 | `GND` | GND |
## PPM
| 针脚 | 信号 | 电压 |
| ---- | -------------------------------------------------------------------------------------- | --------------------- |
| 1（红） | `VDD_5V_PPM_RC` | +5.0V |
| 2 | DSM_INPUT/FMU_PPM_INPUT | +3.3V |
| 3 | `GND` | GND |
## DSM
| 针脚 | 信号 | 电压 |
| ---- | -------------------------------------------------------------------------------------- | --------------------- |
| 1（红） | `VDD_3V3_SPEKTRUM` | +3.3V |
| 2 | `GND` | GND |
| 3 | DSM_INPUT/FMU_PPM_INPUT | +3.3V |
## SPI6
| 针脚 | 信号 | 电压 |
| --------------------------- | -------------------------------- | --------------------- |
| 1（红） | `VDD_5V_PERIPH` | +5.0V |
| 2 | SPI6_SCK | +3.3V |
| 3 | SPI6_MISO | +3.3V |
| 4（黑） | SPI6_MOSI | +3.3V |
| 6 | SPI6_nCS1 | +3.3V |
| 6 | SPI6_nCS2 | +3.3V |
| 7 | SPIX_nSYNC | +3.3V |
| 8 (blk) | SPI6_DRDY1 | +3.3V |
| 9 (blk) | SPI6_DRDY2 | +3.3V |
| 10 (blk) | SPI6_nRESET | +3.3V |
| 11 (blk) | `GND` | GND |
## 调试接口
The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) run on the **FMU Debug** port.
The pinouts and connector comply with the [Pixhawk Debug Full](../debug/swd_debug.md#pixhawk-debug-full) interface defined in the [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf) interface (JST SM10B connector).
| 针脚 | 信号 | 电压 |
| --------------------------- | ----------------------------------- | --------------------- |
| 1（红） | `Vtref` | +3.3V |
| 2 | Console TX (OUT) | +3.3V |
| 3 | Console RX (IN) | +3.3V |
| 4（黑） | `SWDIO` | +3.3V |
| 6 | `SWCLK` | +3.3V |
| 6 | `SWO` | +3.3V |
| 7 | NFC GPIO | +3.3V |
| 8 (blk) | PH11 | +3.3V |
| 9 (blk) | nRST | +3.3V |
| 10 (blk) | `GND` | GND |
For information about using this port see:
- [SWD Debug Port](../debug/swd_debug.md)
- [PX4 System Console](../debug/system_console.md) (Note, the FMU console maps to USART3).
![ARKPAB Top Down Photo](../../assets/flight_controller/arkpab/ark_pab_top.jpg)
![ARKPAB Bottom Photo](../../assets/flight_controller/arkpab/ark_pab_back.jpg)
## See Also
- [ARK Pixhawk Autopilot Bus Carrier](https://arkelectron.gitbook.io/ark-documentation/flight-controllers/ark-pixhawk-autopilot-bus-carrier) (ARK Docs)
docs/zh/flight_controller/ark_pi6x.md
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# ARK Pi6X Flow
The [ARK Pi6X Flow](\(https://arkelectron.gitbook.io/ark-documentation/flight-controllers/ark-pi6x-flow\)) integrates a Raspberry Pi Compute Module 4 (CM4) Carrier, [ARKV6X Flight Controller](../flight_controller/ark_v6x.md), [ARK Flow sensors](../dronecan/ark_flow.md) , [ARK PAB Power Module](../power_module/ark_pab_power_module.md), and a 4-in-1 ESC, all mounted onto one compact board.
![ARK Pi6X Flow Flight Controller](../../assets/flight_controller/ark_pi6x_flow/ark_pi6xflow.jpg)
## 购买渠道
Order this module from:
- [ARK Electronics](https://arkelectron.com/product/ark-pi6x-flow/) (US)
## Key Components
### Raspberry Pi Compute Module 4 Carrier
- Autopilot Firmware: PX4
- Features:
- MicroSD slot (for CM4 Lite)
- Micro HDMI
- Ethernet
- USB C Host
- 2x USB JST GH
- 2x MIPI CSI (22-pin FFC)
- Programming micro USB
- I2C, UART
- LED Strip GPIO
- General Purpose GPIO
- Console
- CPU Fan
### 飞控
- Communication:
- TELEM (UART)
- RC Input (UART)
- GPS (UART, I2C)
- CAN
- Control and Monitoring:
- 8 PWM Outputs
- 蜂鸣器
- Debug (SWD, UART Console)
- MicroSD slot for data storage
### 传感器
- 2x ICM-42688-P Accelerometer/Gyroscope (includes Heater)
- PAW3902 Optical Flow Sensor
- AFBR-S50LV85D 30-Meter Distance Sensor
- ST IIS2MDC Magnetometer
- BMP390 Barometer
- INA226 Voltage/Current Monitor
### USA-Built and NDAA Compliant
## Power Requirements
- Battery Input: Up to 6s/25.2V (actual requirement depends on usage and peripherals)
## Dimensions & Weight
- Dimensions: 91.5mm x 56mm (without Pi CM4 and ESC)
- Weight:
- 41g (without Pi CM4, Pi SD, and ESC)
- 53g (bundle with Pi CM4 and Pi SD, without ESC)
## 附加信息
- Included: Flight Controller MicroSD
- Bundle Option Includes:
- Raspberry Pi Compute Module 4 with WiFi, 4GB RAM Lite – CM4104000
- SanDisk 128GB High Endurance Video MicroSDXC with [ARK-OS](https://github.com/ARK-Electronics/ARK-OS) Pre-Installed
## Flashing Guide
[ARK Pi6X Flashing Guide](https://arkelectron.gitbook.io/ark-documentation/flight-controllers/ark-pi6x-flow/flashing-guide)
## 针脚定义
![ARK Pi6X Flow Pinout](../../assets/flight_controller/ark_pi6x_flow/ark_pi6xflow_pinout.png)
### PWM UART4 - 11 Pin JST-GH
| Pin Number | Signal Name | Voltage |
| :--------- | :----------------------------------------------------- | :------------------- |
| 1 | FMU_CH1_EXT | 3.3V |
| 2 | FMU_CH2_EXT | 3.3V |
| 3 | FMU_CH3_EXT | 3.3V |
| 4 | FMU_CH4_EXT | 3.3V |
| 5 | FMU_CH5_EXT | 3.3V |
| 6 | FMU_CH6_EXT | 3.3V |
| 7 | FMU_CH7_EXT | 3.3V |
| 8 | FMU_CH8_EXT | 3.3V |
| 9 | UART4_TX_EXT | 3.3V |
| 10 | UART4_RX_EXT | 3.3V |
| 11 | GND | GND |
### RC - 4 Pin JST-GH
| Pin Number | Signal Name | Voltage |
| :--------- | :---------------------------------------------------------------------------------- | :------------------- |
| 1 | VDD_5V_SBUS_RC | 5.0V |
| 2 | USART6_RX_IN_EXT | 3.3V |
| 3 | USART6_TX_OUTPUT_EXT | 3.3V |
| 4 | GND | GND |
### CAN - 4 Pin JST-GH
| Pin Number | Signal Name | Voltage |
| :--------- | :------------------------------------------------------- | :------------------- |
| 1 | VDD_5V_HIPOWER | 5.0V |
| 2 | CAN1_P | 5.0V |
| 3 | CAN1_N | 5.0V |
| 4 | GND | GND |
### GPS - 6 Pin JST-GH
| Pin Number | Signal Name | Voltage |
| :--------- | :-------------------------------------------------------------------------------- | :------------------- |
| 1 | VDD_5V_HIPOWER | 5.0V |
| 2 | USART1_TX_GPS1_EXT | 3.3V |
| 3 | USART1_RX_GPS1_EXT | 3.3V |
| 4 | I2C1_SCL_GPS1_EXT | 3.3V |
| 5 | I2C1_SDA_GPS1_EXT | 3.3V |
| 6 | GND | GND |
### Telem1 - 6 Pin JST-GH
| Pin Number | Signal Name | Voltage |
| :--------- | :---------------------------------------------------------------------------------- | :------------------- |
| 1 | VDD_5V_HIPOWER | 5.0V |
| 2 | UART7_TX_TELEM1_EXT | 3.3V |
| 3 | UART7_RX_TELEM1_EXT | 3.3V |
| 4 | UART7_CTS_TELEM1_EXT | 3.3V |
| 5 | UART7_RTS_TELEM1_EXT | 3.3V |
| 6 | GND | GND |
### Flight Controller Debug - 10 Pin JST-SH
| Pin Number | Signal Name | Voltage |
| :--------- | :----------------------------------------------------------- | :------------------- |
| 1 | 3V3_FMU | 3.3V |
| 2 | USART4_TX_DEBUG | 3.3V |
| 3 | USART4_RX_DEBUG | 3.3V |
| 4 | FMU_SWDIO | 3.3V |
| 5 | FMU_SWCLK | 3.3V |
| 6 | SPI6_SCK_EXTERNAL1 | 3.3V |
| 7 | NFC_GPIO | 3.3V |
| 8 | PD15 | 3.3V |
| 9 | FMU_NRST | 3.3V |
| 10 | GND | GND |
### Pi I2C1 - 4 Pin JST-GH
| Pin Number | Signal Name | Voltage |
| :--------- | :----------------------------------------------------- | :------------------- |
| 1 | 5.0V | 5.0V |
| 2 | I2C1_SCL_EXT | 3.3V |
| 3 | I2C1_SDA_EXT | 3.3V |
| 4 | GND | GND |
### Pi UART3 - 6 Pin JST-GH
| Pin Number | Signal Name | Voltage |
| :--------- | :------------------------------------------------------ | :------------------- |
| 1 | 5.0V | 5.0V |
| 2 | UART3_TX_EXT | 3.3V |
| 3 | UART3_RX_EXT | 3.3V |
| 4 | UART3_CTS_EXT | 3.3V |
| 5 | UART3_RTS_EXT | 3.3V |
| 6 | GND | GND |
### Pi ETH - 4 Pin JST-GH
| Pin Number | Signal Name | Voltage |
| :--------- | :------------------------------------------------- | :------------------- |
| 1 | ETH_RD_N | 3.3V |
| 2 | ETH_RD_P | 3.3V |
| 3 | ETH_TD_N | 3.3V |
| 4 | ETH_TD_P | 3.3V |
### Pi LED Strip - 8 Pin JST-GH
| Pin Number | Signal Name | Voltage |
| :--------- | :------------------------------ | :------------------- |
| 1 | 5.0V | 5.0V |
| 2 | 5.0V | 5.0V |
| 3 | GPIO12_EXT | 3.3V |
| 4 | GPIO16_EXT | 3.3V |
| 5 | GPIO17_EXT | 3.3V |
| 6 | GPIO20_EXT | 3.3V |
| 7 | GND | GND |
| 8 | GND | GND |
### Pi GPIO - 6 Pin JST-GH
| Pin Number | Signal Name | Voltage |
| :--------- | :------------------------------ | :------------------- |
| 1 | 5.0V | 5.0V |
| 2 | GPIO21_EXT | 3.3V |
| 3 | GPIO22_EXT | 3.3V |
| 4 | GPIO23_EXT | 3.3V |
| 5 | GPIO24_EXT | 3.3V |
| 6 | GND | GND |
### Pi Fan - 4 Pin JST-GH
| Pin Number | Signal Name | Voltage |
| :--------- | :----------------------------------------------------- | :------------------- |
| 1 | GND | GND |
| 2 | 5.0V | 5.0V |
| 3 | FAN_TACH_CON | 5.0V |
| 4 | FAN_PWM_Q\* | 5.0V |
### Pi Console - 6 Pin JST-SH
| Pin Number | Signal Name | Voltage |
| :--------- | :-------------------------------------------- | :------------------- |
| 1 | 3.3V_RPI | 3.3V |
| 2 | CONSOLE_TXD0 | 3.3V |
| 3 | CONSOLE_RXD0 | 3.3V |
| 4 | NC | NC |
| 5 | NC | NC |
| 6 | GND | GND |
### Pi USB - 4 Pin JST-GH (VBUS2_FLT)
| Pin Number | Signal Name | Voltage |
| :--------- | :--------------------------------------------------- | :------------------- |
| 1 | VBUS2_FLT | 5.0V |
| 2 | USB2_EXT_N | 3.3V |
| 3 | USB2_EXT_P | 3.3V |
| 4 | GND | GND |
### Pi USB - 4 Pin JST-GH (VBUS4_FLT)
| Pin Number | Signal Name | Voltage |
| :--------- | :--------------------------------------------------- | :------------------- |
| 1 | VBUS4_FLT | 5.0V |
| 2 | USB4_EXT_N | 3.3V |
| 3 | USB4_EXT_P | 3.3V |
| 4 | GND | GND |
### CAM0 - 22 Pin
0.5mm FFC 0545482271
| Pin Number | Signal Name | Voltage |
| :--------- | :-------------------------------------------------- | :------------------- |
| 1 | GND | GND |
| 2 | CAM0_D0_N | 1.2V |
| 3 | CAM0_D0_P | 1.2V |
| 4 | GND | GND |
| 5 | CAM0_D1_N | 1.2V |
| 6 | CAM0_D1_P | 1.2V |
| 7 | GND | GND |
| 8 | CAM0_C_N | 1.2V |
| 9 | CAM0_C_P | 1.2V |
| 10 | GND | GND |
| 11 | NC | NC |
| 12 | NC | NC |
| 13 | GND | GND |
| 14 | NC | NC |
| 15 | NC | NC |
| 16 | GND | GND |
| 17 | CAM_GPIO | 3.3V |
| 18 | NC | NC |
| 19 | GND | GND |
| 20 | ID_SC | 3.3V |
| 21 | ID_SD | 3.3V |
| 22 | 3.3V_RPI | 3.3V |
### CAM1 - 22 Pin 0.5mm FFC 0545482271
| Pin Number | Signal Name | Voltage |
| :--------- | :-------------------------------------------------- | :------------------- |
| 1 | GND | GND |
| 2 | CAM1_D0_N | 1.2V |
| 3 | CAM1_D0_P | 1.2V |
| 4 | GND | GND |
| 5 | CAM1_D1_N | 1.2V |
| 6 | CAM1_D1_P | 1.2V |
| 7 | GND | GND |
| 8 | CAM1_C_N | 1.2V |
| 9 | CAM1_C_P | 1.2V |
| 10 | GND | GND |
| 11 | CAM1_D2_N | 1.2V |
| 12 | CAM1_D2_P | 1.2V |
| 13 | GND | GND |
| 14 | CAM1_D3_N | 1.2V |
| 15 | CAM1_D3_P | 1.2V |
| 16 | GND | GND |
| 17 | CAM_GPIO | 3.3V |
| 18 | NC | NC |
| 19 | GND | GND |
| 20 | SCL0 | 3.3V |
| 21 | SDA0 | 3.3V |
| 22 | 3.3V_RPI | 3.3V |
## See Also
- [ARK Pi6X Flow Documentation](https://arkelectron.gitbook.io/ark-documentation/flight-controllers/ark-pi6x-flow) (ARK Docs)
docs/zh/flight_controller/ark_v6x.md
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# ARK Electronics ARKV6X
:::warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://arkelectron.com/contact-us/) for hardware support or compliance issues.
:::
The USA-built [ARKV6X](\(https://arkelectron.gitbook.io/ark-documentation/flight-controllers/arkv6x\)) flight controller is based on the [FMUV6X and Pixhawk Autopilot Bus open source standards](https://github.com/pixhawk/Pixhawk-Standards).
With triple synced IMUs, data averaging, voting, and filtering is possible.
The Pixhawk Autopilot Bus (PAB) form factor enables the ARKV6X to be used on any [PAB-compatible carrier board](../flight_controller/pixhawk_autopilot_bus.md), such as the [ARK Pixhawk Autopilot Bus Carrier](../flight_controller/ark_pab.md).
![ARKV6X Main Photo](../../assets/flight_controller/arkv6x/ark_v6x_front.jpg)
:::info
This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
:::
## Where To Buy
Order From [Ark Electronics](https://arkelectron.com/product/arkv6x/) (US)
## 传感器
- [Dual Invensense ICM-42688-P IMUs](https://invensense.tdk.com/products/motion-tracking/6-axis/icm-42688-p/)
- [Invensense IIM-42652 Industrial IMU](https://invensense.tdk.com/products/smartindustrial/iim-42652/)
- [Bosch BMP390 Barometer](https://www.bosch-sensortec.com/products/environmental-sensors/pressure-sensors/bmp390/)
- [Bosch BMM150 Magnetometer](https://www.bosch-sensortec.com/products/motion-sensors/magnetometers/bmm150/)
## Microprocessor
- [STM32H743IIK6 MCU](https://www.st.com/en/microcontrollers-microprocessors/stm32h743ii.html)
- 480MHz
- 2MB Flash
- 1MB Flash
## Other Features
- FRAM
- [Pixhawk Autopilot Bus (PAB) Form Factor](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-010%20Pixhawk%20Autopilot%20Bus%20Standard.pdf)
- LED Indicators
- MicroSD Slot
- USA Built
- Designed with a 1W heater. Keeps sensors warm in extreme conditions
## Power Requirements
- 5V
- 500mA
- 300ma for main system
- 200ma for heater
## 附加信息
- Weight: 5.0 g
- Dimensions: 3.6 x 2.9 x 0.5 cm
## 针脚定义
For pinout of the ARKV6X see the [DS-10 Pixhawk Autopilot Bus Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-010%20Pixhawk%20Autopilot%20Bus%20Standard.pdf)
## 串口映射
| UART | 设备 | Port |
| ------ | ---------- | ------------------------------- |
| USART1 | /dev/ttyS0 | GPS |
| USART2 | /dev/ttyS1 | TELEM3 |
| USART3 | /dev/ttyS2 | Debug Console |
| UART4 | /dev/ttyS3 | UART4 & I2C |
| UART5 | /dev/ttyS4 | TELEM2 |
| USART6 | /dev/ttyS5 | PX4IO/RC |
| UART7 | /dev/ttyS6 | TELEM1 |
| UART8 | /dev/ttyS7 | GPS2 |
## 编译固件
```sh
make ark_fmu-v6x_default
```
## See Also
- [ARK Electronics ARKV6X](https://arkelectron.gitbook.io/ark-documentation/flight-controllers/arkv6x) (ARK Docs)
docs/zh/flight_controller/arkpab.md
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<Redirect to="../flight_controller/ark_pab" />
docs/zh/flight_controller/arkv6x.md
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<Redirect to="../flight_controller/ark_v6x" />
docs/zh/flight_controller/auav_x2.md
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# AUAV-X2 自动驾驶仪 (停产)
<Badge type="info" text="Discontinued" />
:::warning
This flight controller has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available.
:::
:::warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://store.mrobotics.io/) for hardware support or compliance issues.
:::
The [AUAV<sup>&reg;</sup>](http://www.auav.com/) _AUAV-X2 autopilot_ is based on the [Pixhawk<sup>&reg;</sup>-project](https://pixhawk.org/) **FMUv2** open hardware design. It runs PX4 on the [NuttX](https://nuttx.apache.org/) OS.
![AUAVX2\_case2](../../assets/flight_controller/auav_x2/auavx2_case2.jpg)
## 总览
- Main System-on-Chip: [STM32F427](http://www.st.com/web/en/catalog/mmc/FM141/SC1169/SS1577/LN1789)
- CPU：STM32F427VIT6 ARM 微控制器-版本 3
- IO：STM32F100C8T6 ARM 微控制器
- 传感器：
- Invensense MPU9250 9DOF
- Invensense ICM-20608 6DOF
- MEAS MS5611 气压计
- 尺寸/重量
- 尺寸：36mm x 50mm
- 安装点：30.5mm x 30.5mm 直径 3.2mm
- 重量: 10.9g
- 具有反向电压保护的电源 OR-ing 原理图。 需要 5V 电源模块！
## 连接
- 2.54 毫米头：
- GPS (USART4)
- I2C
- 遥控输入
- PPM 输入
- Spektrum 输入
- RSSI 输入
- sBus 输入
- sBus 输出
- 电源输入
- 蜂鸣器输出
- LED 输出
- 8路伺服输出
- 6路辅助输出
- USART7（控制台）
- USART8（OSD）
## 访问链接
No longer in production.
This has been superseded by the [mRo X2.1](mro_x2.1.md).
mRobotics is the distributor for the AUAV Products from August 2017.
## 主链接
- [User Manual](http://arsovtech.com/wp-content/uploads/2015/08/AUAV-X2-user-manual-EN.pdf)
- [DIY Drones Post](http://diydrones.com/profiles/blogs/introducing-the-auav-x2-1-flight-controller)
## 接线指南
![AUAV-X2-basic-setup 3](../../assets/flight_controller/auav_x2/auav_x2_basic_setup_3.png)
![AUAV-X2-basic-setup 2](../../assets/flight_controller/auav_x2/auav_x2_basic_setup_2.jpg)
![AUAV-X2-basic-setup 1](../../assets/flight_controller/auav_x2/auav_x2_basic_setup_1.png)
![AUAV-X2-airspeed-setup 3](../../assets/flight_controller/auav_x2/auav_x2_airspeed_setup_3.png)
## 原理图
The board is based on the [Pixhawk project](https://pixhawk.org/) **FMUv2** open hardware design.
- [FMUv2 + IOv2 schematic](https://raw.githubusercontent.com/PX4/Hardware/master/FMUv2/PX4FMUv2.4.5.pdf) -- Schematic and layout
:::info
As a CC-BY-SA 3.0 licensed Open Hardware design, all schematics and design files are [available](https://github.com/PX4/Hardware).
:::
## 串口映射
| UART | 设备 | Port |
| ------ | ---------- | ---------------------------------------- |
| UART1 | /dev/ttyS0 | IO debug |
| USART2 | /dev/ttyS1 | TELEM1 (flow control) |
| USART3 | /dev/ttyS2 | TELEM2 (flow control) |
| UART4 | | |
| UART7 | CONSOLE | |
| UART8 | SERIAL4 | |
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# Discontinued Autopilots/Vehicles
:::tip
For more information about PX4 project autopilot board support levels see: [px4.io/autopilots/](https://px4.io/autopilots/).
:::
This category is for discontinued autopilots and complete vehicles.
These are no longer being manufactured, and may not be supported by their manufacturer.
They are listed because you may be using them in an existing drone, and because they **may** still work with the head revision of PX4.
## Autopilots
- [Drotek DroPix](../flight_controller/dropix.md) (FMUv2)
- [Omnibus F4 SD](../flight_controller/omnibus_f4_sd.md)
- [CUAV v5](../flight_controller/cuav_v5.md) (Pixhawk FMUv5)
- [Aerotenna OcPoC-Zynq Mini](../flight_controller/ocpoc_zynq.md)
- [Holybro Pixhawk 4 Mini](../flight_controller/pixhawk4_mini.md) (FMUv5)
- [Holybro Kakute F7](../flight_controller/kakutef7.md)
- [Holybro Pixhawk Mini](../flight_controller/pixhawk_mini.md) (FMUv3)
- [Holybro Pixfalcon](../flight_controller/pixfalcon.md) (Pixhawk FMUv2)
- [Holybro Pix32](../flight_controller/holybro_pix32.md) (FMUv2)
- [mRo AUAV-X2](../flight_controller/auav_x2.md) (Pixhawk FMUv2)
- [NXP FMUK66](../flight_controller/nxp_rddrone_fmuk66.md) (Discontinued)
- [3DR Pixhawk 1](../flight_controller/pixhawk.md) (Pixhawk FMUv2)
## 整机
- [BetaFPV Beta75X 2S Brushless Whoop](../complete_vehicles_mc/betafpv_beta75x.md)
- [Intel® Aero RTF Drone](../complete_vehicles_mc/intel_aero.md) ([Complete Vehicle](../complete_vehicles_mc/index.md))
- [Qualcomm Snapdragon Flight](../flight_controller/snapdragon_flight.md) ([Complete Vehicle](../complete_vehicles_mc/index.md))
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# Community Supported & Experimental Autopilots
:::tip
For more information about PX4 project autopilot board support levels see: [px4.io/autopilots/](https://px4.io/autopilots/).
:::
## Experimental Autopilots
This category is for experimental autopilots (and autopilot "platforms") that are _not supported_ by either the PX4 project team or by a manufacturer.
- [BeagleBone Blue](../flight_controller/beaglebone_blue.md)
- [Raspberry Pi 2/3 Navio2](../flight_controller/raspberry_pi_navio2.md)
- [Raspberry Pi 2/3/4 PilotPi Shield](../flight_controller/raspberry_pi_pilotpi.md)
Boards in this category must work with at least one PX4 release for a defined vehicle type.
They may not be compatible with the current PX4 release, and compatibility is not maintained by the project for future releases.
## 实验机体
These are [complete vehicles](../complete_vehicles_mc/index.md) that have a fully integrated autopilot and other hardware (i.e. unlike the other autopilots listed, you can't use them in your own builds).
They are listed in this page because from a PX4 software perspective, they are another autopilot.
- [Bitcraze Crazyflie 2.0](../complete_vehicles_mc/crazyflie2.md) ([Complete Vehicle](../complete_vehicles_mc/index.md))
- [Bitcraze Crazyflie 2.1](../complete_vehicles_mc/crazyflie21.md) ([Complete Vehicle](../complete_vehicles_mc/index.md))
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# 由制造商支持的自动驾驶仪
Manufacturer-supported autopilots are maintained and supported by a board manufacturer (manufacturers commit to delivering compatibility with the current stable PX4 release within 4 months of the official release announcement).
:::tip
For more information about PX4 project autopilot board support levels see: [px4.io/autopilots/](https://px4.io/autopilots/).
:::
:::info
This category includes boards that are not fully compliant with the pixhawk standard; manufacturers support and maintain the board for any areas of incompatibility.
:::
The boards in this category are:
- [AirMind MindPX](../flight_controller/mindpx.md)
- [AirMind MindRacer](../flight_controller/mindracer.md)
- [ARK Electronics ARKV6X](../flight_controller/ark_v6x.md) (and [ARK Electronics Pixhawk Autopilot Bus Carrier](../flight_controller/ark_pab.md))
- [ARK FPV Flight Controller](../flight_controller/ark_fpv.md)
- [ARK Pi6X Flow Flight Controller](../flight_controller/ark_pi6x.md)
- [CUAV X7](../flight_controller/cuav_x7.md)
- [CUAV Nora](../flight_controller/cuav_nora.md)（CUAV X7 variant)
- [CUAV V5+](../flight_controller/cuav_v5_plus.md) (FMUv5)
- [CUAV V5 nano](../flight_controller/cuav_v5_nano.md) (FMUv5)
- [CUAV Pixhack v3](../flight_controller/pixhack_v3.md) (FMUv3)
- [CubePilot Cube Orange+](../flight_controller/cubepilot_cube_orangeplus.md)
- [CubePilot Cube Orange](../flight_controller/cubepilot_cube_orange.md)
- [CubePilot Cube Yellow](../flight_controller/cubepilot_cube_yellow.md)
- [Holybro Kakute H7v2](../flight_controller/kakuteh7v2.md)
- [Holybro Kakute H7mini](../flight_controller/kakuteh7mini.md)
- [Holybro Kakute F7](../flight_controller/kakutef7.md) - Discontinued
- [Holybro Kakute H7](../flight_controller/kakuteh7.md)
- [Holybro Durandal](../flight_controller/durandal.md)
- [Holybro Pix32 v5](../flight_controller/holybro_pix32_v5.md)
- [ModalAI Flight Core v1](../flight_controller/modalai_fc_v1.md)
- [ModalAI VOXL Flight](../flight_controller/modalai_voxl_flight.md)
- [ModalAI VOXL 2](../flight_controller/modalai_voxl_2.md)
- [mRobotics-X2.1](../flight_controller/mro_x2.1.md) (FMUv2)
- [mRo Control Zero](../flight_controller/mro_control_zero_f7.md)
- [Sky-Drones AIRLink](../flight_controller/airlink.md)
- [SPRacing SPRacingH7EXTREME](../flight_controller/spracingh7extreme.md)
- [ThePeach FCC-K1](../flight_controller/thepeach_k1.md)
- [ThePeach FCC-R1](../flight_controller/thepeach_r1.md)
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# Pixhawk 标准自动驾驶仪
[Pixhawk series](../flight_controller/pixhawk_series.md) boards that fully comply with the [Pixhawk Standard](https://pixhawk.org/) (including use of the Pixhawk trademark), and that are still being manufactured, are supported by the PX4 project.
These boards are maintained, updated, tested and otherwise supported by the PX4 project maintainers and Dronecode test team.
:::tip
For more information about PX4 project autopilot board support levels see: [px4.io/autopilots/](https://px4.io/autopilots/).
:::
The boards in this category are:
- [NXP MR-VMU-RT1176 FMU](../flight_controller/nxp_mr_vmu_rt1176.md) (FMUv6X-RT)
- [Holybro Pixhawk 6X-RT](../flight_controller/pixhawk6x-rt.md) (FMUv6X-RT)
- [Holybro Pixhawk 6X Pro (FMUv6X)](../flight_controller/pixhawk6x_pro.md) (FMUv6X)
- [CUAV Pixhawk V6X](../flight_controller/cuav_pixhawk_v6x.md) (FMUv6X)
- [Holybro Pixhawk 6X](../flight_controller/pixhawk6x.md) (FMUv6X)
- [RaccoonLab FMUv6X Autopilot](../flight_controller/raccoonlab_fmu6x.md) (FMUv6X)
- [Holybro Pixhawk 6C](../flight_controller/pixhawk6c.md) (FMUv6C)
- [Holybro Pixhawk 6C Mini](../flight_controller/pixhawk6c_mini.md) (FMUv6C)
- [Holybro Pix32 v6](../flight_controller/holybro_pix32_v6.md) (FMUv6C)
- [Holybro Pixhawk 5X](../flight_controller/pixhawk5x.md) (FMUv5X)
- [Holybro Pixhawk 4](../flight_controller/pixhawk4.md) (FMUv5)
- [Holybro Pixhawk 4 Mini](../flight_controller/pixhawk4_mini.md) (FMUv5) - Discontinued by Holybro but supported by PX4
- [Drotek Pixhawk 3 Pro](../flight_controller/pixhawk3_pro.md) (FMUv4pro) - Discontinued by Drotek but supported by PX4
- [mRo Pixracer](../flight_controller/pixracer.md) (FMUv4)
- [CUAV Pixhack v3](../flight_controller/pixhack_v3.md) (FMUv3)
- [Hex Cube Black](../flight_controller/pixhawk-2.md) (FMUv3)
- [mRo Pixhawk](../flight_controller/mro_pixhawk.md) (FMUv3)
- [Holybro Pixhawk Mini](../flight_controller/pixhawk_mini.md) (FMUv3) - Discontinued by Holybro but supported by PX4
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# BeagleBone Blue
<LinkedBadge type="warning" text="Experimental" url="../flight_controller/autopilot_experimental.md"/>
:::warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://beagleboard.org/blue) for hardware support or compliance issues.
:::
[BeagleBone Blue](https://beagleboard.org/blue) is an all-in-one Linux-based computer.
Although it is optimized for robotics, this compact and inexpensive board has all necessary sensors and peripherals needed by a flight controller.
This topic shows how to set up the board to run PX4 with [librobotcontrol](https://github.com/StrawsonDesign/librobotcontrol) robotics package.
![BeagleBone - labelled diagram](../../assets/hardware/BeagleBone_Blue_balloons.jpg)
## 操作系统映像
_BeagleBone Blue_ images can be found here:
- [Latest stable OS image](https://beagleboard.org/latest-images).
- [Test OS images](https://rcn-ee.net/rootfs/bb.org/testing/) (updated frequently).
Information about flashing OS images can be found on [this page](https://github.com/beagleboard/beaglebone-blue/wiki/Flashing-firmware).
Other useful information can be found in the [FAQ](https://github.com/beagleboard/beaglebone-blue/wiki/Frequently-Asked-Questions-\(FAQ\)).
:::tip
Optionally you can update to a realtime kernel, and if you do, re-check if _librobotcontrol_ works properly with the realtime kernel.
:::
The latest OS images at time of updating this document is [bone-debian-10.3-iot-armhf-2020-04-06-4gb.img.xz](https://debian.beagle.cc/images/bone-debian-10.3-iot-armhf-2020-04-06-4gb.img.xz).
## Cross Compiler Build (Recommend)
The recommended way to build PX4 for _BeagleBone Blue_ is to compile on a development computer and upload the PX4 executable binary directly to the BeagleBone Blue.
:::tip
This approach is recommended over [native build](#native_builds) due to speed of deployment and ease of use.
:::
:::info
The PX4 build requires [librobotcontrol](http://strawsondesign.com/docs/librobotcontrol/) which is automatically included in the build (but it can be installed and tested independently if required).
:::
### Beaglebone Blue WIFI Setup
For easy access to your board, you can connect it to your home network via wifi.
The steps are (execute on the board):
```sh
sudo su
connmanctl
connmanctl>scan wifi
connmanctl>services
#(at this point you should see your network SSID appear.)
connmanctl>agent on
connmanctl>connect <SSID>
Enter Passphrase
connmanctl>quit
```
:::info
The format of the `<SSID>` above is normally the text 'wifi' followed by a string of other characters.
After entering the command you will be prompted to enter the wifi password.
:::
### SSH root Login on Beaglebone
Root login can be enabled on the board with:
```sh
sudo su
echo "PermitRootLogin yes" >> /etc/ssh/sshd_config && systemctl restart sshd
```
### 交叉编译器设置
1. First set up _rsync_ (this is used to transfer files from the development computer to the target board over a network - WiFi or Ethernet).
For _rsync_ over SSH with key authentication, follow the steps here (on the development machine):
1. Generate an SSH key if you have not previously done so:
```
ssh-keygen -t rsa
```
1. ENTER //no passphrase
2. ENTER
3. ENTER
2. Define the BeagleBone Blue board as `beaglebone` in **/etc/hosts** and copy the public SSH key to the board for password-less SSH access:
```
ssh-copy-id debian@beaglebone
```
3. Alternatively you can use the beaglebone's IP directly:
```
ssh-copy-id debian@<IP>
```
4. When prompted if you trust: yes
5. Enter root password
2. Cross Compile Setup
1. Toolchain download
1. First install the toolchain into _/opt/bbblue_toolchain/gcc-arm-linux-gnueabihf_.
Here is an example of using soft link to select which version of the toolchain you want to use:
```sh
mkdir -p /opt/bbblue_toolchain/gcc-arm-linux-gnueabihf
chmod -R 777 /opt/bbblue_toolchain
cd /opt/bbblue_toolchain/gcc-arm-linux-gnueabihf
```
The ARM Cross Compiler for _BeagleBone Blue_ can be found at [Linaro Toolchain Binaries site](https://www.linaro.org/downloads/#gnu_and_llvm).
:::tip
GCC in the toolchain should be compatible with kernel in _BeagleBone Blue_.
General rule of thumb is to choose a toolchain where version of GCC is not higher than version of GCC which comes with the OS image on _BeagleBone Blue_.
:::
Download and unpack [gcc-linaro-13.0.0-2022.06-x86_64_arm-linux-gnueabihf.tar.xz](https://snapshots.linaro.org/gnu-toolchain/13.0-2022.06-1/arm-linux-gnueabihf/gcc-linaro-13.0.0-2022.06-x86_64_arm-linux-gnueabihf.tar.xz) to the bbblue_toolchain folder.
Different ARM Cross Compiler versions for _BeagleBone Blue_ can be found at [Linaro Toolchain Binaries site](http://www.linaro.org/downloads/).
```sh
wget https://snapshots.linaro.org/gnu-toolchain/13.0-2022.06-1/arm-linux-gnueabihf/gcc-linaro-13.0.0-2022.06-x86_64_arm-linux-gnueabihf.tar.xz
tar -xf gcc-linaro-13.0.0-2022.06-x86_64_arm-linux-gnueabihf.tar.xz
```
:::tip
The GCC version of the toolchain should be compatible with kernel in _BeagleBone Blue_.
:::
As a general rule of thumb is to choose a toolchain where the version of GCC is not higher than the version of GCC which comes with the OS image on _BeagleBone Blue_.
2. Add it to the PATH in ~/.profile as shown below
```sh
export PATH=$PATH:/opt/bbblue_toolchain/gcc-arm-linux-gnueabihf/gcc-linaro-13.0.0-2022.06-x86_64_arm-linux-gnueabihf/bin
```
::: info
Logout and Login to apply the change, or execute the same line on your current shell.
:::
3. Setup other dependencies by downloading the PX4 source code and then running the setup scripts:
````
git clone https://github.com/PX4/PX4-Autopilot.git --recursive
ols
```
You may have to edit the upload target to match with your setup:
```sh
nano PX4-Autopilot/boards/beaglebone/blue/cmake/upload.cmake
# in row 37 change debian@beaglebone.lan TO root@beaglebone (or root@<IP>)
````
See the [Development Environment Setup](../dev_setup/dev_env_linux_ubuntu.md) instructions for additional information.
### 交叉编译和上传
Compile and Upload
```
make beaglebone_blue_default upload
```
:::info
Without upload, files stored local in build folder.
:::
To test the uploaded files, run the following commands on the _BeagleBone Blue_ board:
```sh
cd /home/debian/px4
sudo ./bin/px4 -s px4.config
```
:::info
Currently _librobotcontrol_ requires root access.
:::
<a id="native_builds"></a>
## 本机构建（可选）
You can also natively build PX4 builds directly on the BeagleBone Blue.
After acquiring the pre-built library,
1. Select the _librobotcontrol_ installation directory, and set it in the `LIBROBOTCONTROL_INSTALL_DIR` environment variable so that other unwanted headers will not be included
2. Install **robotcontrol.h** and **rc/\*** into `$LIBROBOTCONTROL_INSTALL_DIR/include`
3. Install pre-built native (ARM) version of librobotcontrol.\* into `$LIBROBOTCONTROL_INSTALL_DIR/lib`
Run the following commands on the BeagleBone Blue (i.e. via SSH):
1. 安装依赖项
```sh
sudo apt-get update
sudo apt-get install cmake python3-empy=3.3.4-2
```
2. 将 PX4 固件直接克隆到 BeagleBone Blue 上。
3. Continue with the [standard build system installation](../dev_setup/dev_env_linux.md).
## Changes in config
All changes can be made in de px4.config file directly on beaglebone.
For example, you can change the WIFI to wlan.
:::info
If you want to change permanently, you have to change **PX4-Autopilot/posix-configs/bbblue/px4.config** on the Build Machine before build.
:::
## 引导期间自动启动
Here is an example [/etc/rc.local]:
```sh
#!/bin/sh -e
#
# rc.local
#
# This script is executed at the end of each multiuser runlevel.
# Make sure that the script will "exit 0" on success or any other
# value on error.
#
# In order to enable or disable this script just change the execution
# bits.
#
# By default this script does nothing.
# wait for services to start up
/bin/sleep 25
cd /home/debian/px4
/home/debian/px4/bin/px4 -d -s /home/debian/px4/px4.config > /home/debian/px4/PX4.log &
exit 0
```
Below is a _systemd_ service example [/lib/systemd/system/px4-quad-copter.service]:
```sh
[Unit]
Description=PX4 Quadcopter Service
After=networking.service network-online.target
StartLimitIntervalSec=0
Conflicts=px4-fixed-wing.service
[Service]
WorkingDirectory=/home/debian/px4
User=root
ExecStart=/home/debian/px4/bin/px4 -d -s /home/debian/px4/px4.config
Restart=on-failure
RestartSec=1
[Install]
WantedBy=multi-user.target
```
### 其它选项
#### 动力伺服导轨
When PX4 starts, it automatically applies power to servos.
#### 特殊功能
BeagleBone Blue has some unique features such as multiple choices of WiFi interfaces and power sources.
Refer to comments in **/home/debian/px4/px4.config** for usage of these features.
#### SBUS 信号转换器
SBUS signal from receiver (e.g., FrSky X8R) is an inverted signal.
UARTs on BeagleBone Blue can only work with non-inverted 3.3V level signal.
[This tutorial](../tutorials/linux_sbus.md) contains a SBUS signal inverter circuit.
#### 典型连接
For a quadcopter with GPS and an SBUS receiver, here are typical connections:
1. 将电机 1,2,3 和 4 的电调连接到伺服输出的通道 1,2,3和4 分别在 BeagleBone Blue 上。
如果您的电调连接器包含电源输出引脚，将其移除，不要将其连接到伺服通道的电源输出引脚在 BeagleBone Blue 上。
2. Connect the above mentioned converted SBUS signal to the dsm2 port if you have the matching connector for dsm2, otherwise connect it to any other available UART port and change the corresponding port in **/home/debian/px4/px4.config** accordingly.
3. 将 GPS 模块的信号连接到 BeagleBone Blue 上的 GPS 端口。
Note that the signal pins of the GPS port on the BeagleBone Blue are only 3.3V tolerant, so choose your GPS module accordingly.
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# CUAV Nora Flight Controller
:::warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://www.cuav.net) for hardware support or compliance issues.
:::
The [Nora](https://doc.cuav.net/flight-controller/x7/en/nora.html)<sup>&reg;</sup> flight controller is a high-performance autopilot.
It is an ideal choice for industrial drones and large-scale heavy-duty drones.
It is mainly supplied to commercial manufacturers.
![CUAV x7](../../assets/flight_controller/cuav_nora/nora.png)
Nora is a variant of the CUAV X7.
It adopts an integrated motherboard (soft and hard board), which reduces flight controller's internal connectors, improves reliability, and places all the interfaces on the side (making the wiring more concise).
:::info
This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
:::
## 特性
- Internal shock absorption
- The integrated process reduces the failure caused by interface damage.
- Support USB_HS, download logs faster (PX4 not yet supported)
- Support more dshot output
- Support IMU heating, make the sensor work better
- Dedicated CAN battery port
- 3 sets of IMU sensors
- Car-grade RM3100 compass
- High performance processor
:::tip
The manufacturer [CUAV Docs](https://doc.cuav.net/flight-controller/x7/en/nora.html) are the canonical reference for Nora.
They should be used by preference as they contain the most complete and up to date information.
:::
## 总览
- Main FMU Processor: STM32H743
- 内置传感器：
- 加速度计/陀螺仪：ICM-20689
- 加速度计/陀螺仪：ICM-20649
- Accelerometer/Gyroscope: BMI088
- Magnetometer: RM3100
- Barometer: MS5611\*2
- 接口：
- 14 PWM outputs （12 supports Dshot）
- Support multiple RC inputs (SBUs / CPPM / DSM)
- Analogue / PWM RSSI input
- 2 GPS ports(GPS and UART4 ports)
- 4 i2c buses(Two i2c dedicated ports)
- 2 CAN bus ports
- 2 Power ports(Power A is common adc interface, Power C is DroneCAN battery interface)
- 2 ADC input
- 1 USB ports
- 电源系统
- 输入电压：4.3~5.4V
- USB输入电压: 4.75~5.25V
- 伺服导轨输入电压：0~36V
- 重量和尺寸:
- Weight: 101 g
- 其它特性:
- Operating temperature: -20 ~ 80°c（Measured value）
- Three imus
- Supports temperature compensation
- Internal shock absorption
:::info
When it runs PX4 firmware, only 8 PWM outputs work.
The remaining 6 PWM ports are still being adapted (so it is not compatible with VOLT at time of writing).
:::
## 购买渠道
- [CUAV Store](https://store.cuav.net)<\br>
- [CUAV Aliexpress](https://www.aliexpress.com/item/4001042501927.html?gps-id=8041884\&scm=1007.14677.110221.0\&scm_id=1007.14677.110221.0\&scm-url=1007.14677.110221.0\&pvid=3dc0a3ba-fa82-43d2-b0b3-6280e4329cef\&spm=a2g0o.store_home.promoteRecommendProducts_7913969.58)
## Connections (Wiring)
[CUAV nora Wiring Quickstart](https://doc.cuav.net/flight-controller/x7/en/quick-start/quick-start-nora.html)
## Size and Pinouts
![CUAV x7](../../assets/flight_controller/cuav_nora/nora-size.jpg)
![X7 pinouts](../../assets/flight_controller/cuav_nora/nora-pinouts.jpg)
:::warning
The `RCIN` port is limited to powering the rc receiver and cannot be connected to any power/load.
:::
## 额定电压
Nora AutoPilot\* can be triple-redundant on the power supply if three power sources are supplied. The two power rails are: **POWERA**, **POWERC** and **USB**.
:::info
The output power rails **PWM OUT** (0V to 36V) do not power the flight controller board (and are not powered by it).
You must supply power to one of **POWERA**, **POWERC** or **USB** or the board will be unpowered.
:::
**Normal Operation Maximum Ratings**
Under these conditions all power sources will be used in this order to power the system:
1. **POWERA** and **POWERC** inputs (4.3V to 5.4V)
2. **USB** input (4.75V to 5.25V)
## 编译固件
:::tip
Most users will not need to build this firmware!
It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected.
:::
To [build PX4](../dev_setup/building_px4.md) for this target:
```
make cuav_nora_default
```
## Over Current Protection
The _Nora_ has over-current protection on the 5 Volt Peripheral and 5 Volt high power, which limits the current to 2.5A.
The _Nora_ has short circuit protection.
:::warning
Up to 2.5 A can be delivered to the connectors listed as pin 1 (although these are only rated at 1 A).
:::
## 调试接口
The system's serial console and SWD interface operate on the **DSU7** port.
Simply connect the FTDI cable to the DSU7 connector (the product list contains the CUAV FTDI cable).
The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) operate on the **FMU Debug** port (`DSU7`).
The debug port (`DSU7`) uses a [JST BM06B](https://www.digikey.com.au/product-detail/en/jst-sales-america-inc/BM06B-GHS-TBT-LF-SN-N/455-1582-1-ND/807850) connector and has the following pinout:
| 针脚 | 信号 | 电压 |
| ---- | --------------------------------- | --------------------- |
| 1（红） | 5V+ | +5V |
| 2 | DEBUG TX (OUT) | +3.3V |
| 3 | DEBUG RX (IN) | +3.3V |
| 4（黑） | FMU_SWDIO | +3.3V |
| 6 | FMU_SWCLK | +3.3V |
| 6 | GND | GND |
CUAV provides a dedicated debugging cable, which can be connected to the `DSU7` port.
This splits out an FTDI cable for connecting the [PX4 System Console](../debug/system_console.md) to a computer USB port, and SWD pins used for SWD/JTAG debugging.
The provided debug cable does not connect to the SWD port `Vref` pin (1).
![CUAV Debug cable](../../assets/flight_controller/cuav_v5_plus/cuav_v5_debug_cable.jpg)
:::warning
The SWD Vref pin (1) uses 5V as Vref but the CPU is run at 3.3V!
Some JTAG adapters (SEGGER J-Link) will use the Vref voltage to set the voltage on the SWD lines.
For direct connection to _Segger Jlink_ we recommended you use the 3.3 Volts from pin 4 of the connector marked `DSM`/`SBUS`/`RSSI` to provide `Vtref` to the JTAG (i.e. providing 3.3V and _NOT_ 5V).
:::
## 支持的平台/机身
Any multicopter / airplane / rover or boat that can be controlled with normal RC servos or Futaba S-Bus servos.
The complete set of supported configurations can be seen in the [Airframes Reference](../airframes/airframe_reference.md).
## 更多信息
- [Quick start](https://doc.cuav.net/flight-controller/x7/en/quick-start/quick-start-nora.html)
- [CUAV docs](http://doc.cuav.net)
- [nora schematic](https://github.com/cuav/hardware/tree/master/X7_Autopilot)
docs/zh/flight_controller/cuav_pixhawk_v6x.md
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# CUAV Pixhawk V6X
:::warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://store.cuav.net/) for hardware support or compliance issues.
:::
_Pixhawk V6X_<sup>&reg;</sup> is the latest update to the successful family of Pixhawk® flight controllers designed and made in collaboration with CUAV<sup>&reg;</sup> and the PX4 team.
It is based on the [Pixhawk​​® Autopilot FMUv6X Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-012%20Pixhawk%20Autopilot%20v6X%20Standard.pdf), [Autopilot Bus Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-010%20Pixhawk%20Autopilot%20Bus%20Standard.pdf), and [Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf).
![Pixhawk V6X](../../assets/flight_controller/cuav_pixhawk_v6x/pixhawk_v6x.jpg)
:::tip
This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md) by the PX4 maintenance and test teams.
:::
Pixhawk<sup>&reg;</sup> V6X brings you the ultimate in performance, stability and reliability in all aspects.
- Arm® Cortex®-M7 processor (STM32H753) with Floating Point Unit (FPU), 480MHz high-speed operations and 2MB flash.
Developers can be more productive and efficient, allowing for more complex algorithms and models.
- High-performance on-board, low-noise IMU and automotive-grade magnetic compass based on FMUv6X open standard.
It aims to achieve better stability and anti-interference ability.
- Triple redundant IMU & double redundant barometer on separate buses.
When the PX4 Autopilot detects a sensor failure, the system seamlessly switches to another to maintain flight control reliability.
- An independent LDO powers every sensor set with independent power control.
A vibration isolation System to filter out high-frequency vibration and reduce noise to ensure accurate readings, allowing vehicles to reach better overall flight performances.
- External sensor bus (SPI5) has two chip select lines and data-ready signals for additional sensors and payload with SPI-interface.
- Integrated Microchip Ethernet PHY for high-speed communication over Ethernet with onboard devices such as mission computers.
- Newly designed vibration isolation system to filter out high frequency vibration and reduce noise to ensure accurate readings.
- IMUs are temperature-controlled by onboard heating resistors, allowing optimum working temperature of IMUs&#x20
- Modular flight controller: separated IMU, FMU, and Base system connected by a 100-pin & a 50-pin Pixhawk®​ Autopilot Bus connector.
The Pixhawk® V6X is ideal for corporate research labs, academic research and commercial applications.
### Processors & Sensors
- FMU Processor: STM32H753
- 32 Bit Arm® Cortex®-M7, 480MHz, 2MB flash memory, 1MB RAM
- IO Processor: STM32F103
- 32 Bit Arm® Cortex®-M3, 72MHz, 20KB SRAM
- On-board sensors
- Accel/Gyro: BMI088
- Accel/Gyro: ICM-42688-P
- Accel/Gyro: ICM-20649
- Mag: RM3100
- Barometer: 2x ICP-20100
### Electrical data
- Voltage Ratings:
- Max input voltage: 5.7V
- USB Power Input: 4.75\~5.25V
- Servo Rail Input: 0\~9.9V
- Current Ratings:
- TELEM1 and GPS2 combined output current limiter: 1.5A
- All other port combined output current limiter: 1.5A
### 接口
- 16- PWM servo outputs
- 1 Dedicated R/C input for Spektrum / DSM and S.Bus with analog / PWM RSSI input
- 3 TELEM Ports（with full flow control）
- 1 UART4(Seial and I2C)
- 2 GPS ports
- 1 full GPS plus Safety Switch Port(GPS1)
- 1 basic GPS port(with I2C,GPS2)
- 2 USB Ports
- 1 TYPE-C
- JST GH1.25
- 1 Ethernet port
- Transformerless Applications
- 100Mbps
- 1 SPI bus
- 2 chip select lines
- 2 data-ready lines
- 1 SPI SYNC line
- 1 SPI reset line
- 2 CAN Buses for CAN peripheral
- CAN Bus has individual silent controls or ESC RX-MUX control
- 4 power input ports
- 2 Dronecan/UAVCAN power inputs
- 2 SMBUS/I2C power inputs
- 1 AD & IO port
- 2 additional analog input(3.3 and 6.6v）
- 1 PWM/Capture input
- 2 Dedicated debug
- FMU debug
- IO debug
### Mechanical data
- 重量
- Flight Controller Module: 99g
- Core module: 43g
- Baseboard: 56g
- Operating & storage temperature: -20 ~ 85°c
- Size
- Flight controller
![Pixhawk V6X](../../assets/flight_controller/cuav_pixhawk_v6x/v6x_size.jpg)
- Core module
![Pixhawk V6X](../../assets/flight_controller/cuav_pixhawk_v6x/core.png)
## 购买渠道
Order from [CUAV](https://store.cuav.net/).
## 组装 / 设置
The [Pixhawk V6X Wiring Quick Start](../assembly/quick_start_cuav_pixhawk_v6x.md) provides instructions on how to assemble required/important peripherals including GPS, Power Module etc.
## 针脚定义
![Pixhawk V6x Pinout](../../assets/flight_controller/cuav_pixhawk_v6x/pixhawk_v6x_pinouts.png)
备注：
- The [camera capture pin](../camera/fc_connected_camera.md#camera-capture-configuration) (`PI0`) is pin 2 on the AD&IO port, marked above as `FMU_CAP1`.
## 串口映射
| UART | 设备 | Port |
| ------ | ---------- | ------------- |
| USART1 | /dev/ttyS0 | GPS |
| USART2 | /dev/ttyS1 | TELEM3 |
| USART3 | /dev/ttyS2 | Debug Console |
| UART4 | /dev/ttyS3 | UART4 |
| UART5 | /dev/ttyS4 | TELEM2 |
| USART6 | /dev/ttyS5 | PX4IO/RC |
| UART7 | /dev/ttyS6 | TELEM1 |
| UART8 | /dev/ttyS7 | GPS2 |
## 额定电压
_Pixhawk V6X_ can be triple-redundant on the power supply if three power sources are supplied.
The three power rails are: **POWERC1/POWER1**, **POWERC2/POWER2** and **USB**.
- **POWER C1** and **POWER C2** are DroneCAN/UAVCAN battery interfaces (recommended)；**POWER1** and **POWER2** are SMbus/I2C battery interfaces (backup).
- **POWER C1** and **POWER1** use the same power switch, **POWER C2** and **POWER2** use the same power switch.
**Normal Operation Maximum Ratings**
Under these conditions all power sources will be used in this order to power the system:
1. **POWER C1**, **POWER C2**, **POWER1** and **POWER2** inputs (4.75V to 5.7V)
2. **USB** input (4.75V to 5.25V)
**Absolute Maximum Ratings**
Under these conditions the system will not draw any power (will not be operational), but will remain intact.
1. **POWER1** and **POWER2** inputs (operational range 4.7V to 5.7V, 0V to 10V undamaged)
2. **USB input** (operational range 4.7V to 5.7V, 0V to 6V undamaged)
3. **Servo input:** `VDD_SERVO` pin of **FMU PWM OUT** and **I/O PWM OUT** (0V to 42V undamaged)
**Voltage monitoring**
Digital DroneCAN/UAVCAN battery monitoring is enabled by default (see [Quickstart > Power](../assembly/quick_start_cuav_pixhawk_v6x.md#power)).
:::info
Analog battery monitoring via an ADC is not supported on this particular board, but may be supported in variations of this flight controller with a different baseboard.
:::
## 编译固件
:::tip
Most users will not need to build this firmware!
It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected.
:::
To [build PX4](../dev_setup/building_px4.md) for this target:
```
make px4_fmu-v6x_default
```
<a id="debug_port"></a>
## 调试接口
The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) run on the **FMU Debug** port.
The pinouts and connector comply with the [Pixhawk Debug Full](../debug/swd_debug.md#pixhawk-debug-full) interface defined in the [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf) interface (JST SM10B connector).
| 针脚 | 信号 | 电压 |
| --------------------------- | ----------------------------------- | --------------------- |
| 1（红） | `Vtref` | +3.3V |
| 2 | Console TX (OUT) | +3.3V |
| 3 | Console RX (IN) | +3.3V |
| 4（黑） | `SWDIO` | +3.3V |
| 6 | `SWCLK` | +3.3V |
| 6 | `SWO` | +3.3V |
| 7 | NFC GPIO | +3.3V |
| 8 (blk) | PH11 | +3.3V |
| 9 (blk) | nRST | +3.3V |
| 10 (blk) | `GND` | GND |
For information about wiring and using this port see:
- [PX4 System Console](../debug/system_console.md#pixhawk_debug_port) (Note, the FMU console maps to USART3).
- [SWD Debug Port](../debug/swd_debug.md)
## 外部设备
- [Digital Airspeed Sensor](https://holybro.com/products/digital-air-speed-sensor)
- [Telemetry Radio Modules](https://holybro.com/collections/telemetry-radios?orderby=date)
- [Rangefinders/Distance sensors](../sensor/rangefinders.md)
## 支持的平台/机身
Any multicopter / airplane / rover or boat that can be controlled with normal RC servos or Futaba S-Bus servos.
The complete set of supported configurations can be seen in the [Airframes Reference](../airframes/airframe_reference.md).
## 更多信息
- [CUAV Docs](https://doc.cuav.net/) (CUAV)
- [Pixhawk V6X Wiring QuickStart](../assembly/quick_start_cuav_pixhawk_v6x.md)
- [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)
docs/zh/flight_controller/cuav_v5.md
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# CUAV v5 (Discontinued)
<Badge type="info" text="Discontinued" />
:::warning
This flight controller has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available.
:::
:::warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://store.cuav.net/) for hardware support or compliance issues.
:::
_CUAV v5_<sup>&reg;</sup> (previously "Pixhack v5") is an advanced autopilot designed and made by CUAV<sup>&reg;</sup>.
The board is based on the [Pixhawk-project](https://pixhawk.org/) **FMUv5** open hardware design.
It runs PX4 on the [NuttX](https://nuttx.apache.org/) OS, and is fully compatible with PX4 firmware.
It is intended primarily for academic and commercial developers.
![CUAV v5](../../assets/flight_controller/cuav_v5/pixhack_v5.jpg)
## 总览
- 主处理器：STM32F765
- 32 位 Arm® Cortex®-M7，216MHz，2MB 储存，512KB RAM
- IO 处理器：STM32F100
- 32 位 Arm® Cortex®-M3，24MHz，8KB SRAM
- 内置传感器：
- 加速度计/陀螺仪：ICM-20689
- 加速度计/陀螺仪：BMI055
- 磁力计：IST8310
- 气压计：MS5611
- 接口：
- 14路PWM输出 (6路来自FMU, 8路来自 IO)
- FMU上有3个专用PWM/Capture输入
- CPPM专用的RC输入
- Dedicated R/C input for PPM and S.Bus
- 电平/PWM RSSI输入
- S.BUS伺服输出
- 5个通用串行口
- 4路I2C总线
- 4路SPI总线
- 2 CANBuses with serial ESC
- 2个电池电流/电压模拟输入口
- 电源系统
- 输入电压：4.3~5.4V
- USB输入电压: 4.75~5.25V
- 伺服导轨输入电压：0~36V
- 重量和尺寸:
- 重量：99g
- 尺寸：44_84_12mm
- 其它特性:
- 工作温度：-20 ~ 80°C （实测值）
## 购买渠道
Order from [CUAV](https://cuav.taobao.com/index.htm?spm=2013.1.w5002-16371268426.2.411f26d9E18eAz).
## 接口定义
![CUAV v5](../../assets/flight_controller/cuav_v5/pixhack_v5_connector.jpg)
:::warning
The RCIN interface is limited to powering the rc receiver and cannot be connected to any power/load.
:::
## 额定电压
_CUAV v5_ can be triple-redundant on the power supply if three power sources are supplied. The three power rails are: **POWER1**, **POWER2** and **USB**.
:::info
The output power rails **FMU PWM OUT** and **I/O PWM OUT** (0V to 36V) do not power the flight controller board (and are not powered by it).
You must supply power to one of **POWER1**, **POWER2** or **USB** or the board will be unpowered.
:::
**Normal Operation Maximum Ratings**
Under these conditions all power sources will be used in this order to power the system:
1. **POWER1** and **POWER2** inputs (4.3V to 5.4V)
2. **USB** input (4.75V to 5.25V)
## 编译固件
:::tip
Most users will not need to build this firmware!
It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected.
:::
To [build PX4](../dev_setup/building_px4.md) for this target:
```
make px4_fmu-v5_default
```
## 调试接口
The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) operate on the **FMU Debug** port.
Simply connect the FTDI cable to the Debug & F7 SWD connector.
To access the I/O Debug port, the user must remove the CUAV v5 shell.
Both ports have standard serial pins and can be connected to a standard FTDI cable (3.3V, but 5V tolerant).
The pinout is as shown.
![CUAV v5 debug](../../assets/flight_controller/cuav_v5/pixhack_v5_debug.jpg)
| 引脚 | CUAV v5 debug |
| -- | ----------------------------- |
| 1 | GND |
| 2 | FMU-swclk |
| 3 | FMU-SWDIO |
| 4 | UART7_RX |
| 5 | UART7_TX |
| 6 | VCC |
## 串口映射
| UART | 设备 | Port |
| ------ | ---------- | ---------------------------------------------------------- |
| UART1 | /dev/ttyS0 | GPS |
| USART2 | /dev/ttyS1 | TELEM1 (flow control) |
| USART3 | /dev/ttyS2 | TELEM2 (flow control) |
| UART4 | /dev/ttyS3 | TELEM4 |
| USART6 | /dev/ttyS4 | TX is RC input from SBUS_RC connector |
| UART7 | /dev/ttyS5 | Debug Console |
| UART8 | /dev/ttyS6 | PX4IO |
<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
## 外部设备
- [Digital Airspeed Sensor](https://item.taobao.com/item.htm?spm=a1z10.3-c-s.w4002-16371268452.37.6d9f48afsFgGZI\&id=9512463037)
- [Telemetry Radio Modules](https://cuav.taobao.com/category-158480951.htm?spm=2013.1.w5002-16371268426.4.410b7a821qYbBq\&search=y\&catName=%CA%FD%B4%AB%B5%E7%CC%A8)
- [Rangefinders/Distance sensors](../sensor/rangefinders.md)
## 支持的平台/机身
Any multicopter / airplane / rover or boat that can be controlled with normal RC servos or Futaba S-Bus servos.
The complete set of supported configurations can be seen in the [Airframes Reference](../airframes/airframe_reference.md).
## 更多信息
- [FMUv5 reference design pinout](https://docs.google.com/spreadsheets/d/1-n0__BYDedQrc_2NHqBenG1DNepAgnHpSGglke-QQwY/edit#gid=912976165).
- [CUAV v5 docs](http://doc.cuav.net/flight-controller/v5-autopilot/en/v5.html)
- [CUAV Github](https://github.com/cuav)
docs/zh/flight_controller/cuav_v5_nano.md
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# CUAV V5 nano Autopilot
:::warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://store.cuav.net/) for hardware support or compliance issues.
:::
**V5 nano**<sup>&reg;</sup> is an autopilot for space-constrained applications, designed by CUAV<sup>&reg;</sup> in collaboration with the PX4 team.
The autopilot is small enough to use in 220mm racing drones, but remains powerful enough for most drone use.
![V5 nano - Hero image](../../assets/flight_controller/cuav_v5_nano/v5_nano_01.png)
:::info
The V5 nano is similar to the [CUAV V5+](../flight_controller/cuav_v5_plus.md), but has an all-in-one form factor, fewer PWM ports (can't be used for [airframes](../airframes/airframe_reference.md) that use AUX ports), and does not have internal damping.
:::
Some of its main features include:
- Full compatibility with the [Pixhawk project](https://pixhawk.org/) **FMUv5** design standard and uses the [Pixhawk Connector Standard](https://pixhawk.org/pixhawk-connector-standard/) for all external interfaces.
- More advanced processor, RAM and flash memory than FMU v3, along with more stable and reliable sensors.
- Firmware-compatible with PX4.
- Generous 2.6mm spacing for I/O pins, making it easier to use all the interfaces.
:::info
This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
:::
### 总览
Main FMU Processor: STM32F765◦32 Bit Arm® Cortex®-M7, 216MHz, 2MB memory, 512KB RAM
- 内置传感器：
- 加速度计 / 陀螺仪：ICM-20689
- 加速度计 / 陀螺仪：ICM-20602
- 加速度计 / 陀螺仪：BMI055
- 磁力计：IST8310
- 气压计：MS5611
- Interfaces: 8 PWM outputs
- FMU上有3个专用PWM/Capture输入
- CPPM专用的RC输入
- Dedicated R/C input for Spektrum / DSM and S.Bus
- 电平/PWM RSSI输入
- 4个通用串行口
- 3 个 I2C 接口
- 4路SPI总线
- 2 CAN Buses
- 电池电压 / 电流模拟输入口
- 2 additional analog inputs
- Supports nARMED
- Power System: Power Brick Input: 4.75~5.5V
- USB 电源输入：4.75~5.25V
- 重量和尺寸:
- Dimensions: 60\*40\*14mm
- 其它特性:
- 工作温度：-20 ~ 85°C （实测值）
## 购买渠道
[CUAV Store](https://store.cuav.net/shop/v5-nano/)
[CUAV Aliexpress](https://www.aliexpress.com/item/33050770314.html?storeId=3257035\&spm=2114.12010612.8148356.9.dbe6790bjW2hpH) (international users)
[CUAV Taobao](https://item.taobao.com/item.htm?spm=a230r.1.14.8.26ab5258veQJRu\&id=569404317857\&ns=1\&abbucket=13#detail) (China Mainland users)
:::info
Autopilot may be purchased with included Neo GPS module
:::
<a id="connection"></a>
## Connections (Wiring)
[V5 nano Wiring Quickstart](../assembly/quick_start_cuav_v5_nano.md)
## 针脚定义
Download **V5 nano** pinouts from [here](http://manual.cuav.net/V5-Plus.pdf).
## 编译固件
:::tip
Most users will not need to build this firmware!
It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected.
:::
To [build PX4](../dev_setup/building_px4.md) for this target:
```
make px4_fmu-v5_default
```
<a id="debug_port"></a>
## 调试接口
The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) operate on the **FMU Debug** port (`DSU7`).
The board does not have an I/O debug interface.
![Debug port (DSU7)](../../assets/flight_controller/cuav_v5_nano/debug_port_dsu7.jpg)
The debug port (`DSU7`) uses a [JST BM06B](https://www.digikey.com.au/product-detail/en/jst-sales-america-inc/BM06B-GHS-TBT-LF-SN-N/455-1582-1-ND/807850) connector and has the following pinout:
| 针脚 | 信号 | 电压 |
| ---- | --------------------------------- | --------------------- |
| 1（红） | 5V+ | +5V |
| 2 | DEBUG TX (OUT) | +3.3V |
| 3 | DEBUG RX (IN) | +3.3V |
| 4（黑） | FMU_SWDIO | +3.3V |
| 6 | FMU_SWCLK | +3.3V |
| 6 | GND | GND |
The product package includes a convenient debug cable that can be connected to the `DSU7` port.
This splits out an FTDI cable for connecting the [PX4 System Console](../debug/system_console.md) to a computer USB port, and SWD pins used for SWD/JTAG debugging.
The provided debug cable does not connect to the SWD port `Vref` pin (1).
![CUAV Debug cable](../../assets/flight_controller/cuav_v5_nano/cuav_nano_debug_cable.jpg)
:::warning
The SWD Vref pin (1) uses 5V as Vref but the CPU is run at 3.3V!
Some JTAG adapters (SEGGER J-Link) will use the Vref voltage to set the voltage on the SWD lines.
For direct connection to _Segger Jlink_ we recommended you use the 3.3 Volts from pin 4 of the connector marked `DSM`/`SBUS`/`RSSI` to provide `Vtref` to the JTAG (i.e. providing 3.3V and _NOT_ 5V).
For more information see [Using JTAG for hardware debugging](#using-jtag-for-hardware-debugging).
:::
## 串口映射
| UART | 设备 | Port |
| ------ | ---------- | ---------------------------------------------------------- |
| UART1 | /dev/ttyS0 | GPS |
| USART2 | /dev/ttyS1 | TELEM1 (flow control) |
| USART3 | /dev/ttyS2 | TELEM2 (flow control) |
| UART4 | /dev/ttyS3 | TELEM4 |
| USART6 | /dev/ttyS4 | TX is RC input from SBUS_RC connector |
| UART7 | /dev/ttyS5 | Debug Console |
| UART8 | /dev/ttyS6 | Not connected (no PX4IO) |
<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
## 额定电压
_V5 nano_ must be powered from the `Power` connector during flight, and may also/alternatively be powered from `USB` for bench testing.
:::info
The `PM2` connector cannot not be used for powering the _V5 nano_ (see [this issue](#compatibility_pm2)).
:::
:::info
The Servo Power Rail is neither powered by, nor provides power to the FMU.
However, the pins marked **+** are all common, and a BEC may be connected to any of the servo pin sets to power the servo power rail.
:::
## Over Current Protection
The _V5 nano_ has no over current protection.
<a id="Optional-hardware"></a>
## 外部设备
- [Digital Airspeed Sensor](https://item.taobao.com/item.htm?spm=a1z10.3-c-s.w4002-16371268452.37.6d9f48afsFgGZI\&id=9512463037)
- [Telemetry Radio Modules](https://cuav.taobao.com/category-158480951.htm?spm=2013.1.w5002-16371268426.4.410b7a821qYbBq\&search=y\&catName=%CA%FD%B4%AB%B5%E7%CC%A8)
- [Rangefinders/Distance sensors](../sensor/rangefinders.md)
## 支持的平台/机身
Any multicopter / airplane / rover or boat that can be controlled with normal RC servos or Futaba S-Bus servos.
The complete set of supported configurations can be seen in the [Airframes Reference](../airframes/airframe_reference.md).
## Compatibility
CUAV adopts some differentiated designs and is incompatible with some hardware, which will be described below.
<a id="compatibility_gps"></a>
#### Neo v2.0 GPS not compatible with other devices
The _Neo v2.0 GPS_ that is recommended for use with _CUAV V5+_ and _CUAV V5 nano_ is not fully compatible with other Pixhawk flight controllers (specifically, the buzzer part is not compatible and there may be issues with the safety switch).
The UAVCAN [NEO V2 PRO GNSS receiver](http://doc.cuav.net/gps/neo-series-gnss/en/neo-v2-pro.html) can also be used, and is compatible with other flight controllers.
<a id="compatibility_jtag"></a>
#### Using JTAG for hardware debugging
`DSU7` FMU Debug Pin 1 is 5 volts - not the 3.3 volts of the CPU.
Some JTAG probes use this voltage to set the IO levels when communicating to the target.
For direct connection to _Segger Jlink_ we recommended you use the 3.3 Volts of DSM/SBUS/RSSI pin 4 as Pin 1 on the debug connector (`Vtref`).
<a id="compatibility_pm2"></a>
#### PM2 cannot power the flight controller
`PM2` can only measure battery voltage and current, but **not** power the flight controller.
:::warning
PX4 does not support this interface.
:::
## 已知的问题
The issues below refer to the _batch number_ in which they first appear.
The batch number is the four-digit production date behind V01 and is displayed on a sticker on the side of the flight controller.
For example, the serial number Batch V011904((V01 is the number of V5, 1904 is the production date, that is, the batch number).
<a id="pin1_unfused"></a>
#### SBUS / DSM / RSSI interface Pin1 unfused
:::warning
This is a safety issue.
:::
Please do not connect other equipment (except RC receiver) on SBUS / DSM / RSSI interface - this can lead to equipment damage!
- _Found:_ Batches V01190904xxxx
- _Fixed:_ Batches later than V01190904xxxx
## 更多信息
- [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)
- [Airframe build-log using CUAV v5 nano on a DJI FlameWheel450](../frames_multicopter/dji_f450_cuav_5nano.md)
docs/zh/flight_controller/cuav_v5_plus.md
+248
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@@ -0,0 +1,248 @@
# CUAV V5+ Autopilot
:::warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://store.cuav.net/) for hardware support or compliance issues.
:::
_V5+_<sup>&reg;</sup> is an advanced autopilot manufactured by CUAV<sup>&reg;</sup>.
It was designed by CUAV<sup>&reg;</sup> in collaboration with the PX4 team.
The autopilot is recommended for commercial systems integration, but is also suitable for academic research and any other use.
![V5+ AutoPilot - hero image](../../assets/flight_controller/cuav_v5_plus/v5+_01.png)
Some of its main features include:
- Full compatibility with the [Pixhawk project](https://pixhawk.org/) **FMUv5** design standard and uses the [Pixhawk Connector Standard](https://pixhawk.org/pixhawk-connector-standard/) for all external interfaces.
- More advanced processor, RAM and flash memory than FMU v3, along with more stable and reliable sensors.
- Firmware-compatible with PX4.
- Modular design allows users to customize their own carrier board.
- Built-in vibration dampening system with high performance shock absorption system.
- Multiple-redundant sensor and power systems for improved flight safety and stability.
:::info
This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
:::
## 总览
- 主处理器：STM32F765
- 32 位 Arm® Cortex®-M7，216MHz，2MB 储存，512KB RAM
- IO 处理器：STM32F100
- 32 位 Arm® Cortex®-M3，24MHz，8KB SRAM
- 内置传感器：
- 加速度计/陀螺仪：ICM-20689
- 加速度计/陀螺仪：BMI055
- 磁力计：IST8310
- 气压计：MS5611
- 接口：
- 14路PWM输出 (6路来自FMU, 8路来自 IO)
- FMU上有3个专用PWM/Capture输入
- CPPM专用的RC输入
- 用于 Spektrum / DSM 与 有模拟 / PWM RSSI 的 S.Bus 的专用遥控输入
- 电平/PWM RSSI输入
- S.BUS伺服输出
- 5个通用串行口
- 4路I2C总线
- 4路SPI总线
- 2 CANBuses with serial ESC
- 2个电池电流/电压模拟输入口
- 电源系统
- 输入电压：4.3~5.4V
- USB输入电压: 4.75~5.25V
- 重量和尺寸:
- 重量：99g
- Dimensions: 85.5\*42\*33mm
- 其它特性:
- Operating temperature: -20 ~ 80°c（Measured value）
## 购买渠道
<!-- [CUAV Store](https://store.cuav.net/index.php?id_product=95&id_product_attribute=0&rewrite=cuav-new-pixhack-v5-autopilot-m8n-gps-for-fpv-rc-drone-quadcopter-helicopter-flight-simulator-free-shipping-whole-sale&controller=product&id_lang=1) -->
[CUAV Aliexpress](https://www.aliexpress.com/item/32890380056.html?spm=a2g0o.detail.1000060.1.7a7233e7mLTlVl\&gps-id=pcDetailBottomMoreThisSeller\&scm=1007.13339.90158.0\&scm_id=1007.13339.90158.0\&scm-url=1007.13339.90158.0\&pvid=d899bfab-a7ca-46e1-adf2-72ad1d649822) (International users)
[CUAV Taobao](https://item.taobao.com/item.htm?spm=a1z10.5-c.w4002-21303114052.37.a28f697aeYzQx9\&id=594262853015) (China Mainland users)
:::info
Autopilot may be purchased with included Neo GPS module
:::
<a id="connection"></a>
## Connections (Wiring)
[CUAV V5+ Wiring Quickstart](../assembly/quick_start_cuav_v5_plus.md)
## 针脚定义
Download **V5+** pinouts from [here](http://manual.cuav.net/V5-Plus.pdf).
## 额定电压
_V5+ AutoPilot_ supports redundant power supplies - up to three sources may be used: `Power1`, `Power2` and `USB`.
You must supply power to at least one of these sources, or the flight controller will be unpowered.
:::info
On FMUv5 based FMUs with PX4IO module (as is the case for the _V5+_), the Servo Power Rail is only monitored by the FMU.
It is neither powered by, nor provides power to the FMU.
However, the pins marked **+** are all common, and a BEC may be connected to any of the servo pin sets to power the servo power rail.
:::
**Normal Operation Maximum Ratings**
Under these conditions all power sources will be used in this order to power the system:
1. `Power1` and `Power2` inputs (4.3V to 5.4V)
2. `USB` input (4.75V to 5.25V)
## Over Current Protection
The _V5+_ has over current protection on the 5 Volt Peripheral and 5 Volt high power, which limits the current to 2.5A.
The _V5+_ has short circuit protection.
:::warning
Up to 2.5 A can be delivered to the connectors listed as pin 1 (although these are only rated at 1 A).
:::
## 编译固件
:::tip
Most users will not need to build this firmware!
It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected.
:::
To [build PX4](../dev_setup/building_px4.md) for this target:
```
make px4_fmu-v5_default
```
## 调试接口
The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) operate on the **FMU Debug** port (`DSU7`).
The board does not have an I/O debug interface.
![Debug port (DSU7)](../../assets/flight_controller/cuav_v5_plus/debug_port_dsu7.jpg)
The debug port (`DSU7`) uses a [JST BM06B](https://www.digikey.com.au/product-detail/en/jst-sales-america-inc/BM06B-GHS-TBT-LF-SN-N/455-1582-1-ND/807850) connector and has the following pinout:
| 针脚 | 信号 | 电压 |
| ---- | --------------------------------- | --------------------- |
| 1（红） | 5V+ | +5V |
| 2 | DEBUG TX (OUT) | +3.3V |
| 3 | DEBUG RX (IN) | +3.3V |
| 4（黑） | FMU_SWDIO | +3.3V |
| 6 | FMU_SWCLK | +3.3V |
| 6 | GND | GND |
The product package includes a convenient debug cable that can be connected to the `DSU7` port.
This splits out an FTDI cable for connecting the [PX4 System Console](../debug/system_console.md) to a computer USB port, and SWD pins used for SWD/JTAG debugging.
The provided debug cable does not connect to the SWD port `Vref` pin (1).
![CUAV Debug cable](../../assets/flight_controller/cuav_v5_plus/cuav_v5_debug_cable.jpg)
:::warning
The SWD Vref pin (1) uses 5V as Vref but the CPU is run at 3.3V!
Some JTAG adapters (SEGGER J-Link) will use the Vref voltage to set the voltage on the SWD lines.
For direct connection to _Segger Jlink_ we recommended you use the 3.3 Volts from pin 4 of the connector marked `DSM`/`SBUS`/`RSSI` to provide `Vtref` to the JTAG (i.e. providing 3.3V and _NOT_ 5V).
For more information see [Using JTAG for hardware debugging](#using-jtag-for-hardware-debugging).
:::
## 串口映射
| UART | 设备 | Port |
| ------ | ---------- | ---------------------------------------------------------- |
| UART1 | /dev/ttyS0 | GPS |
| USART2 | /dev/ttyS1 | TELEM1 (flow control) |
| USART3 | /dev/ttyS2 | TELEM2 (flow control) |
| UART4 | /dev/ttyS3 | TELEM4 |
| USART6 | /dev/ttyS4 | TX is RC input from SBUS_RC connector |
| UART7 | /dev/ttyS5 | Debug Console |
| UART8 | /dev/ttyS6 | PX4IO |
<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
<a id="optional-hardware"></a>
## 外部设备
- [Digital Airspeed Sensor](https://item.taobao.com/item.htm?spm=a1z10.3-c-s.w4002-16371268452.37.6d9f48afsFgGZI\&id=9512463037)
- [Telemetry Radio Modules](https://cuav.taobao.com/category-158480951.htm?spm=2013.1.w5002-16371268426.4.410b7a821qYbBq\&search=y\&catName=%CA%FD%B4%AB%B5%E7%CC%A8)
- [Rangefinders/Distance sensors](../sensor/rangefinders.md)
## 支持的平台/机身
Any multicopter / airplane / rover or boat that can be controlled with normal RC servos or Futaba S-Bus servos.
The complete set of supported configurations can be seen in the [Airframes Reference](../airframes/airframe_reference.md).
## 备注
#### Do not plug Digital or Analog PM onto connectors configured for other type of PM
If you plug an Analog PM into a digital PM connector it will stop all the I2C devices on that bus.
Specifically this will stop the GPS's compass due to contention, and may also damage the FMU (longer term).
Similarly, a digital PM plugged into a analog connector will not work, and may also damage/destroy the power module (longer term).
## Compatibility
CUAV adopts some differentiated designs and is incompatible with some hardware, which will be described below.
<a id="compatibility_gps"></a>
#### GPS not compatible with other devices
The _Neo v2.0 GPS_ recommended for use with _CUAV V5+_ and _CUAV V5 nano_ is not fully compatible with other Pixhawk flight controllers (specifically, the buzzer part is not compatible and there may be issues with the safety switch).
The UAVCAN [NEO V2 PRO GNSS receiver](http://doc.cuav.net/gps/neo-series-gnss/en/neo-v2-pro.html) can also be used, and is compatible with other flight controllers.
<a id="compatibility_jtag"></a>
#### Using JTAG for hardware debugging
`DSU7` FMU Debug Pin 1 is 5 volts - not the 3.3 volts of the CPU.
Some JTAG use this voltage to set the IO levels when communicating to the target.
For direct connection to _Segger Jlink_ we recommended you use the 3.3 Volts of DSM/SBUS/RSSI pin 4 as Pin 1 on the debug connector (`Vtref`).
## 已知的问题
The issues below refer to the _batch number_ in which they first appear.
The batch number is the four-digit production date behind V01 and is displayed on a sticker on the side of the flight controller.
For example, the serial number Batch V011904((V01 is the number of V5, 1904 is the production date, that is, the batch number).
<a id="pin1_unfused"></a>
#### SBUS / DSM / RSSI interface Pin1 unfused
:::warning
This is a safety issue.
:::
Please do not connect other equipment (except RC receiver) on SBUS / DSM / RSSI interface - this may lead to equipment damage.
- _Found:_ Batches V01190904xxxx
- _Fixed:_ Batches later than V01190904xxxx
## 更多信息
- [CUAV V5+ Manual](http://manual.cuav.net/V5-Plus.pdf)
- [CUAV V5+ docs](http://doc.cuav.net/flight-controller/v5-autopilot/en/v5+.html)
- [FMUv5 reference design pinout](https://docs.google.com/spreadsheets/d/1-n0__BYDedQrc_2NHqBenG1DNepAgnHpSGglke-QQwY/edit#gid=912976165)
- [CUAV Github](https://github.com/cuav)
- [Base board design reference](https://github.com/cuav/hardware/tree/master/V5_Autopilot/V5%2B/V5%2BBASE)
- [CUAV V5+ Wiring Quickstart](../assembly/quick_start_cuav_v5_plus.md)
- [Airframe build-log using CUAV v5+ on a DJI FlameWheel450](../frames_multicopter/dji_f450_cuav_5plus.md)
docs/zh/flight_controller/cuav_x7.md
+181
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@@ -0,0 +1,181 @@
# CUAV X7 飞行控制器
:::warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://www.cuav.net) for hardware support or compliance issues.
:::
The [X7](http://doc.cuav.net/flight-controller/x7/en/x7.html)<sup>&reg;</sup> flight controller is a high-performance autopilot.
It is an ideal choice for industrial drones and large-scale heavy-duty drones.
It is mainly supplied to commercial manufacturers.
![CUAV x7](../../assets/flight_controller/cuav_x7/x7.jpg)
The flight controller adopts a modular design and can be matched with different base plates.
You can design a dedicated carrier board for your UAV to improve the integration of commercial systems, reduce wiring, improve system reliability, and enhance your UAV competitiveness (for example, integrating airspeed sensors, telemetry or even a companion computer, in the carrier board).
CUAV has also provided a variety of carrier boards for you to choose from.
:::info
This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
:::
## 特性
- Internal shock absorption
- Modular design, can be DIY carrier board
- Support USB_HS, download logs faster (PX4 not yet supported)
- Support more DShot output
- Support IMU heating, make the sensor work better
- Dedicated CAN battery port
- 3 sets of IMU sensors
- Car-grade RM3100 compass
- High performance processor
:::tip
The manufacturer [CUAV Docs](https://doc.cuav.net/flight-controller/x7/en/) are the canonical reference for the X7.
They should be used by preference as they contain the most complete and up to date information.
:::
## 总览
- Main FMU Processor: STM32H743
- 内置传感器：
- 加速度计/陀螺仪：ICM-20689
- 加速度计/陀螺仪：ICM-20649
- Accelerometer/Gyroscope: BMI088
- Magnetometer: RM3100
- Barometer: MS5611\*2
- 接口：
- 14 PWM outputs （12 supports Dshot）
- Support multiple RC inputs (SBUs / CPPM / DSM)
- Analogue / PWM RSSI input
- 2 GPS ports(GPS and UART4 ports)
- 4 i2c buses(Two i2c dedicated ports)
- 2 CAN bus ports
- 2 Power ports(Power A is common adc interface, Power C is DroneCAN battery interface)
- 2 ADC input
- 1 USB ports
- 电源系统
- 输入电压：4.3~5.4V
- USB输入电压: 4.75~5.25V
- 伺服导轨输入电压：0~36V
- 重量和尺寸:
- Weight: 101 g
- 其它特性:
- Operating temperature: -20 ~ 80°c（Measured value）
- Three imus
- Supports temperature compensation
- Internal shock absorption
:::info
When it runs PX4 firmware, only 8 pwm works, the remaining 6 pwm are still being adapted, so it is not compatible with VOLT now.
:::
## 购买渠道
[CUAV Store](https://store.cuav.net)
[CUAV aliexpress](https://www.aliexpress.com/item/4001042683738.html?spm=a2g0o.detail.1000060.2.1ebb2a9d3WDryi\&gps-id=pcDetailBottomMoreThisSeller\&scm=1007.13339.169870.0\&scm_id=1007.13339.169870.0\&scm-url=1007.13339.169870.0\&pvid=f0df2481-1c0a-44eb-92a4-9c11c6cb3d06&_t=gps-id:pcDetailBottomMoreThisSeller,scm-url:1007.13339.169870.0,pvid:f0df2481-1c0a-44eb-92a4-9c11c6cb3d06,tpp_buckets:668%230%23131923%2320_668%23808%234094%23518_668%23888%233325%2319_668%234328%2319934%23630_668%232846%238115%23807_668%232717%237566%23827_668%231000022185%231000066058%230_668%233468%2315607%2376)
## Connections (Wiring)
[CUAV X7 Wiring Quickstart](http://doc.cuav.net/flight-controller/x7/en/quick-start/quick-start-x7.html)
## Size and Pinouts
![CUAV x7](../../assets/flight_controller/cuav_x7/x7-size.jpg)
![X7 pinouts](../../assets/flight_controller/cuav_x7/x7-pinouts.jpg)
:::warning
The `RCIN` port is limited to powering the RC receiver and cannot be connected to any power/load.
:::
## 额定电压
The _X7 AutoPilot_ can be triple-redundant on the power supply if three power sources are supplied.
The power rails are: **POWERA**, **POWERC** and **USB**.
:::info
The output power rails **PWM OUT** (0V to 36V) do not power the flight controller board (and are not powered by it).
You must supply power to one of **POWERA**, **POWERC** or **USB** or the board will be unpowered.
:::
**Normal Operation Maximum Ratings**
Under these conditions all power sources will be used in this order to power the system:
1. **POWERA** and **POWERC** inputs (4.3V to 5.4V)
2. **USB** input (4.75V to 5.25V)
## 编译固件
:::tip
Most users will not need to build this firmware!
It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected.
:::
To [build PX4](../dev_setup/building_px4.md) for this target:
```
make cuav_x7pro_default
```
## Over Current Protection
The _X7_ has over-current protection on the 5 Volt Peripheral and 5 Volt high power, which limits the current to 2.5A.
The _X7_ has short circuit protection.
:::warning
Up to 2.5 A can be delivered to the connectors listed as pin 1 (although these are only rated at 1 A).
:::
## 调试接口
The system's serial console and SWD interface operate on the **DSU7** port.
Simply connect the FTDI cable to the DSU7 connector (the product list contains the CUAV FTDI cable).
![Debug port (DSU7)](../../assets/flight_controller/cuav_v5_plus/debug_port_dsu7.jpg)
The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) operate on the **FMU Debug** port (`DSU7`).
The debug port (`DSU7`) uses a [JST BM06B](https://www.digikey.com.au/product-detail/en/jst-sales-america-inc/BM06B-GHS-TBT-LF-SN-N/455-1582-1-ND/807850) connector and has the following pinout:
| 针脚 | 信号 | 电压 |
| ---- | --------------------------------- | --------------------- |
| 1（红） | 5V+ | +5V |
| 2 | DEBUG TX (OUT) | +3.3V |
| 3 | DEBUG RX (IN) | +3.3V |
| 4（黑） | FMU_SWDIO | +3.3V |
| 6 | FMU_SWCLK | +3.3V |
| 6 | GND | GND |
CUAV provides a dedicated debugging cable, which can be connected to the `DSU7` port.
This splits out an FTDI cable for connecting the [PX4 System Console](../debug/system_console.md) to a computer USB port, and SWD pins used for SWD/JTAG debugging.
The provided debug cable does not connect to the SWD port `Vref` pin (1).
![CUAV Debug cable](../../assets/flight_controller/cuav_v5_plus/cuav_v5_debug_cable.jpg)
:::warning
The SWD Vref pin (1) uses 5V as Vref but the CPU is run at 3.3V!
Some JTAG adapters (SEGGER J-Link) will use the Vref voltage to set the voltage on the SWD lines.
For direct connection to _Segger Jlink_ we recommended you use the 3.3 Volts from pin 4 of the connector marked `DSM`/`SBUS`/`RSSI` to provide `Vtref` to the JTAG (i.e. providing 3.3V and _NOT_ 5V).
:::
## 支持的平台/机身
Any multicopter / airplane / rover or boat that can be controlled with normal RC servos or Futaba S-Bus servos.
The complete set of supported configurations can be seen in the [Airframes Reference](../airframes/airframe_reference.md).
## 更多信息
- [Quick start](http://doc.cuav.net/flight-controller/x7/en/quick-start/quick-start-x7.html)
- [CUAV docs](http://doc.cuav.net)
- [x7 schematic](https://github.com/cuav/hardware/tree/master/X7_Autopilot)
docs/zh/flight_controller/cubepilot_cube_orange.md
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# CubePilot Cube Orange Flight Controller
:::warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://cubepilot.org/#/home) for hardware support or compliance issues.
:::
The [Cube Orange](https://www.cubepilot.com/#/cube/features) flight controller is a flexible autopilot intended primarily for manufacturers of commercial systems.
![Cube Orange](../../assets/flight_controller/cube/orange/cube_orange_hero.jpg)
The controller is designed to be used with a domain-specific carrier board in order to reduce the wiring, improve reliability, and ease of assembly.
For example, a carrier board for a commercial inspection vehicle might include connections for a companion computer, while a carrier board for a racer could includes ESCs for the frame of the vehicle.
The ADS-B carrier board includes a customized 1090MHz ADSB-In receiver from uAvionix.
This provides attitude and location of commercial manned aircraft within the range of Cube.
This is automatically configured and enabled in the default PX4 firmware.
Cube includes vibration isolation on two of the IMU's, with a third fixed IMU as a reference / backup.
:::tip
The manufacturer [Cube Docs](https://docs.cubepilot.org/user-guides/autopilot/the-cube-module-overview) contain detailed information, including an overview of the [Differences between Cube Colours](https://docs.cubepilot.org/user-guides/autopilot/the-cube-module-overview#differences-between-cube-colours).
:::
## 主要特性
- 32bit STM32H753VI (32bit [ARM Cortex M7](https://en.wikipedia.org/wiki/ARM_Cortex-M#Cortex-M7), 400 MHz, Flash 2MB, RAM 1MB).
- 32 bit STM32F103 failsafe co-processor
- 14 PWM / Servo outputs (8 with failsafe and manual override, 6 auxiliary, high-power compatible)
- Abundant connectivity options for additional peripherals (UART, I2C, CAN)
- Integrated backup system for in-flight recovery and manual override with dedicated processor and stand-alone power supply (fixed-wing use)
- Backup system integrates mixing, providing consistent autopilot and manual override mixing modes (fixed-wing use)
- Redundant power supply inputs and automatic failover
- External safety switch
- Multicolor LED main visual indicator
- High-power, multi-tone piezo audio indicator
- microSD card for high-rate logging over extended periods of time
<a id="stores"></a>
## 购买渠道
- [Reseller list](https://www.cubepilot.com/#/reseller/list)
## 组装
[Cube Wiring Quickstart](../assembly/quick_start_cube.md)
## 产品规格
- **Processor:**
- STM32H753VI (32bit [ARM Cortex M7](https://en.wikipedia.org/wiki/ARM_Cortex-M#Cortex-M7))
- 400 MHz
- 1 MB RAM
- 2 MB Flash \(fully accessible\)
- **Failsafe co-processor:** <!-- inconsistent info on failsafe processor: 32 bit STM32F103 failsafe co-processor http://www.proficnc.com/all-products/191-pixhawk2-suite.html -->
- STM32F103 (32bit _ARM Cortex-M3_)
- 24 MHz
- 8 KB SRAM
- **Sensors:** (all connected via SPI)
- **Accelerometer:** (3) ICM20948, ICM20649, ICM20602
- **Gyroscope:** (3) ICM20948, ICM20649, ICM20602
- **Compass:** (1) ICM20948
- **Barometric Pressure Sensor:** (2) MS5611
- **Operating Conditions:**
- **Operating Temp:** -10C to 55C
- **IP rating/Waterproofing:** Not waterproof
- **Servo rail input voltage:** 3.3V / 5V
- **USB port input:**
- Voltage: 4V - 5.7V
- Rated current: 250 mA
- **POWER:**
- Input voltage: 4.1V - 5.7V
- Rated input current: 2.5A
- Rated input/output power: 14W
- **Dimensions:**
- **Cube:** 38.25mm x 38.25mm x 22.3mm
- **Carrier:** 94.5mm x 44.3mm x 17.3mm
- **Interfaces**
- IO Ports: 14 PWM servo outputs (8 from IO, 6 from FMU)
- 5x UART (serial ports), one high-power capable, 2x with HW flow control
- 2x CAN (one with internal 3.3V transceiver, one on expansion connector)
- **R/C inputs:**
- Spektrum DSM / DSM2 / DSM-X® Satellite compatible input
- Futaba S.BUS® compatible input and output
- PPM-SUM signal input
- RSSI (PWM or voltage) input
- I2C
- SPI
- 3.3v ADC input
- Internal microUSB port and external microUSB port extension
## Ports
### Top-Side (GPS, TELEM etc)
![Cube Ports - Top (GPS, TELEM etc) and Main/AUX](../../assets/flight_controller/cube/cube_ports_top_main.jpg)
## 针脚定义
#### TELEM1，TELEM2 接口
| 针脚 | 信号 | 电压 |
| ---- | ---------------------------- | --------------------- |
| 1（红） | VCC | +5V |
| 2 | TX (OUT) | +3.3V |
| 3 | RX (IN) | +3.3V |
| 4（黑） | CTS (IN) | +3.3V |
| 6 | RTS (OUT) | +3.3V |
| 6 | GND | GND |
#### GPS1 port
| 针脚 | 信号 | 电压 |
| -------------------------- | --------------------------- | --------------------- |
| 1（红） | VCC | +5V |
| 2 | TX (OUT) | +3.3V |
| 3 | RX (IN) | +3.3V |
| 4（黑） | SCL I2C2 | +3.3V |
| 6 | SDA I2C2 | +3.3V |
| 6 | Safety Button | GND |
| 7 | Button LED | GND |
| 8 (blk) | GND | GND |
<!-- check is i2c2 -->
#### GPS2 port
| 针脚 | 信号 | 电压 |
| ---- | --------------------------- | --------------------- |
| 1（红） | VCC | +5V |
| 2 | TX (OUT) | +3.3V |
| 3 | RX (IN) | +3.3V |
| 4（黑） | SCL I2C1 | +3.3V |
| 6 | SDA I2C1 | +3.3V |
| 6 | GND | GND |
#### ADC
| 针脚 | 信号 | 电压 |
| ---- | ------ | --------------------------- |
| 1（红） | VCC | +5V |
| 2 | ADC IN | up to +6.6V |
| 3 | GND | GND |
#### I2C
| 针脚 | 信号 | 电压 |
| ---- | --- | ------------------------------------------------- |
| 1（红） | VCC | +5V |
| 2 | SCL | +3.3 (pullups) |
| 3 | SDA | +3.3 (pullups) |
| 4（黑） | GND | GND |
#### CAN1 & CAN2
| 针脚 | 信号 | 电压 |
| ---- | -------------------------- | ---- |
| 1（红） | VCC | +5V |
| 2 | CAN_H | +12V |
| 3 | CAN_L | +12V |
| 4（黑） | GND | GND |
#### POWER1 & POWER2
| 针脚 | 信号 | 电压 |
| -------------------------- | --------------- | --------------------- |
| 1（红） | VCC | +5V |
| 2 (red) | VCC | +5V |
| 3 | CURRENT sensing | +3.3V |
| 4（黑） | VOLTAGE sensing | +3.3V |
| 6 | GND | GND |
| 6 | GND | GND |
#### USB
| 针脚 | 信号 | 电压 |
| ---- | ---------------------------- | --------------------- |
| 1（红） | VCC | +5V |
| 2 | OTG_DP1 | +3.3V |
| 3 | OTG_DM1 | +3.3V |
| 4（黑） | GND | GND |
| 6 | BUZZER | Battery voltage |
| 6 | FMU Error LED | |
#### SPKT
| 针脚 | 信号 | 电压 |
| -------------------------- | --- | --------------------- |
| 1 (blk) | IN | |
| 2 | GND | GND |
| 3 (red) | OUT | +3.3V |
#### TELEM1, TELEM2
| 针脚 | 信号 | 电压 |
| ---- | ---------------------------- | --------------------------- |
| 1（红） | VCC | +5V |
| 2 | TX (OUT) | +3.3V to 5V |
| 3 | RX (IN) | +3.3V to 5V |
| 4（黑） | CTS (OUT) | +3.3V to 5V |
| 6 | RTS (IN) | +3.3V to 5V |
| 6 | GND | GND |
## 串口映射
| UART | 设备 | Port |
| ------ | ---------- | ---------------------------------------- |
| USART2 | /dev/ttyS0 | TELEM1 (flow control) |
| USART3 | /dev/ttyS1 | TELEM2 (flow control) |
| UART4 | /dev/ttyS2 | GPS1 |
| USART6 | /dev/ttyS3 | PX4IO |
| UART7 | /dev/ttyS4 | CONSOLE/ADSB-IN |
| UART8 | /dev/ttyS5 | GPS2 |
<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
<!-- https://github.com/PX4/PX4-Autopilot/blob/main/boards/cubepilot/cubeorange/default.px4board -->
<!-- https://github.com/PX4/PX4-Autopilot/blob/main/boards/cubepilot/cubeorange/nuttx-config/nsh/defconfig#L188-L197 -->
### USB/SDCard Ports
![Cube USB/SDCard Ports](../../assets/flight_controller/cube/cube_ports_usb_sdcard.jpg)
## 编译固件
:::tip
Most users will not need to build this firmware!
It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected.
:::
To [build PX4](../dev_setup/building_px4.md) for this target, open up the terminal and enter:
```
make cubepilot_cubeorange
```
## 原理图
Board schematics and other documentation can be found here: [The Cube Project](https://github.com/proficnc/The-Cube).
## Further Information/Documentation
- [Cube Wiring Quickstart](../assembly/quick_start_cube.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)
docs/zh/flight_controller/cubepilot_cube_orangeplus.md
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# CubePilot Cube Orange+ Flight Controller
:::warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://cubepilot.org/#/home) for hardware support or compliance issues.
:::
The [Cube Orange+](https://www.cubepilot.com/#/cube/features) flight controller is a flexible autopilot intended primarily for manufacturers of commercial systems.
Cube Orange+ is similar to Cube Orange, but has a more powerful dual-core processor (STM32H757, and some different sensors parts.
![Cube Orange](../../assets/flight_controller/cube/orangeplus/cubepilot_cube_orangeplus_standard_set.jpg)
The controller is designed to be used with a domain-specific carrier board in order to reduce the wiring, improve reliability, and ease of assembly.
For example, a carrier board for a commercial inspection vehicle might include connections for a companion computer, while a carrier board for a racer could includes ESCs for the frame of the vehicle.
The ADS-B carrier board includes a customized 1090MHz ADSB-In receiver from uAvionix.
This provides attitude and location of commercial manned aircraft within the range of Cube.
This is automatically configured and enabled in the default PX4 firmware.
Cube includes vibration isolation on two of the IMU's, with a third fixed IMU as a reference / backup.
:::tip
The manufacturer [Cube Docs](https://docs.cubepilot.org/user-guides/autopilot/the-cube-module-overview) contain detailed information, including an overview of the [Differences between Cube Colours](https://docs.cubepilot.org/user-guides/autopilot/the-cube-module-overview#differences-between-cube-colours).
:::
## 主要特性
- 32bit STM32H757ZI (32bit [ARM Cortex M7](https://en.wikipedia.org/wiki/ARM_Cortex-M#Cortex-M7), 400 MHz, Flash 2MB, RAM 1MB).
- 32 bit STM32F103 failsafe co-processor
- 14 PWM / Servo outputs (8 with failsafe and manual override, 6 auxiliary, high-power compatible)
- Abundant connectivity options for additional peripherals (UART, I2C, CAN)
- Integrated backup system for in-flight recovery and manual override with dedicated processor and stand-alone power supply (fixed-wing use)
- Backup system integrates mixing, providing consistent autopilot and manual override mixing modes (fixed-wing use)
- Redundant power supply inputs and automatic failover
- External safety switch
- Multicolor LED main visual indicator
- High-power, multi-tone piezo audio indicator
- microSD card for high-rate logging over extended periods of time
<a id="stores"></a>
## 购买渠道
- [Reseller list](https://www.cubepilot.com/#/reseller/list)
## 组装
[Cube Wiring Quickstart](../assembly/quick_start_cube.md)
## 产品规格
- **Processor:**
- STM32H757 (32bit [ARM Cortex M7](https://en.wikipedia.org/wiki/ARM_Cortex-M#Cortex-M7))
- 400 MHz
- 1 MB RAM
- 2 MB Flash \(fully accessible\)
- **Failsafe co-processor:** <!-- inconsistent info on failsafe processor: 32 bit STM32F103 failsafe co-processor http://www.proficnc.com/all-products/191-pixhawk2-suite.html -->
- STM32F103 (32bit _ARM Cortex-M3_)
- 24 MHz
- 8 KB SRAM
- **Sensors:** (all connected via SPI)
- **Accelerometer:** (3) ICM42688p, ICM20948, ICM20649
- **Gyroscope:** (3) ICM42688p, ICM20948, ICM20649
- **Compass:** (1) ICM20948
- **Barometric Pressure Sensor:** (2) MS5611
- **Operating Conditions:**
- **Operating Temp:** -10C to 55C
- **IP rating/Waterproofing:** Not waterproof
- **Servo rail input voltage:** 3.3V / 5V
- **USB port input:**
- Voltage: 4V - 5.7V
- Rated current: 250 mA
- **POWER:**
- Input voltage: 4.1V - 5.7V
- Rated input current: 2.5A
- Rated input/output power: 14W
- **Dimensions:**
- **Cube:** 38.25mm x 38.25mm x 22.3mm
- **Carrier:** 94.5mm x 44.3mm x 17.3mm
- **Interfaces**
- IO Ports: 14 PWM servo outputs (8 from IO, 6 from FMU)
- 5x UART (serial ports), one high-power capable, 2x with HW flow control
- 2x CAN (one with internal 3.3V transceiver, one on expansion connector)
- **R/C inputs:**
- Spektrum DSM / DSM2 / DSM-X® Satellite compatible input
- Futaba S.BUS® compatible input and output
- PPM-SUM signal input
- RSSI (PWM or voltage) input
- I2C
- SPI
- 3.3v ADC input
- Internal microUSB port and external microUSB port extension
## Ports
### Top-Side (GPS, TELEM etc)
![Cube Ports - Top (GPS, TELEM etc) and Main/AUX](../../assets/flight_controller/cube/cube_ports_top_main.jpg)
## 针脚定义
#### TELEM1，TELEM2 接口
| 针脚 | 信号 | 电压 |
| ---- | ---------------------------- | --------------------- |
| 1（红） | VCC | +5V |
| 2 | TX (OUT) | +3.3V |
| 3 | RX (IN) | +3.3V |
| 4（黑） | CTS (IN) | +3.3V |
| 6 | RTS (OUT) | +3.3V |
| 6 | GND | GND |
#### GPS1 port
| 针脚 | 信号 | 电压 |
| -------------------------- | --------------------------- | --------------------- |
| 1（红） | VCC | +5V |
| 2 | TX (OUT) | +3.3V |
| 3 | RX (IN) | +3.3V |
| 4（黑） | SCL I2C2 | +3.3V |
| 6 | SDA I2C2 | +3.3V |
| 6 | Safety Button | GND |
| 7 | Button LED | GND |
| 8 (blk) | GND | GND |
<!-- check is i2c2 -->
#### GPS2 port
| 针脚 | 信号 | 电压 |
| ---- | --------------------------- | --------------------- |
| 1（红） | VCC | +5V |
| 2 | TX (OUT) | +3.3V |
| 3 | RX (IN) | +3.3V |
| 4（黑） | SCL I2C1 | +3.3V |
| 6 | SDA I2C1 | +3.3V |
| 6 | GND | GND |
#### ADC
| 针脚 | 信号 | 电压 |
| ---- | ------ | --------------------------- |
| 1（红） | VCC | +5V |
| 2 | ADC IN | up to +6.6V |
| 3 | GND | GND |
#### I2C
| 针脚 | 信号 | 电压 |
| ---- | --- | ------------------------------------------------- |
| 1（红） | VCC | +5V |
| 2 | SCL | +3.3 (pullups) |
| 3 | SDA | +3.3 (pullups) |
| 4（黑） | GND | GND |
#### CAN1 & CAN2
| 针脚 | 信号 | 电压 |
| ---- | -------------------------- | ---- |
| 1（红） | VCC | +5V |
| 2 | CAN_H | +12V |
| 3 | CAN_L | +12V |
| 4（黑） | GND | GND |
#### POWER1 & POWER2
| 针脚 | 信号 | 电压 |
| -------------------------- | --------------- | --------------------- |
| 1（红） | VCC | +5V |
| 2 (red) | VCC | +5V |
| 3 | CURRENT sensing | +3.3V |
| 4（黑） | VOLTAGE sensing | +3.3V |
| 6 | GND | GND |
| 6 | GND | GND |
#### USB
| 针脚 | 信号 | 电压 |
| ---- | ---------------------------- | --------------------- |
| 1（红） | VCC | +5V |
| 2 | OTG_DP1 | +3.3V |
| 3 | OTG_DM1 | +3.3V |
| 4（黑） | GND | GND |
| 6 | BUZZER | Battery voltage |
| 6 | FMU Error LED | |
#### SPKT
| 针脚 | 信号 | 电压 |
| -------------------------- | --- | --------------------- |
| 1 (blk) | IN | |
| 2 | GND | GND |
| 3 (red) | OUT | +3.3V |
#### TELEM1, TELEM2
| 针脚 | 信号 | 电压 |
| ---- | ---------------------------- | --------------------------- |
| 1（红） | VCC | +5V |
| 2 | TX (OUT) | +3.3V to 5V |
| 3 | RX (IN) | +3.3V to 5V |
| 4（黑） | CTS (OUT) | +3.3V to 5V |
| 6 | RTS (IN) | +3.3V to 5V |
| 6 | GND | GND |
## 串口映射
| UART | 设备 | Port |
| ------ | ---------- | ---------------------------------------- |
| USART2 | /dev/ttyS0 | TELEM1 (flow control) |
| USART3 | /dev/ttyS1 | TELEM2 (flow control) |
| UART4 | /dev/ttyS2 | GPS1 |
| USART6 | /dev/ttyS3 | PX4IO |
| UART7 | /dev/ttyS4 | CONSOLE/ADSB-IN |
| UART8 | /dev/ttyS5 | GPS2 |
<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
<!-- https://github.com/PX4/PX4-Autopilot/blob/main/boards/cubepilot/cubeorange/default.px4board -->
<!-- https://github.com/PX4/PX4-Autopilot/blob/main/boards/cubepilot/cubeorange/nuttx-config/nsh/defconfig#L188-L197 -->
### USB/SDCard Ports
![Cube USB/SDCard Ports](../../assets/flight_controller/cube/cube_ports_usb_sdcard.jpg)
## 编译固件
:::warning
The firmware for Orange+ will be present in releases from PX4 v1.14.
:::
To [build PX4](../dev_setup/building_px4.md) for this target, open up the terminal and enter:
```
make cubepilot_cubeorangeplus
```
:::info
The firmware for Cube Orange+ and Cube Orange are not compatible.
Due to a power feature of the STM32H757 it required [updates in NuttX](https://github.com/PX4/NuttX/pull/214) and therefore a new board config, bootloader, build target, etc.
:::
## 原理图
Board schematics and other documentation can be found here: [The Cube Project](https://github.com/proficnc/The-Cube).
## Further Information/Documentation
- [Cube Wiring Quickstart](../assembly/quick_start_cube.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)
docs/zh/flight_controller/cubepilot_cube_yellow.md
+147
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@@ -0,0 +1,147 @@
# CubePilot Cube Yellow Flight Controller
:::warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://cubepilot.org/#/home) for hardware support or compliance issues.
:::
The Cube Yellow flight controller is a flexible autopilot intended primarily for manufacturers of commercial systems.
![Cube Yellow](../../assets/flight_controller/cube/yellow/cube_yellow_hero.jpg)
The controller is designed to be used with a domain-specific carrier board in order to reduce the wiring, improve reliability, and ease of assembly.
For example, a carrier board for a commercial inspection vehicle might include connections for a companion computer, while a carrier board for a racer could includes ESCs for the frame of the vehicle.
Cube includes vibration isolation on two of the IMU's, with a third fixed IMU as a reference / backup.
:::tip
The manufacturer [Cube Docs](https://docs.cubepilot.org/user-guides/autopilot/the-cube-module-overview) contain detailed information, including an overview of the [Differences between Cube Colours](https://docs.cubepilot.org/user-guides/autopilot/the-cube-module-overview#differences-between-cube-colours).
:::
## 主要特性
- 32bit STM32F777VI (32bit [ARM Cortex M7](https://en.wikipedia.org/wiki/ARM_Cortex-M#Cortex-M7), 400 MHz, Flash 2MB, RAM 512 KB).
- 32 bit STM32F103 failsafe co-processor <!-- check -->
- 14 PWM / Servo outputs (8 with failsafe and manual override, 6 auxiliary, high-power compatible)
- Abundant connectivity options for additional peripherals (UART, I2C, CAN)
- Integrated backup system for in-flight recovery and manual override with dedicated processor and stand-alone power supply (fixed-wing use)
- Backup system integrates mixing, providing consistent autopilot and manual override mixing modes (fixed-wing use)
- Redundant power supply inputs and automatic failover
- External safety switch
- Multicolor LED main visual indicator
- High-power, multi-tone piezo audio indicator
- microSD card for high-rate logging over extended periods of time
<a id="stores"></a>
## 购买渠道
- [Reseller list](https://www.cubepilot.com/#/reseller/list)
## 组装
[Cube Wiring Quickstart](../assembly/quick_start_cube.md)
## 产品规格
- **Processor:**
- STM32F777VI (32bit [ARM Cortex M7](https://en.wikipedia.org/wiki/ARM_Cortex-M#Cortex-M7))
- 400 MHz
- 512 KB MB RAM
- 2 MB Flash
- **Failsafe co-processor:** <!-- inconsistent info on failsafe processor: 32 bit STM32F103 failsafe co-processor http://www.proficnc.com/all-products/191-pixhawk2-suite.html -->
- STM32F100 (32bit _ARM Cortex-M3_)
- 24 MHz
- 8 KB SRAM
- **Sensors:** (all connected via SPI)
- **Accelerometer:** (3) ICM20948, ICM20649, ICM20602
- **Gyroscope:** (3) ICM20948, ICM20649, ICM20602
- **Compass:** (1) ICM20948
- **Barometric Pressure Sensor:** (2) MS5611
- **Operating Conditions:**
- **Operating Temp:** -10C to 55C
- **IP rating/Waterproofing:** Not waterproof
- **Servo rail input voltage:** 3.3V / 5V
- **USB port input:**
- Voltage: 4V - 5.7V
- Rated current: 250 mA
- **POWER:**
- Input voltage: 4.1V - 5.7V
- Rated input current: 2.5A
- Rated input/output power: 14W
- **Dimensions:**
- **Cube:** 38.25mm x 38.25mm x 22.3mm
- **Carrier:** 94.5mm x 44.3mm x 17.3mm
- **Interfaces**
- IO Ports: 14 PWM servo outputs (8 from IO, 6 from FMU)
- 5x UART (serial ports), one high-power capable, 2x with HW flow control
- 2x CAN (one with internal 3.3V transceiver, one on expansion connector)
- **R/C inputs:**
- Spektrum DSM / DSM2 / DSM-X® Satellite compatible input
- Futaba S.BUS® compatible input and output
- PPM-SUM signal input
- RSSI (PWM or voltage) input
- I2C
- SPI
- 3.3v ADC input
- Internal microUSB port and external microUSB port extension
## 引脚和原理图
Board schematics and other documentation can be found here: [The Cube Project](https://github.com/proficnc/The-Cube).
## Ports
### Top-Side (GPS, TELEM etc)
![Cube Ports - Top (GPS, TELEM etc) and Main/AUX](../../assets/flight_controller/cube/cube_ports_top_main.jpg)
## 串口映射
| UART | 设备 | Port |
| ------ | ---------- | ---------------------------------------- |
| USART2 | /dev/ttyS0 | TELEM1 (flow control) |
| USART3 | /dev/ttyS1 | TELEM2 (flow control) |
| UART4 | /dev/ttyS2 | GPS1 |
| USART6 | /dev/ttyS3 | PX4IO |
| UART7 | /dev/ttyS4 | CONSOLE/ADSB-IN |
| UART8 | /dev/ttyS5 | GPS2 |
<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
<!-- https://github.com/PX4/PX4-Autopilot/blob/main/boards/hex/cube-orange/default.px4board -->
<!-- https://github.com/PX4/PX4-Autopilot/blob/main/boards/hex/cube-orange/nuttx-config/nsh/defconfig#L194-L200 -->
### Debug Ports
![Cube Debug Ports](../../assets/flight_controller/cube/cube_ports_debug.jpg)
### USB/SDCard Ports
![Cube USB/SDCard Ports](../../assets/flight_controller/cube/cube_ports_usb_sdcard.jpg)
## 编译固件
:::tip
Most users will not need to build this firmware!
It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected.
:::
To [build PX4](../dev_setup/building_px4.md) for this target:
```
make cubepilot_cubeyellow
```
## Issues
CAN1 and CAN2 silk screen on the Cube are flipped (CAN1 is CAN2 and vice versa).
## Further Information/Documentation
- [Cube Wiring Quickstart](../assembly/quick_start_cube.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)
docs/zh/flight_controller/dropix.md
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# DroPix Flight Controller (Discontinued)
<Badge type="info" text="Discontinued" />
The Drotek<sup>&reg;</sup> _DroPix autopilot_ is no longer available on the Drotek website, and is assumed to be discontinued.
See [PX4 v1.13 Documentation > DroPix Flight Controller](https://docs.px4.io/v1.13/en/flight_controller/dropix.html) for documentation.
docs/zh/flight_controller/durandal.md
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# Holybro Durandal
:::warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://holybro.com/) for hardware support or compliance issues.
:::
_Durandal_<sup>&reg;</sup> is the latest update to the successful family of Holybro flight controllers.
It was designed and developed by Holybro.
![Durandal](../../assets/flight_controller/durandal/durandal_hero.jpg)
At high level, some of the key features are:
- Integrated temperature control for sensors.
- Powerful STM32H7 microcontroller running at 480MHz.
2 MB of Flash memory and 1 MB of RAM.
- New sensors with higher temperature stability.
- Internal vibration isolation system.
- Dual high-performance, low-noise IMUs on board are designed for demanding stabilization applications.
A summary of the key features, [assembly](../assembly/quick_start_durandal.md), and [purchase](#purchase) links can be found below.
:::info
This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
:::
## 总览
#### Technical Specifications
- Main FMU Processor: STM32H743
- 32 Bit Arm ® Cortex® -M7, 480MHz, 2MB memory, 1MB RAM
- IO 处理器：STM32F100
- 32 Bit Arm ® Cortex® -M3, 24MHz, 8KB SRAM
- On-board sensors
- 加速度计 / 陀螺仪：ICM-20689
- Accel/Gyro: BMI088 or ICM20602
- Mag: IST8310
- 气压计：MS5611
- GPS：ublox Neo-M8N GPS/GLONASS 接收器；集成磁力计 IST8310
#### 接口
- 8-13 PWM servo outputs (8 from IO, 5 from FMU)
- FMU上有6个专用PWM/Capture输入
- Dedicated R/C input for Spektrum / DSM
- Dedicated R/C input for CPPM and S.Bus
- Dedicated S.Bus servo output and analog / PWM RSSI input
- 5个通用串行口
- 3 with full flow control
- 1 with separate 1.5A current limit
- 3 个 I2C 接口
- 4路SPI总线
- 1 internal high speed SPI sensor bus with 4 chip selects and 6 DRDYs
- 1 internal low noise SPI bus dedicated for XXX
- Barometer with 2 chip selects, no DRDYs
- 1 internal SPI bus dedicated for FRAM
- Supports temperature control located on sensor module
- 1 external SPI buses
- Up to 2 CANBuses for dual CAN
- Each CANBus has individual silent controls or ESC RX-MUX control
- 2个电池电流/电压模拟输入口
- 2 additional analog inputs
#### Electrical Data
- 电源模块输出：4.9~5.5V
- Max input voltage: 6V
- 最大电流感应：120A
- USB 电源输入：4.75~5.25V
- 伺服导轨输入电压：0~36V
#### Mechanical Data
- Dimensions: 80x45x20.5mm
- 重量：68.8g
#### 其它特性
- Operating temperature: ~40~85C
- Storage temperature: -40~85C
- CE
- FCC
- RoHS compliant (lead-free)
For more information see: [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).
<a id="purchase"></a>
## 购买渠道
Order from [Holybro](https://holybro.com/collections/autopilot-flight-controllers/products/durandal).
<a id="connections"></a>
## Connections
The locations of ports/connections are shown here (and below in the [pinouts section](#pinouts)).
### Top
![Durandal - Top Pinouts (Schematic)](../../assets/flight_controller/durandal/durandal_pinouts_top.jpg)
### Front
![Durandal - Front Pinouts (Schematic)](../../assets/flight_controller/durandal/durandal_pinouts_front.jpg)
### Back
![Durandal - Back Pinouts (Schematic)](../../assets/flight_controller/durandal/durandal_pinouts_back.jpg)
### Right
![Durandal - Right-side Pinouts (Schematic)](../../assets/flight_controller/durandal/durandal_pinouts_right.jpg)
### Left
![Durandal - Left-side Pinouts (Schematic)](../../assets/flight_controller/durandal/durandal_pinouts_left.jpg)
## 尺寸
All dimensions are in millimeters.
![Durandal Dimensions](../../assets/flight_controller/durandal/durandal_dimensions.jpg)
<!--
## Voltage Ratings
*Pixhawk 4* can be triple-redundant on the power supply if three power sources are supplied. The three power rails are: **POWER1**, **POWER2** and **USB**.
::: info
The output power rails **FMU PWM OUT** and **I/O PWM OUT** (0V to 36V) do not power the flight controller board (and are not powered by it).
You must supply power to one of **POWER1**, **POWER2** or **USB** or the board will be unpowered.
:::
**Normal Operation Maximum Ratings**
Under these conditions all power sources will be used in this order to power the system:
1. **POWER1** and **POWER2** inputs (4.9V to 5.5V)
1. **USB** input (4.75V to 5.25V)
-->
<!--
**Absolute Maximum Ratings**
Under these conditions the system will not draw any power (will not be operational), but will remain intact.
1. **POWER1** and **POWER2** inputs (operational range 4.1V to 5.7V, 0V to 10V undamaged)
1. **USB** input (operational range 4.1V to 5.7V, 0V to 6V undamaged)
1. Servo input: VDD_SERVO pin of **FMU PWM OUT** and **I/O PWM OUT** (0V to 42V undamaged)
-->
## 组装 / 设置
The [Durandal Wiring Quick Start](../assembly/quick_start_durandal.md) provides instructions on how to assemble required/important peripherals including GPS, Power Management Board etc.
## 编译固件
:::tip
Most users will not need to build this firmware!
It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected.
:::
To [build PX4](../dev_setup/building_px4.md) for this target:
```
make holybro_durandal-v1_default
```
## 串口映射
| UART | 设备 | Port |
| ------ | ---------- | ------------- |
| USART1 | /dev/ttyS0 | GPS1 |
| USART2 | /dev/ttyS1 | TELEM1 |
| USART3 | /dev/ttyS2 | TELEM2 |
| UART4 | /dev/ttyS3 | TELEM4/GPS2 |
| USART6 | /dev/ttyS4 | TELEM3 |
| UART7 | /dev/ttyS5 | Debug Console |
| UART8 | /dev/ttyS6 | PX4IO |
<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
<a id="debug_port"></a>
## 调试接口
The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) run on the _Debug Port_.
The pinouts and connector comply with the [Pixhawk Debug Mini](../debug/swd_debug.md#pixhawk-debug-mini) interface defined in the [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf).
For wiring and debugging information see the above links.
:::info
No Debug port is exposed for the I/O board.
:::
## 外部设备
- [Digital Airspeed Sensor](https://store-drotek.com/793-digital-differential-airspeed-sensor-kit-.html)
- [Telemetry Radio Modules](../telemetry/index.md)
- [Rangefinders/Distance sensors](../sensor/rangefinders.md)
## 支持的平台/机身
Any multicopter / airplane / rover or boat that can be controlled with normal RC servos or Futaba S-Bus servos.
The complete set of supported configurations can be seen in the [Airframes Reference](../airframes/airframe_reference.md).
## 针脚定义
_Durandal_ pinouts are listed below.
These can also be downloaded from [here](https://holybro.com/collections/autopilot-flight-controllers/products/Durandal-Pinouts).
### Top Pinouts
![Durandal - Top Pinouts (Schematic)](../../assets/flight_controller/durandal/durandal_pinouts_top.jpg)
### Front Pinouts
![Durandal - Front Pinouts (Schematic)](../../assets/flight_controller/durandal/durandal_pinouts_front.jpg)
#### SUBS Out port
| 针脚 | 信号 | 电压 |
| ----------------------------- | ---------------------------------------------------------- | --------------------- |
| 1（红） | - | - |
| 2 (yellow) | SBUS_OUT/RSSI_IN | +3.3V |
| 3 (black) | GND | GND |
#### DSM RC port
| 针脚 | 信号 | 电压 |
| ----------------------------- | ---------------------------- | --------------------- |
| 1（红） | VDD_3V3 | +3.3V |
| 2 (yellow) | DSM_IN | +3.3V |
| 3 (black) | GND | GND |
#### I2C A port
| 针脚 | 信号 | 电压 |
| ---------------------------- | ---- | --------------------- |
| 1（红） | VCC | +5V |
| 2 (black) | SCL4 | +3.3V |
| 3 (black) | SDA4 | +3.3V |
| 4 (black) | GND | GND |
#### CAN1 port
| 针脚 | 信号 | 电压 |
| ---------------------------- | ----- | --------------------- |
| 1（红） | VCC | +5V |
| 2 (black) | CAN H | +3.3V |
| 3 (black) | CAN L | +3.3V |
| 4 (black) | GND | GND |
<a id="gps"></a>
#### GPS 接口
| 针脚 | 信号 | 电压 |
| ----------------------------- | ----------------------------------------------------------- | --------------------- |
| 1（红） | VCC | +5V |
| 2 (black) | TX (out) | +3.3V |
| 3 (black) | RX (in) | +3.3V |
| 4 (black) | SCL1 | +3.3V |
| 5 (black) | SDA1 | +3.3V |
| 6 (black) | SAFETY_SWITCH | +3.3V |
| 7 (black) | SAFETY_SWITCH_LED | +3.3V |
| 8 (black) | VDD_3V3 | +3.3V |
| 9 (black) | BUZZER | +5V |
| 10 (black) | GND | GND |
<a id="telem4_i2cb"></a>
#### TELEM4 I2CB ports
| 针脚 | 信号 | 电压 |
| ---------------------------- | --------------------------- | --------------------- |
| 1（红） | VCC | +5V |
| 2 (black) | TX (out) | +3.3V |
| 3 (black) | RX (in) | - |
| 4 (black) | SCL2 | - |
| 5 (black) | SDA2 | +3.3V |
| 6 (black) | GND | GND |
<a id="telem1_2_3"></a>
#### TELEM3, TELEM2, TELEM1 port
| 针脚 | 信号 | 电压 |
| ---------------------------- | --------------------------- | --------------------- |
| 1（红） | VCC | +5V |
| 2 (black) | TX (out) | +3.3V |
| 3 (black) | RX (in) | +3.3V |
| 4 (black) | CTS（输入） | +3.3V |
| 5 (black) | RTS（输出） | +3.3V |
| 6 (black) | GND | GND |
<a id="power"></a>
#### POWER port
| 针脚 | 信号 | 电压 |
| ---------------------------- | --- | --------------------- |
| 1（红） | VCC | +5V |
| 2 (black) | VCC | +5V |
| 3 (black) | 电流 | +3.3V |
| 4 (black) | 电压 | +3.3V |
| 5 (black) | GND | GND |
| 6 (black) | GND | GND |
### Back Pinouts
![Durandal - Back Pinouts (Schematic)](../../assets/flight_controller/durandal/durandal_pinouts_back.jpg)
#### MAIN Out
| 针脚 | 信号 | 电压 | + | - |
| -- | --------------------------- | --------------------- | ------------------------------ | --- |
| 1 | IO_CH1 | +3.3V | VDD_SERVO | GND |
| 2 | IO_CH2 | +3.3V | VDD_SERVO | GND |
| 3 | IO_CH3 | +3.3V | VDD_SERVO | GND |
| 4 | IO_CH4 | +3.3V | VDD_SERVO | GND |
| 5 | IO_CH5 | +3.3V | VDD_SERVO | GND |
| 6 | IO_CH6 | +3.3V | VDD_SERVO | GND |
| 7 | IO_CH7 | +3.3V | VDD_SERVO | GND |
| 8 | IO_CH8 | +3.3V | VDD_SERVO | GND |
#### AUX Out
| 针脚 | 信号 | 电压 | + | - |
| -- | ---------------------------- | --------------------- | ------------------------------ | --- |
| 1 | FMU_CH1 | +3.3V | VDD_SERVO | GND |
| 2 | FMU_CH2 | +3.3V | VDD_SERVO | GND |
| 3 | FMU_CH3 | +3.3V | VDD_SERVO | GND |
| 4 | FMU_CH4 | +3.3V | VDD_SERVO | GND |
| 5 | FMU_CH5 | +3.3V | VDD_SERVO | GND |
#### RC IN
| 针脚 | 信号 | 电压 |
| -- | -------------------------------------------------------- | --------------------- |
| S | SBUS_IN/PPM_IN | +3.3V |
| + | VCC | +5V |
| - | GND | GND |
### Right-side Pinouts
![Durandal - Right-side Pinouts (Schematic)](../../assets/flight_controller/durandal/durandal_pinouts_right.jpg)
#### CAN2 port
| 针脚 | 信号 | 电压 |
| ---------------------------- | ----- | --------------------- |
| 1（红） | VCC | +5V |
| 2 (black) | CAN H | +3.3V |
| 3 (black) | CAN L | +3.3V |
| 4 (black) | GND | GND |
#### CAP & ADC IN port
| 针脚 | 信号 | 电压 |
| ----------------------------- | ------------------------------------------------------ | ---------------------------------------- |
| 1（红） | VCC | +5V |
| 2 (black) | FMU_CAP6 | +3.3V |
| 3 (black) | FMU_CAP5 | +3.3V |
| 4 (black) | FMU_CAP4 | +3.3V |
| 5 (black) | FMU_CAP3 | +3.3V |
| 6 (black) | FMU_CAP2 | +3.3V |
| 7 (black) | FMU_CAP1 | +3.3V |
| 8 (black) | ADC1_SPARE_1 | +3.3V [++](#warn_sensor) |
| 9 (black) | ADC1_SPARE_2 | +6.6V [++](#warn_sensor) |
| 10 (black) | GND | GND |
<a id="warn_sensor"></a>
:::warning
\++ Sensors connected to pins 8, 9 must not send a signal exceeding the indicated voltage.
:::
### Left-side Pinouts
![Durandal - Left-side Pinouts (Schematic)](../../assets/flight_controller/durandal/durandal_pinouts_left.jpg)
<a id="debug_port"></a>
#### DEBUG port
| 针脚 | 信号 | 电压 |
| ---------------------------- | ----- | --------------------- |
| 1（红） | VT | +3.3V |
| 2 (black) | TX | +3.3V |
| 3 (black) | RX | +3.3V |
| 4 (black) | SWDIO | +3.3V |
| 5 (black) | SWCLK | +3.3V |
| 6 (black) | GND | GND |
#### SPI port
| 针脚 | 信号 | 电压 |
| ---------------------------- | ---- | --------------------- |
| 1（红） | VCC | +5V |
| 2 (black) | SCK | +3.3V |
| 3 (black) | MISO | +3.3V |
| 4 (black) | MOSI | +3.3V |
| 5 (black) | CS1 | +3.3V |
| 6 (black) | CS2 | +3.3V |
| 7 (black) | GND | GND |
#### USB port
| 针脚 | 信号 | 电压 |
| ---------------------------- | ---- | --------------------- |
| 1（红） | VBUS | +5V |
| 2 (black) | DM | +3.3V |
| 3 (black) | DP | +3.3V |
| 4 (black) | GND | GND |
## 更多信息
- [Durandal Wiring QuickStart](../assembly/quick_start_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)
- [Durandal Pinouts](https://holybro.com/collections/autopilot-flight-controllers/products/Durandal-Pinouts) (Holybro)
docs/zh/flight_controller/holybro_pix32.md
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# Holybro pix32 Flight Controller (Discontinued)
<Badge type="info" text="Discontinued" />
:::warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://holybro.com/) for hardware support or compliance issues.
:::
The Holybro<sup>&reg;</sup> [pix32 autopilot](https://holybro.com/collections/autopilot-flight-controllers/products/pix32pixhawk-flight-controller) (also known as "Pixhawk 2", and formerly as HKPilot32) is based on the [Pixhawk<sup>&reg;</sup>-project](https://pixhawk.org/) **FMUv2** open hardware design.
This board is based on hardware version Pixhawk 2.4.6.
It runs the PX4 flight stack on the [NuttX](https://nuttx.apache.org/) OS.
![pix32](../../assets/flight_controller/holybro_pix32/pix32_hero.jpg)
As a CC-BY-SA 3.0 licensed Open Hardware design, schematics and design files should be [available here](https://github.com/PX4/Hardware).
:::tip
The Holybro pix32 is software compatible with the [3DR Pixhawk 1](../flight_controller/pixhawk.md).
It is not connector compatible, but is otherwise physically very similar to the 3DR Pixhawk or mRo Pixhawk.
:::
:::info
This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
:::
## 主要特性
- Main System-on-Chip: [STM32F427](http://www.st.com/web/en/catalog/mmc/FM141/SC1169/SS1577/LN1789)
- CPU: 32-bit STM32F427 Cortex<sup>&reg;</sup> M4 core with FPU
- RAM: 168 MHz/256 KB
- Flash: 2 MB
- Failsafe System-on-Chip: STM32F103
- 传感器：
- ST Micro L3GD20 3-axis 16-bit gyroscope
- ST Micro LSM303D 3-axis 14-bit accelerometer / magnetometer
- Invensense<sup>&reg;</sup> MPU 6000 3-axis accelerometer/gyroscope
- MEAS MS5611 气压计
- 尺寸/重量
- Size: 81x44x15mm
- Weight: 33.1g
- GPS: u-blox<sup>&reg;</sup> super precision Neo-7M with compass
- Input Voltage: 2~10s (7.4~37V)
### 连接
- 1x I2C
- 2x CAN
- 3.3 and 6.6V ADC inputs
- 5x UART (serial ports), one high-power capable, 2x with HW flow control
- Spektrum DSM / DSM2 / DSM-X® Satellite compatible input up to DX8 (DX9 and above not supported)
- Futaba<sup>&reg;</sup> S.BUS compatible input and output
- PPM sum signal
- RSSI (PWM or voltage) input
- SPI
- External microUSB port
- Molex PicoBlade connectors
## 购买渠道
[shop.holybro.com](https://holybro.com/collections/autopilot-flight-controllers/products/pix32pixhawk-flight-controller)
### 配件
- [Digital airspeed sensor](https://holybro.com/products/digital-air-speed-sensor)
- [Hobbyking<sup>&reg;</sup> Wifi Telemetry](https://hobbyking.com/en_us/apm-pixhawk-wireless-wifi-radio-module.html)
- [HolyBro SiK Telemetry Radio (EU 433 MHz, US 915 MHz)](../telemetry/holybro_sik_radio.md)
## 编译固件
:::tip
Most users will not need to build this firmware!
It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected.
:::
To [build PX4](../dev_setup/building_px4.md) for this target:
```
make px4_fmu-v2_default
```
## 调试接口
See [3DR Pixhawk 1 > Debug Ports](../flight_controller/pixhawk.md#debug-ports).
## 引脚和原理图
The board is based on the [Pixhawk project](https://pixhawk.org/) **FMUv2** open hardware design.
- [FMUv2 + IOv2 schematic](https://raw.githubusercontent.com/PX4/Hardware/master/FMUv2/PX4FMUv2.4.5.pdf) -- Schematic and layout
:::info
As a CC-BY-SA 3.0 licensed Open Hardware design, all schematics and design files are [available](https://github.com/PX4/Hardware).
:::
## 串口映射
| UART | 设备 | Port |
| ------ | ---------- | ---------------------------------------- |
| UART1 | /dev/ttyS0 | IO debug |
| USART2 | /dev/ttyS1 | TELEM1 (flow control) |
| USART3 | /dev/ttyS2 | TELEM2 (flow control) |
| UART4 | | |
| UART7 | CONSOLE | |
| UART8 | SERIAL4 | |
<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
docs/zh/flight_controller/holybro_pix32_v5.md
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# Holybro Pix32 v5
:::warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://holybro.com/) for hardware support or compliance issues.
:::
[Pix32 v5](https://holybro.com/products/pix32-v5)<sup>&reg;</sup> is an advanced autopilot flight controller designed and made by Holybro<sup>&reg;</sup>.
It is optimized to run on PX4 firmware, which is intended for both academic and commercial developers.
It is based on the [Pixhawk-project](https://pixhawk.org/) **FMUv5** open hardware design and runs PX4 on the [NuttX](https://nuttx.apache.org/) OS.
It can be regarded as a variant version of Pixhawk4.
The Pix32 v5 is designed for pilots who need a high power, flexible and customisable flight control system.
It is comprised of a separate flight controller and carrier (base) board, which are connected by a 100pin connector.
This design allows users to either select a base board made by Holybro, or customize their own.
![Pix32 v5 Family](../../assets/flight_controller/holybro_pix32_v5/pix32_v5_family.jpg)
:::info
This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
:::
## 总览
- 主处理器：STM32F765
- 32 位 Arm® Cortex®-M7，216MHz，2MB 储存，512KB RAM
- IO 处理器：STM32F100
- 32 位 Arm® Cortex®-M3，24MHz，8KB SRAM
- 内置传感器：
- 加速度计 / 陀螺仪：ICM-20689
- Accel/Gyro: BMI055 or ICM20602
- 磁力计：IST8310
- 气压计：MS5611
- GPS：ublox Neo-M8N GPS/GLONASS 接收器；集成磁力计 IST8310
- 接口：
- 8-16 路PWM输出（8路来自 IO，8路来自 FMU）
- FMU上有3个专用PWM/Capture输入
- CPPM专用的RC输入
- 用于 Spektrum / DSM 与 有模拟 / PWM RSSI 的 S.Bus 的专用遥控输入
- Dedicated S.Bus servo output
- 5个通用串行口
- 2 with full flow control
- 1 with separate 1.5A current limit
- 3 个 I2C 接口
- 4路SPI总线
- 1 internal high speed SPI sensor bus with 4 chip selects and 6 DRDYs
- 1 internal low noise SPI bus dedicated for
- Barometer with 2 chip selects, no DRDYs
- 1 internal SPI bus dedicated for FRAM
- Supports dedicated SPI calibration EEPROM located on sensor module
- 1 external SPI buses
- 多达 2 路 CAN 总线用于带串口的电调
- Each CANBus has individual silent controls or ESC RX-MUX control
- 2个电池电流/电压模拟输入口
- 2 additional analog inputs
- Electrical System:
- 电源模块输出：4.9~5.5V
- Max input voltage: 6V
- 最大电流感应：120A
- USB 电源输入：4.75~5.25V
- 伺服导轨输入电压：0~36V
- 重量和尺寸:
- Dimensions: 45x45x13.5mm
- Weight: 33.0g
- Environmental Data, Quality & Reliability:
- 工作温度：-40 ~ 85°C
- Storage temp. -40~85℃
- CE
- FCC
- RoHS compliant (lead-free)
Additional information can be found in the [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).
## 购买渠道
Order from [Holybro website](https://holybro.com/products/pix32-v5).
## 组装 / 设置
The [Pix32 v5 Wiring Quick Start](../assembly/quick_start_holybro_pix32_v5.md) provides instructions on how to assemble required/important peripherals including GPS, Power Management Board etc.
## Base Board Layouts
![Pix32 v5 Image](../../assets/flight_controller/holybro_pix32_v5/pix32_v5_base_boards_layout.jpg)
## 针脚定义
[_pix32 v5_ and mini baseboard](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Holybro_Pix32-V5-Base-Mini-Pinouts.pdf)
## 尺寸
![Pix32 v5 Image](../../assets/flight_controller/holybro_pix32_v5/Dimensions_no_border.jpg)
## 额定电压
_Pix32 v5_ can be triple-redundant on the power supply if three power sources are supplied.
The three power rails are: **POWER1**, **POWER2** and **USB**.
:::info
The output power rails **FMU PWM OUT** and **I/O PWM OUT** (0V to 36V) do not power the flight controller board (and are not powered by it).
You must supply power to one of **POWER1**, **POWER2** or **USB** or the board will be unpowered.
:::
**Normal Operation Maximum Ratings**
Under these conditions all power sources will be used in this order to power the system:
1. **POWER1** and **POWER2** inputs (4.9V to 5.5V)
2. **USB** input (4.75V to 5.25V)
**Absolute Maximum Ratings**
Under these conditions the system will not draw any power (will not be operational), but will remain intact.
1. **POWER1** and **POWER2** inputs (operational range 4.1V to 5.7V, 0V to 10V undamaged)
2. **USB** input (operational range 4.1V to 5.7V, 0V to 6V undamaged)
3. Servo input: VDD_SERVO pin of **FMU PWM OUT** and **I/O PWM OUT** (0V to 42V undamaged)
## 编译固件
:::tip
Most users will not need to build this firmware!
It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected.
:::
To [build PX4](../dev_setup/building_px4.md) for this target:
```
make holybro_pix32v5_default
```
## 调试接口
The system's [serial console](../debug/system_console.md) and SWD interface runs on the **FMU Debug** port
<!--while the I/O console and SWD interface can be accessed via **I/O Debug** port.-->
![FMU debug port diagram](../../assets/flight_controller/holybro_pix32_v5/FMU_Debug_Port_Horizontal.jpg)
The pinout uses the standard [Pixhawk Debug Mini](../debug/swd_debug.md#pixhawk-debug-mini) interface defined in the [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf).
## 外部设备
- [Digital Airspeed Sensor](../sensor/airspeed.md)
- [Telemetry Radio Modules](../telemetry/index.md)
- [Rangefinders/Distance sensors](../sensor/rangefinders.md)
## 支持的平台/机身
Any multicopter / airplane / rover or boat that can be controlled with normal RC servos or Futaba S-Bus servos.
The complete set of supported configurations can be seen in the [Airframes Reference](../airframes/airframe_reference.md).
## 附加信息
- [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 Board Schematic Diagram](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Holybro_PIX32-V5-BASE-Schematic_diagram.pdf)
- [Pix32 v5 Mini Base Board Schematic Diagram](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Holybro_PIX32-V5-Base-Mini-Board_Schematic_diagram.pdf)
- [FMUv5 reference design pinout](https://docs.google.com/spreadsheets/d/1-n0__BYDedQrc_2NHqBenG1DNepAgnHpSGglke-QQwY/edit#gid=912976165).
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# Holybro Pix32 v6
:::warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://holybro.com/) for hardware support or compliance issues.
:::
_Pix32 v6_<sup>&reg;</sup> is the latest update to the pix32 v5 flight controllers. It is a variant of the Pixhawk 6C with a modular design and shares the same FMUv6C Target. It is comprised of a separate flight controller and carrier board which are connected by a [100 pin connector](https://docs.holybro.com/autopilot/pix32-v6/download). It is designed for those pilots who need a high power, flexible and customizable flight control system.
It is equipped with a high performance H7 Processor, and comes with IMU redundancy, temperature-controlled IMU board, and cost effective design, delivering incredible performance and reliability. It complies with the [Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf).
<img src="../../assets/flight_controller/pix32v6/pix32v6_fc_only.png" width="550px" title="pix32v6 Upright Image" />
<!--
:::tip
This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md) by the PX4 maintenance and test teams.
:::
-->
## 简介
Inside the Pix32 v6, you can find an STMicroelectronics® based STM32H743, paired with sensor technology from Bosch® & InvenSense®, giving you flexibility and reliability for controlling any autonomous vehicle, suitable for both academic and commercial applications.
The Pix32 v6’s H7 MCU contain the Arm® Cortex®-M7 core running up to 480 MHz, has 2MB flash memory and 1MB RAM. Thanks to the updated processing power, developers can be more productive and efficient with their development work, allowing for complex algorithms and models. It includes high-performance, low-noise IMUs on board, designed to be cost effective while having IMU redundancy. A vibration isolation System to filter out high-frequency vibration and reduce noise to ensure accurate readings, allowing vehicles to reach better overall flight performances.
This flight controller is perfect for people that is looking for a affordable and modular flight controller that can use a customized baseboard. We have made the [pix32 v6 base board schematics public](https://docs.holybro.com/autopilot/pix32-v6/download), you can either make a custom carrier board yourself or just let us help you with it. By using a customize baseboard, you can make sure that the physical size, pinouts and power distribution requirements match your vehicle perfectly, ensuring that you have all the connections you need and none of the expense and bulk of connectors you don’t.
**Key Design Points**
- High performance STM32H743 Processor with more computing power & RAM
- New cost-effective design with low-profile form factor
- Integrated vibration isolation system to filter out high frequency vibration and reduce noise to ensure accurate readings
- IMUs are temperature-controlled by onboard heating resistors, allowing optimum working temperature of IMUs
# Technical Specification
### **Processors & Sensors**
- FMU Processor: STM32H743&#x20
- 32 Bit Arm® Cortex®-M7, 480MHz, 2MB memory, 1MB SRAM&#x20
- IO Processor: STM32F103
- &#x20;32 Bit Arm® Cortex®-M3, 72MHz, 64KB SRAM&#x20
- On-board sensors&#x20
- &#x20;Accel/Gyro: ICM-42688-P&#x20
- Accel/Gyro: BMI055&#x20
- Mag: IST8310&#x20
- 气压计：MS5611
### **Electrical data**
- Voltage Ratings:
- Max input voltage: 6V
- USB Power Input: 4.75\~5.25V
- Servo Rail Input: 0\~36V
- Current Ratings:
- TELEM1 Max output current limiter: 1.5A
- All other port combined output current limiter: 1.5A
### **Mechanical data**
- FC Module Dimensions: 44.8 x 44.8 x 13.5
- FC Module Weight: 36g
### **Interfaces**
- 16- PWM servo outputs (8 from IO, 8 from FMU)
- 3个通用串行口
- `TELEM1` - Full flow control, separate 1.5A current limit
- `TELEM2` - Full flow control
- `TELEM3`
- 2 GPS ports
- `GPS1` - Full GPS port (GPS plus safety switch)
- `GPS2` - Basic GPS port
- 1 I2C port
- Supports dedicated I2C calibration EEPROM located on sensor module
- 2 CAN Buses
- CAN Bus has individual silent controls or ESC RX-MUX control
- 2 Debug ports:
- FMU Debug
- I/O Debug
- Dedicated R/C input for Spektrum / DSM and S.BUS, CPPM, analog / PWM RSSI
- Dedicated S.BUS output
- 2 Power input ports (Analog)
- 其它特性:
- Operating & storage temperature: -40 ~ 85°c
## 购买渠道
Order from [Holybro](https://holybro.com/collections/autopilot-flight-controllers/products/pix32-v6).
## 针脚定义
- [Holybro Pix32 v6 Baseboard Ports Pinout](https://docs.holybro.com/autopilot/pix32-v6/pix32-v6-baseboard-ports)
- [Holybro Pix32 v6 Baseboard Ports Pinout](https://docs.holybro.com/autopilot/pix32-v6/pix32-v6-mini-base-ports)
## 串口映射
| UART | 设备 | Port |
| ------ | ---------- | ------------- |
| USART1 | /dev/ttyS0 | GPS1 |
| USART2 | /dev/ttyS1 | TELEM3 |
| USART3 | /dev/ttyS2 | Debug Console |
| UART5 | /dev/ttyS3 | TELEM2 |
| USART6 | /dev/ttyS4 | PX4IO |
| UART7 | /dev/ttyS5 | TELEM1 |
| UART8 | /dev/ttyS6 | GPS2 |
## 尺寸
- [Pix32v6 Dimensions](https://docs.holybro.com/autopilot/pix32-v6/dimensions)
## 额定电压
_Pix32 v6_ can be triple-redundant on the power supply if three power sources are supplied. The three power rails are: **USB**, **POWER1**, **POWER2** (N/A on Pix32 v6 Mini-Baseboard) .
**Normal Operation Maximum Ratings**
Under these conditions all power sources will be used in this order to power the system:
1. **POWER1** and **POWER2** inputs (4.9V to 5.5V)
2. **USB** input (4.75V to 5.25V)
**Absolute Maximum Ratings**
Under these conditions the system will not draw any power (will not be operational), but will remain intact.
1. **POWER1** and **POWER2** inputs (operational range 4.1V to 5.7V, 0V to 10V undamaged)
2. **USB** input (operational range 4.1V to 5.7V, 0V to 6V undamaged)
3. Servo input: VDD_SERVO pin of **FMU PWM OUT** and **I/O PWM OUT** (0V to 42V undamaged)
**Voltage monitoring**
Pix32 v6 uses analog power modules.
Holybro makes various analog [power modules](../power_module/index.md) for different need.
- [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)
## 编译固件
:::tip
Most users will not need to build this firmware!
It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected.
:::
To [build PX4](../dev_setup/building_px4.md) for this target:
```
make px4_fmu-v6c_default
```
<a id="debug_port"></a>
## 调试接口
The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) run on the **FMU Debug** port.
The pinouts and connector comply with the [Pixhawk Debug Full](../debug/swd_debug.md#pixhawk-debug-full) interface defined in the [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf) interface (JST SM10B connector).
| 针脚 | 信号 | 电压 |
| --------------------------- | ----------------------------------- | --------------------- |
| 1（红） | `Vtref` | +3.3V |
| 2 | Console TX (OUT) | +3.3V |
| 3 | Console RX (IN) | +3.3V |
| 4（黑） | `SWDIO` | +3.3V |
| 6 | `SWCLK` | +3.3V |
| 6 | `SWO` | +3.3V |
| 7 | NFC GPIO | +3.3V |
| 8 (blk) | PH11 | +3.3V |
| 9 (blk) | nRST | +3.3V |
| 10 (blk) | `GND` | GND |
For information about using this port see:
- [SWD Debug Port](../debug/swd_debug.md)
- [PX4 System Console](../debug/system_console.md) (Note, the FMU console maps to USART3).
## 外部设备
- [Digital Airspeed Sensor](https://holybro.com/products/digital-air-speed-sensor)
- [Telemetry Radio Modules](https://holybro.com/collections/telemetry-radios?orderby=date)
- [Rangefinders/Distance sensors](../sensor/rangefinders.md)
## 支持的平台/机身
Any multicopter / airplane / rover or boat that can be controlled with normal RC servos or Futaba S-Bus servos.
The complete set of supported configurations can be seen in the [Airframes Reference](../airframes/airframe_reference.md).
## 更多信息
- [Holybro Docs](https://docs.holybro.com/) (Holybro)
- [Reference: Pixhawk 6C Wiring QuickStart](../assembly/quick_start_pixhawk6c.md)
- [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)
- [FMUv6C reference design pinout](https://docs.google.com/spreadsheets/d/1FcmWRKd6zjdz3-cnjEDYEmANKZOFzNSc/edit?usp=sharing\&ouid=113251442407318461574\&rtpof=true\&sd=true).
- [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf).
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# 飞控（自驾仪）硬件
Flight Controllers (FCs) are the autopilot hardware onto which PX4 firmware is uploaded.
This section contains topics about compatible flight controller and baseboard hardware, and how it is mounted and configured.
## Selecting a Flight Controller
Information about how to choose a PX4-compatible flight controller and the available controllers:
- [Flight Controller Selection](../getting_started/flight_controller_selection.md)
- [Pixhawk Standard/Supported Autopilots](../flight_controller/autopilot_pixhawk_standard.md)
- [Manufacturer-Supported Autopilots](../flight_controller/autopilot_manufacturer_supported.md)
- [Experimental Autopilots](../flight_controller/autopilot_experimental.md)
- [Discontinued Autopilots & Complete Vehicles](../flight_controller/autopilot_discontinued.md)
- [Pixhawk Autopilot Bus & Carriers](../flight_controller/pixhawk_autopilot_bus.md)
:::info
There may be other [Pixhawk Series](../flight_controller/pixhawk_series.md) compatible flight controllers and variants, including those [documented here on Github](https://github.com/PX4/PX4-Autopilot/#supported-hardware).
:::
## Flight Controller Mounting and Setup
Information about how to mount the flight controller, upload firmware (replacing an incompatible bootloader if needed), and configure its internal sensors and orientation:
- [Flight Controller Selection](../getting_started/flight_controller_selection.md)
- [Mounting the Flight Controller](../assembly/mount_and_orient_controller.md)
- [Updating Firmware](../config/firmware.md)
- [Sensor Orientation](../config/flight_controller_orientation.md)
- [Level Horizon Calibration](../config/level_horizon_calibration.md)
- [飞控方向高级配置](../advanced_config/advanced_flight_controller_orientation_leveling.md)
- [Bootloader 更新](../advanced_config/bootloader_update.md)
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# Holybro Kakute F7 (Discontinued)
<Badge type="info" text="Discontinued" />
:::warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://holybro.com/) for hardware support or compliance issues.
:::
The _Kakute F7_ from Holybro is a flight controller board designed for racers.
<img src="../../assets/flight_controller/kakutef7/board.jpg" width="400px" title="Kakute F7" />
:::info
This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
:::
## 主要特性
- Main System-on-Chip: [STM32F745VGT6](https://www.st.com/en/microcontrollers-microprocessors/stm32f745vg.html)
- CPU: 216 MHz ARM Cortex M7 with single-precision FPU
- RAM: 320 KB SRAM
- FLASH: 1 MB
- Standard racer form factor: 36x36 mm with standard 30.5 mm hole pattern
- ICM20689 Accel / Gyro (Soft-mounted)
- BMP280 Baro
- microSD (for logging)
- 6 UARTs
- 1 I2C bus
- 6 路 PWM 输出
- Built-in OSD chip (AB7456 via SPI)
## 购买渠道
The board can be bought from one of the following shops (for example):
- [getfpv](https://www.getfpv.com/holybro-kakute-f7-tekko32-f3-metal-65a-4-in-1-esc-combo.html)
:::tip
The _Kakute F7_ is designed to work with the _Tekko32_ 4-in-1 ESC and they can be bought in combination.
:::
## Connectors and Pins
This is the silkscreen for the _Kakute F7_, showing the top of the board:
![Kakute F7 Silkscreen](../../assets/flight_controller/kakutef7/silk.png)
| 针脚 | 功能 | PX4 default |
| -------- | --------------------------------------------------------------------------------------- | ------------------- |
| B+ | Battery positive voltage (2S-6S) | |
| 5V | 5V output (2A max) | |
| VO | Video output to video transmitter | |
| VI | Video input from FPV camera | |
| G or GND | Ground | |
| SDA, SCL | I2C connection (for peripherals) | |
| R1, T1 | UART1 RX and TX | TELEM1 |
| R2, T2 | UART2 RX and TX | TELEM2 |
| R3, T3 | UART3 RX and TX | NuttX debug console |
| R4, T4 | UART4 RX and TX | GPS1 |
| R6, T6 | UART6 RX and TX | RC port |
| R7, T7 | UART7 RX and TX (RX is located in the plug for use with 4-in-1 ESCs) | DShot telemetry |
| LED | WS2182 addressable LED signal wire (not tested) | |
| Buz- | Piezo buzzer negative leg (Connect buzzer positive leg to 5V pad) | |
| 3V3 | 3.3V output (200 mA max) | |
| M1 to M4 | Motor signal outputs (located in plug for use in 4-in-1 ESCs) | |
| M5, M6 | Additional motor signal outputs (located on side of board) | |
| RSI | Analog RSSI (0-3.3V) input from receiver | |
| Boot | Bootloader button | |
<a id="bootloader"></a>
## PX4 Bootloader Update
The board comes pre-installed with [Betaflight](https://github.com/betaflight/betaflight/wiki).
Before PX4 firmware can be installed, the _PX4 bootloader_ must be flashed.
Download the [kakutef7_bl.hex](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/kakutef7/kakutef7_bl_0b3fbe2da0.hex) bootloader binary and read [this page](../advanced_config/bootloader_update_from_betaflight.md) for flashing instructions.
## 编译固件
To [build PX4](../dev_setup/building_px4.md) for this target:
```
make holybro_kakutef7_default
```
## Installing PX4 Firmware
The firmware can be installed in any of the normal ways:
- Build and upload the source
```
make holybro_kakutef7_default upload
```
- [Load the firmware](../config/firmware.md) using _QGroundControl_.
You can use either pre-built firmware or your own custom firmware.
## 配置
If you use a 4-in-1 ESC with Betaflight/Cleanflight motor assignment you can use the [Actuator](../config/actuators.md) configuration UI to set the motor ordering appropriately.
In addition to the [basic configuration](../config/index.md), the following parameters are important:
| 参数 | 设置 |
| -------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------- |
| [SYS_HAS_MAG](../advanced_config/parameter_reference.md#SYS_HAS_MAG) | This should be disabled since the board does not have an internal mag. You can enable it if you attach an external mag. |
## 串口映射
| UART | 设备 | Port |
| ------ | ---------- | ---------------------------------------- |
| USART1 | /dev/ttyS0 | TELEM1 |
| USART2 | /dev/ttyS1 | TELEM2 |
| USART3 | /dev/ttyS2 | Debug Console |
| UART4 | /dev/ttyS3 | GPS1 |
| USART6 | /dev/ttyS4 | RC SBUS |
| UART7 | /dev/ttyS5 | ESC telemetry (DShot) |
<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
## 调试接口
### 系统控制台
UART3 RX and TX are configured for use as the [System Console](../debug/system_console.md).
### SWD
The [SWD interface](../debug/swd_debug.md) (JTAG) pins are:
- `SWCLK`: Test Point 2 (Pin 72 on the CPU)
- `SWDIO`: Test Point 3 (Pin 76 on CPU)
- `GND`: As marked on board
- `VDD_3V3`: As marked on board
These are shown below.
![SWD Pins on Kakute F7 - CLK SWO](../../assets/flight_controller/kakutef7/debug_swd_port.jpg) ![SWD Pins on Kakute F7: GND and VDD\_3V3](../../assets/flight_controller/kakutef7/debug_swd_port_gnd_vcc3_3.jpg)
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# Holybro Kakute H7
<Badge type="tip" text="PX4 v1.13" />
:::warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://holybro.com/) for hardware support or compliance issues.
:::
The [Holybro Kakute H7](https://holybro.com/products/kakute-h7) is full of features including dual plug-and-play 4in1 ESC ports, HD camera plug, barometer, OSD, 6x UARTs, full Blackbox MicroSD card slot, 5V and 9V BEC, easy soldering layout, and much more.
The Kakute H7 builds upon the best features of its predecessor, the [Kakute F7](../flight_controller/kakutef7.md), and further improves on hardware components and layout.
Dual plug'n'play 4-in-1 ESC connectors simplify support for x8 and Octocopter configurations, keeping assembly simple and clean.
The board also has an on-board barometer, LED & buzzer pad, and I2C pad (SDA & SCL) for external GPS/Magnetometers.
![Kakute h7](../../assets/flight_controller/kakuteh7/kakuteh7.png)
:::info
This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
:::
## 主要特性
- MCU: STM32H743 32-bit processor running at 480 MHz
- IMU: MPU6000
- Barometer: BMP280
- OSD: AT7456E
- Onboard Bluetooth chip: Disabled with PX4
- 2x JST-SH1.0_8pin port (For Single or 4in1 ESCs, x8/Octocopter plug & play compatible)
- 1x JST-GH1.25_6pin port (For HD System like Caddx Vista & Air Unit)
- Battery input voltage: 2S - 8S
- BEC 5V 2A Cont.
- BEC 9V 1.5A Cont.
- Mounting: 30.5 x 30.5mm/Φ4mm hole with Φ3mm Grommets
- Dimensions: 35x35mm
- Weight: 8g
## 购买渠道
The board can be bought from one of the following shops (for example):
- [Holybro](https://holybro.com/products/kakute-h7)
:::tip
The _Kakute H7_ is designed to work with the _Tekko32_ 4-in-1 ESC and they can be bought in combination.
:::
## Connectors and Pins
This is the silkscreen for the _Kakute H7_, showing the top of the board:
<img src="../../assets/flight_controller/kakuteh7/kakuteh7_silk.png" width="380px" title="Kakute h7" />
| 针脚 | 功能 | PX4 default |
| -------- | ------------------------------------------------------------------------------------ | ------------------- |
| B+ | Battery positive voltage (2S-8S) | |
| SDA, SCL | I2C connection (for peripherals) | |
| 5V | 5V output (2A max) | |
| 3V3 | 3.3V output (0.25A max) | |
| VI | Video input from FPV camera | |
| VO | Video output to video transmitter | |
| CAM | To camera OSD control | |
| G or GND | Ground | |
| RSI | Analog RSSI (0-3.3V) input from receiver | |
| R1, T1 | UART1 RX and TX | TELEM1 |
| R3, T3 | UART3 RX and TX | NuttX debug console |
| R4, T4 | UART4 RX and TX | GPS1 |
| R6, T6 | UART6 RX and TX (R6 also located in the GH plug) | RC port |
| R7 | UART7 RX (RX is located in the plugs for use with 4-in-1 ESCs) | DShot telemetry |
| LED | WS2182 addressable LED signal wire (not tested) | |
| Z- | Piezo buzzer negative leg (Connect buzzer positive leg to 5V pad) | |
| M1 to M4 | Motor signal outputs (located in plug for use in 4-in-1 ESCs) | |
| M5 to M8 | Motor signal outputs (located in plug for use in 4-in-1 ESCs) | |
| Boot | Bootloader button | |
## PX4 Bootloader Update {#bootloader}
The board comes pre-installed with [Betaflight](https://github.com/betaflight/betaflight/wiki).
Before PX4 firmware can be installed, the _PX4 bootloader_ must be flashed.
Download the [kakuteh7_bl.hex](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/kakuteh7/holybro_kakuteh7_bootloader.hex) bootloader binary and read [this page](../advanced_config/bootloader_update_from_betaflight.md) for flashing instructions.
## 编译固件
To [build PX4](../dev_setup/building_px4.md) for this target:
```sh
make holybro_kakuteh7_default
```
## Installing PX4 Firmware
The firmware can be installed in any of the normal ways:
- Build and upload the source
```sh
make holybro_kakuteh7_default upload
```
- [Load the firmware](../config/firmware.md) using _QGroundControl_.
You can use either pre-built firmware or your own custom firmware.
:::info
If you are loading the pre-built firmware via QGroundcontrol, you must use QGC Daily or QGC version newer than 4.1.7.
:::
## PX4 配置
In addition to the [basic configuration](../config/index.md), the following parameters are important:
| 参数 | 设置 |
| -------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------- |
| [SYS_HAS_MAG](../advanced_config/parameter_reference.md#SYS_HAS_MAG) | This should be disabled since the board does not have an internal mag. You can enable it if you attach an external mag. |
## 串口映射
| UART | 设备 | Port |
| ------ | ---------- | ---------------------------------------- |
| USART1 | /dev/ttyS0 | TELEM1 |
| USART2 | /dev/ttyS1 | TELEM2 |
| USART3 | /dev/ttyS2 | Debug Console |
| UART4 | /dev/ttyS3 | GPS1 |
| USART6 | /dev/ttyS4 | RC SBUS |
| UART7 | /dev/ttyS5 | ESC telemetry (DShot) |
### Using TELEM2 (USART2)
The `TELEM2` port (USART2) has no exposed solder pads as it is intended for use with Bluetooth telemetry (this does not work with PX4).
You can expose the solder pads and use the port by removing the two resistors marked with an X.
No other configuration should be required.
<img src="../../assets/flight_controller/kakuteh7/kakuteh7_uart2.png" width="380px" title="Kakute h7" />
## 调试接口
### 系统控制台
UART3 RX and TX are configured for use as the [System Console](../debug/system_console.md).
### SWD
The [SWD interface](../debug/swd_debug.md) (JTAG) pins are:
- `SWCLK`: Test Point 2 (Pin 72 on the CPU)
- `SWDIO`: Test Point 3 (Pin 76 on CPU)
- `GND`: As marked on board
- `VDD_3V3`: As marked on board
These are shown below.
![SWD Pins on Kakute H7 - CLK SWO](../../assets/flight_controller/kakuteh7/kakuteh7_debug_swd_port.jpg)
docs/zh/flight_controller/kakuteh7mini.md
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# Holybro Kakute H7 mini
<Badge type="tip" text="PX4 v1.13" />
:::warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://holybro.com/) for hardware support or compliance issues.
:::
The [Holybro Kakute H7 mini](https://holybro.com/collections/autopilot-flight-controllers/products/kakute-h7-mini) flight controller is intended for lightweight frame builds (such as racers, etc.).
This flight controller is full of features including HD camera plug, dual plug-and-play 4in1 ESC ports, VTX ON/OFF Pit Switch (Battery Voltage), barometer, OSD, 6x UARTs, 128MB Flash for logging (not supported with PX4 yet), 5V BEC, and bigger soldering pad with easy layout and much more.
The Kakute H7 mini builds upon the best features of its predecessor, the [Kakute F7](../flight_controller/kakutef7.md), and the [Kakute H7](../flight_controller/kakuteh7.md). The board also has an on-board barometer, LED & buzzer pad, and I2C pad (SDA & SCL) for external GPS/magnetometers.
<img src="../../assets/flight_controller/kakuteh7mini/kakuteh7mini_top.jpg" width="300px" title="KakuteH7Mini Top Image" /> <img src="../../assets/flight_controller/kakuteh7mini/kakuteh7mini_bottom.jpg" width="300px" title="KakuteH7Mini Bottom Image" />
:::info
This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
:::
:::info
PX4 runs on the H7 mini v1.3 and later.
:::
## 主要特性
- MCU: STM32H743 32-bit processor running at 480 MHz
- IMU: BMI270
- Barometer: BMP280
- OSD: AT7456E
- 6x UARTs (1,2,3,4,6,7)
- VTX On/Off Pit Switch: Not used with PX4
- 9x PWM Outputs (8 Motor Outputs, 1 LED)
- 2x JST-SH1.0_8pin port (For Single or 4in1 ESCs, x8/Octocopter plug & play compatible)
- 1x JST-GH1.5_6pin port (For HD System like Caddx Vista & Air Unit)
- Battery input voltage: 2S-6S
- BEC 5V 2A Cont.
- Mounting: 20 x 20mm/Φ3.6mm hole with M3 & M2 Grommets
- Dimensions: 30x31x6mm
- Weight: 5.5g
## 购买渠道
The board can be bought from one of the following shops (for example):
- [Holybro](https://holybro.com/products/kakute-h7-mini)
## Connectors and Pins
<img src="../../assets/flight_controller/kakuteh7mini/kakuteh7mini_pinout.jpg" width="300px" title="KakuteH7Mini Pinout Image" />
| 针脚 | 功能 | PX4 default |
| -------- | ------------------------------------------------------------------------------------ | ------------------- |
| B+ | Battery positive voltage (2S-6S) | |
| VTX+ | Battery positive voltage (2S-6S) | |
| SDA, SCL | I2C connection (for peripherals) | |
| 5V | 5V output (2A max) | |
| 3V3 | 3.3V output (0.25A max) | |
| VI | Video input from FPV camera | |
| VO | Video output to video transmitter | |
| CAM | To camera OSD control | |
| G or GND | Ground | |
| RSI | Analog RSSI (0-3.3V) input from receiver | |
| R1, T1 | UART1 RX and TX | TELEM1 |
| R2, T2 | UART2 RX and TX | TELEM2 |
| R3, T3 | UART3 RX and TX | NuttX debug console |
| R4, T4 | UART4 RX and TX | GPS1 |
| R6, T6 | UART6 RX and TX (R6 also located in the GH plug) | RC port |
| R7 | UART7 RX (RX is located in the plugs for use with 4-in-1 ESCs) | DShot telemetry |
| LED | WS2182 addressable LED signal wire (not tested) | |
| Z- | Piezo buzzer negative leg (Connect buzzer positive leg to 5V pad) | |
| M1 to M4 | Motor signal outputs (located in plug for use in 4-in-1 ESCs) | |
| M5 to M8 | Motor signal outputs (located in plug for use in 4-in-1 ESCs) | |
| Boot | Bootloader button | |
<a id="bootloader"></a>
## PX4 Bootloader Update
The board comes pre-installed with [Betaflight](https://github.com/betaflight/betaflight/wiki).
Before the PX4 firmware can be installed, the _PX4 bootloader_ must be flashed.
Download the [holybro_kakuteh7mini_bootloader.hex](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/kakuteh7mini/holybro_kakuteh7mini_bootloader.hex) bootloader binary and read [this page](../advanced_config/bootloader_update_from_betaflight.md) for flashing instructions.
## 编译固件
To [build PX4](../dev_setup/building_px4.md) for this target:
```
make holybro_kakuteh7mini_default
```
## Installing PX4 Firmware
:::info
If you are loading the pre-built firmware via QGroundcontrol, you must use QGC Daily or QGC version newer than 4.1.7.
Prior to that release you will need to manually build and install the firmware.
:::
Firmware can be manually installed in any of the normal ways:
- Build and upload the source:
```
make holybro_kakuteh7mini_default upload
```
- [Load the firmware](../config/firmware.md) using _QGroundControl_.
You can use either pre-built firmware or your own custom firmware.
:::info
KakuteH7mini is supported with PX4 main and v1.14 or newer.
:::
## PX4 配置
In addition to the [basic configuration](../config/index.md), the following parameters are important:
| 参数 | 设置 |
| -------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------- |
| [SYS_HAS_MAG](../advanced_config/parameter_reference.md#SYS_HAS_MAG) | This should be disabled since the board does not have an internal mag. You can enable it if you attach an external mag. |
## 串口映射
| UART | 设备 | Port |
| ------ | ---------- | ---------------------------------------- |
| USART1 | /dev/ttyS0 | TELEM1 |
| UART2 | /dev/ttyS1 | TELEM2 |
| USART3 | /dev/ttyS2 | Debug Console |
| UART4 | /dev/ttyS3 | GPS1 |
| USART6 | /dev/ttyS4 | RC SBUS |
| UART7 | /dev/ttyS5 | ESC telemetry (DShot) |
## 调试接口
### 系统控制台
UART3 RX and TX are configured for use as the [System Console](../debug/system_console.md).
### SWD
The [SWD interface](../debug/swd_debug.md) (JTAG) pins are:
- `SWCLK`: Test Point 2 (Pin 72 on the CPU)
- `SWDIO`: Test Point 3 (Pin 76 on CPU)
- `GND`: As marked on board
- `VDD_3V3`: As marked on board
docs/zh/flight_controller/kakuteh7v2.md
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# Holybro Kakute H7 V2
:::warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://holybro.com/) for hardware support or compliance issues.
:::
The [Holybro Kakute H7 V2](https://holybro.com/collections/autopilot-flight-controllers/products/kakute-h7-v2) flight controller is full of features including integrated Bluetooth, HD camera plug, dual plug-and-play 4in1 ESC ports, 9V VTX ON/OFF Pit Switch, barometer, OSD, 6x UARTs, 128MB Flash for Logging (not supported with PX4 yet), 5V and 9V BEC, and bigger soldering pad with easy layout and much more.
The Kakute H7v2 builds upon the best features of its predecessor, the [Kakute F7](../flight_controller/kakutef7.md), and the [Kakute H7](../flight_controller/kakuteh7.md).
The board also has an on-board barometer, LED & buzzer pad, and I2C pad (SDA & SCL) for external GPS/magnetometers.
<img src="../../assets/flight_controller/kakuteh7v2/kakuteh7v2_top.png" width="300px" title="KakuteH7V2 Top Image" /> <img src="../../assets/flight_controller/kakuteh7v2/kakuteh7v2_bottom.png" width="300px" title="KakuteH7V2 Bottom Image" />
:::info
This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
:::
## 主要特性
- MCU: STM32H743 32-bit processor running at 480 MHz
- IMU: BMI270
- Barometer: BMP280
- OSD: AT7456E
- Onboard Bluetooth chip: Disabled with PX4
- VTX On/Off Pit Switch: Not used with PX4
- 6x UARTs (1,2,3,4,6,7; UART2 is used for Bluetooth telemetry)
- 9x PWM Outputs (8 Motor Outputs, 1 LED)
- 2x JST-SH1.0_8pin port (For Single or 4in1 ESCs, x8/Octocopter plug & play compatible)
- 1x JST-GH1.5_6pin port (For HD System like Caddx Vista & Air Unit)
- Battery input voltage: 2S-8S
- BEC 5V 2A Cont.
- BEC 9V 1.5A Cont.
- Mounting: 30.5 x 30.5mm/Φ4mm hole with Φ3mm Grommets
- Dimensions: 35x35mm
- Weight: 8g
## 购买渠道
The board can be bought from one of the following shops (for example):
- [Holybro](https://holybro.com/products/kakute-h7-v2)
:::tip
The _Kakute H7v2_ is designed to work with the _Tekko32_ 4-in-1 ESC and they can be bought in combination.
:::
## Connectors and Pins
| 针脚 | 功能 | PX4 default |
| -------- | ------------------------------------------------------------------------------------ | ------------------- |
| B+ | Battery positive voltage (2S-8S) | |
| VTX+ | 9V Output | |
| SDA, SCL | I2C connection (for peripherals) | |
| 5V | 5V output (2A max) | |
| 3V3 | 3.3V output (0.25A max) | |
| VI | Video input from FPV camera | |
| VO | Video output to video transmitter | |
| CAM | To camera OSD control | |
| G or GND | Ground | |
| RSI | Analog RSSI (0-3.3V) input from receiver | |
| R1, T1 | UART1 RX and TX | TELEM1 |
| R3, T3 | UART3 RX and TX | NuttX debug console |
| R4, T4 | UART4 RX and TX | GPS1 |
| R6, T6 | UART6 RX and TX (R6 also located in the GH plug) | RC port |
| R7 | UART7 RX (RX is located in the plugs for use with 4-in-1 ESCs) | DShot telemetry |
| LED | WS2182 addressable LED signal wire (not tested) | |
| Z- | Piezo buzzer negative leg (Connect buzzer positive leg to 5V pad) | |
| M1 to M4 | Motor signal outputs (located in plug for use in 4-in-1 ESCs) | |
| M5 to M8 | Motor signal outputs (located in plug for use in 4-in-1 ESCs) | |
| Boot | Bootloader button | |
<a id="bootloader"></a>
## PX4 Bootloader Update
The board comes pre-installed with [Betaflight](https://github.com/betaflight/betaflight/wiki).
Before the PX4 firmware can be installed, the _PX4 bootloader_ must be flashed.
Download the [holybro_kakuteh7v2_bootloader.hex](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/kakuteh7v2/holybro_kakuteh7v2_bootloader.hex) bootloader binary and read [this page](../advanced_config/bootloader_update_from_betaflight.md) for flashing instructions.
## 编译固件
To [build PX4](../dev_setup/building_px4.md) for this target:
```
make holybro_kakuteh7v2_default
```
## Installing PX4 Firmware
:::info
KakuteH7v2 is supported with PX4 master & PX4 v1.14 or newer. If you are loading the pre-built firmware via QGroundcontrol, you must use QGC Daily or QGC version newer than 4.1.7.
Prior to that release you will need to manually build and install the firmware.
:::
Firmware can be manually installed in any of the normal ways:
- Build and upload the source:
```
make holybro_kakuteh7v2_default upload
```
- [Load the firmware](../config/firmware.md) using _QGroundControl_.
You can use either pre-built firmware or your own custom firmware.
:::info
KakuteH7v2 is supported with PX4 main and v1.14 or newer.
:::
## PX4 配置
In addition to the [basic configuration](../config/index.md), the following parameters are important:
| 参数 | 设置 |
| -------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------- |
| [SYS_HAS_MAG](../advanced_config/parameter_reference.md#SYS_HAS_MAG) | This should be disabled since the board does not have an internal mag. You can enable it if you attach an external mag. |
## 串口映射
| UART | 设备 | Port |
| ------ | ---------- | ---------------------------------------- |
| USART1 | /dev/ttyS0 | TELEM1 |
| USART3 | /dev/ttyS2 | Debug Console |
| UART4 | /dev/ttyS3 | GPS1 |
| USART6 | /dev/ttyS4 | RC SBUS |
| UART7 | /dev/ttyS5 | ESC telemetry (DShot) |
## 调试接口
### 系统控制台
UART3 RX and TX are configured for use as the [System Console](../debug/system_console.md).
### SWD
The [SWD interface](../debug/swd_debug.md) (JTAG) pins are:
- `SWCLK`: Test Point 2 (Pin 72 on the CPU)
- `SWDIO`: Test Point 3 (Pin 76 on CPU)
- `GND`: As marked on board
- `VDD_3V3`: As marked on board
docs/zh/flight_controller/mindpx.md
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# MindPX Hardware
:::warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](http://mindpx.net) for hardware support or compliance issues.
:::
The AirMind<sup>&reg;</sup> [MindPX](http://mindpx.net) series is a new generation autopilot system branched from Pixhawk<sup>&reg;</sup>.
![MindPX Controller](../../assets/hardware/hardware-mindpx.png)
:::info
These flight controllers are [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
:::
## 总览
:::info
The main hardware documentation is [here](http://mindpx.net/assets/accessories/Specification9.18_3_pdf.pdf).
:::
MindPX is a new generation autopilot system branched from Pixhawk<sup>&reg;</sup>, been revised in schematic and structure, and been further enhanced with new features to make un-manned vehicle more smart and more friendly to use.
MindPX increases total PWM output channels to 16 (8 main outputs + 8 aux outputs).
This means that MindPX can support more complicated VTOL configurations and more fine control.
It is especially meaningful for those FMU-V4 based flight controllers as MindPX implements main and aux output in one single FMU.
![](../../assets/hardware/hardware-mindpx-specs.png)
- Main System-on-Chip: STM32F427
- CPU: 32bits, 168 MHz ARM Cortex<sup>&reg;</sup> M4 with FPU
- RAM: 256 KB SRAM
- 2MB Flash
- ST Micro LSM303D 14 bit accelerometer/magnetometer
- MEAS MS5611 气压计
- InvenSense<sup>&reg;</sup> MPU6500 integrated 6-axis sensors
- Highlighted features:
- CNC processed aluminum alloy case, light and solid
- Built-in isolated IMU redundancy
- Total 16 PWM output channel (8 main + 8 aux)
- 1 extra I2C port for flow connection.
- 1 extra USB port for companion computer connection (built-in UART-to-USB converter)
- Exposed debug port for development
## Quick Start
### Mounting
![MindPX Mounting](../../assets/hardware/hardware-mindpx-mounting.png)
### 布线
![MindPX Wiring 1](../../assets/hardware/hardware-mindpx-wiring1.png)
![MindPX Wiring 2](../../assets/hardware/hardware-mindpx-wiring2.png)
### 针脚
![MindPX Pinout](../../assets/hardware/hardware-mindpx-pin.png)
| Num. | 描述 | Num. | 描述 |
| :------------------: | :-------------------------------------------: | :------------------: | :---------------------------------------: |
| 1 | 电源 | 9 | I2C2 (MindFLow) |
| 2 | Debug (refresh bootloader) | 10 | USB2 (Serial 2 to USB) |
| 3 | USB1 (refresh firmware) | 11 | UART4,5 |
| 4 | Reset | 12 | UART1 (Telemetry) |
| 5 | UART3 (GPS) | 13 | CAN |
| 6 | I2C1(external compass) | 14 | ADC |
| 7 | TF card slot | 15 | Tricolor Light |
| 8 | NRF/SPI(Remote Control) | 16 | Looper |
### Radio Receiver
MindPX supports a wide variety of radio receivers (since V2.6) including: PPM/SBUS/DSM/DSM2/DSMX.
MindPX also support FrSky<sup>&reg;</sup> bi-direction telemetry D and S.Port.
For detailed Pin diagram, please refer to the [User Guide](http://mindpx.net/assets/accessories/UserGuide9.18_2_pdf.pdf).
### 编译固件
:::tip
Most users will not need to build this firmware!
It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected.
:::
To [build PX4](../dev_setup/building_px4.md) for this target:
```
make airmind_mindpx-v2_default
```
### Companion PC connection
MindPX has a USB-TO-UART Bridge IC on the board.
A micro-USB to USB type A cable is used for the connection.
Connect micro-USB end to the 'OBC' port of MindPX and USB type A end to companion computer.
And the max BAUD rate is the same with px4 family, which is up to 921600.
## User Guide
:::info
The user guide is [here](http://mindpx.net/assets/accessories/UserGuide9.18_2_pdf.pdf).
:::
## 购买渠道
MindRacer is available at [AirMind Store](http://drupal.xitronet.com/?q=catalog) on internet.
You can also find MindRacer at Amazon<sup>&reg;</sup> or eBay<sup>&reg;</sup>.
## 串口映射
| UART | 设备 | Port |
| ------ | ---------- | ------------- |
| USART1 | /dev/ttyS0 | RC |
| USART2 | /dev/ttyS1 | TELEM1 |
| USART3 | /dev/ttyS2 | TELEM2 |
| UART4 | /dev/ttyS3 | GPS1 |
| USART6 | /dev/ttyS4 | ? |
| UART7 | /dev/ttyS5 | Debug Console |
| UART8 | /dev/ttyS6 | ? |
<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
## 技术支持
Please visit http://www.mindpx.org for more information.
Or you can send email to [support@mindpx.net](mailto:support@mindpx.net) for any inquiries or help.
docs/zh/flight_controller/mindracer.md
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# MindRacer Hardware
:::warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](http://mindpx.net) for hardware support or compliance issues.
:::
The AirMind<sup>&reg;</sup> [MindRacer](http://mindpx.net) series is a fully stackable flight _platform_ for miniature UAVs.
The platform currently has two RTF vehicles: [MindRacer 210](../complete_vehicles_mc/mindracer210.md) and [NanoMind 110](../complete_vehicles_mc/nanomind110.md).
![MindRacer](../../assets/hardware/hardware-mindracer.png)
:::info
This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
:::
## 总览
MindRacer is a fully stackable flight platform for miniature UAVs.
Based on [MindPX](../flight_controller/mindpx.md), _MindRacer_ further scales down in formfactor while focused on providing modularity.
MindRacer is a _platform_ rather than a flight controller.
MindRacer implements the SEP (soldering-elimination-port) and WEP (wiring-elimination-protocol) concepts.
Before SEP and WEP, soldering and wiring are always the major pain and efficiency killer during UAV manufacturing and tuning.
:::info
The main hardware documentation is [here](http://mindpx.net/assets/accessories/mindracer_spec_v1.2.pdf).
:::
- Ultra mini size, weight ~6g
- High performance STM32F427 168MHz floating point processor, super fast throttle response
- Support OneShot ESC
- Support PPM/SBUS/DSM radio receivers, support D.Port/S.Port/Wifi telemetry
- On board flight data recorder
- Support IMU isolation
- DroneCode<sup>&reg;</sup> standard compliance connector
| Item | 描述 |
| :----------------------------------------: | :-----------------------------------------------------------------------------------------------------------: |
| Flight controller/Processor | F427VIT6 |
| 重量 | ~6g |
| Dimension | 35x35mm |
| PWM Outputs | maximum 6 |
| IMU | 10DOF |
| IMU isolation | YES/Optional |
| Radio Receiver | S.BUS/PPM/DSM/DSM2/DSMX/SUMD |
| Telemetry | FrSky<sup>&amp;reg;</sup> D.Port, S.Port, Wifi, 3DR radio |
| On board TF card for flight data recording | YES |
| OneShot ESC Support | YES |
| Expansion Slots | 2x7(pin)x2 |
| On board Real time clock | YES |
| Connector | JST GH(compliance with DroneCode standard) |
## Quick Start
### Pin-out Map
![Mindracer pinout](../../assets/hardware/hardware-mindracer-pinout.png)
### How to Build
:::tip
Most users will not need to build this firmware!
It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected.
:::
To [build PX4](../dev_setup/building_px4.md) for this target:
```
make airmind_mindpx-v2_default
```
### Companion PC Connection
MindRacer has an attached Adapt IO board.
![Attached Adapt IO board](../../assets/hardware/hardware-mindracer-conn.png)
MindRacer has a built-in UART-to-USB converter.
To connect a companion computer, stack MindRacer on an interface board, and connect the companion computer to the USB port on the interface board.
And the max BAUD rate is the same with px4 family, which is up to 921600.
### User Guide
:::info
The user guide is [here](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
:::
## 购买渠道
MindRacer is available at [AirMind Store](http://drupal.xitronet.com/?q=catalog).
You can also find MindRacer at Amazon<sup>&reg;</sup> or eBay<sup>&reg;</sup>.
## 技术支持
Please visit http://www.mindpx.org for more information.
Or you can send email to [support@mindpx.net](mailto::support@mindpx.net) for any inquiries or help.
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# ModalAI Flight Core v1
<Badge type="tip" text="PX4 v1.11" />
:::warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://forum.modalai.com/) for hardware support or compliance issues.
:::
The ModalAI [Flight Core v1](https://modalai.com/flight-core) ([Datasheet](https://docs.modalai.com/flight-core-datasheet)) is a flight controller for PX4, made in the USA.
The Flight Core can be paired with ModalAI [VOXL](https://modalai.com/voxl) ([Datasheet](https://docs.modalai.com/voxl-datasheet/)) for obstacle avoidance and GPS-denied navigation, or used independently as a standalone flight controller.
![FlightCoreV1](../../assets/flight_controller/modalai/fc_v1/main.jpg)
Flight Core is identical to the PX4 Flight Controller portion of [VOXL Flight](https://www.modalai.com/voxl-flight) ([Datasheet](https://docs.modalai.com/voxl-flight-datasheet/)) which integrates the VOXL Companion Computer and Flight Core into a single PCB.
:::info
This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
:::
## 技术规范
| 特性 | Details |
| :--------------- | :--------------------------------------------------------------- |
| 重量 | 6 g |
| MCU | 216MHz, 32-bit ARM M7 [STM32F765II][stm32f765ii] |
| 内存 | 256Kb FRAM |
| | 2Mbit Flash |
| | 512Kbit SRAM |
| 固件 | [PX4][px4] |
| IMUs | [ICM-20602][icm-20602] (SPI1) |
| | ICM-42688 (SPI2) |
| | [BMI088][bmi088] (SPI6) |
| Barometer | [BMP388][bmp388] (I2C4) |
| Secure Element | [A71CH][a71ch] (I2C4) |
| microSD Card | [Information on supported cards](../dev_log/logging.md#sd-cards) |
| 输入 | GPS/Mag |
| | Spektrum |
| | Telemetry |
| | CAN bus |
| | PPM |
| Outputs | 6 LEDs (2xRGB) |
| | 8 PWM Channels |
| Extra Interfaces | 3 serial ports |
| | I2C |
| | GPIO |
:::info
More detailed hardware documentation can be found [here](https://docs.modalai.com/flight-core-datasheet/).
:::
<!-- reference links for table above (improve layout) -->
[stm32f765ii]: https://www.st.com/en/microcontrollers-microprocessors/stm32f765ii.html
[bmp388]: https://www.bosch-sensortec.com/products/environmental-sensors/pressure-sensors/bmp388/
[icm-20602]: https://www.invensense.com/products/motion-tracking/6-axis/icm-20602/
[bmi088]: https://www.bosch-sensortec.com/bst/products/all_products/bmi088_1
[px4]: https://github.com/PX4/PX4-Autopilot/tree/main/boards/modalai/fc-v1
[a71ch]: https://www.nxp.com/products/security-and-authentication/authentication/plug-and-trust-the-fast-easy-way-to-deploy-secure-iot-connections:A71CH
## 尺寸
![FlightCoreV1Dimensions](../../assets/flight_controller/modalai/fc_v1/dimensions.png)
## PX4 Firmware Compatibility
_Flight Core v1_ is fully compatible with the official PX4 Firmware from PX4 v1.11.
ModalAI maintains a [branched PX4 version](https://github.com/modalai/px4-firmware/tree/modalai-1.11) for PX4 v1.11.
This includes UART ESC support and improvements in VIO and VOA that are planned to be upstreamed.
More information about the firmware can be found [here](https://docs.modalai.com/flight-core-firmware/).
## QGroundControl支持
This board supported in QGroundControl 4.0 and later.
## 访问链接
- [Flight Core Complete Kit](https://modalai.com/flight-core)
- [Flight Core integrated with VOXL Companion Computer on a single PCB](https://modalai.com/flight-core)
- [Flight Core integrated with VOXL Companion Computer and Obstacle Avoidance Cameras (VOXL Flight Deck)](https://modalai.com/flight-deck) ([Datasheet](https://docs.modalai.com/voxl-flight-deck-platform-datasheet/))
- [Flight Core assembled with VOXL and cameras](https://shop.modalai.com/products/voxl-flight-deck-r1)
## Quick Start
### 安装方向
The diagram below shows the recommended orientation, which corresponds to `ROTATION_NONE` starting with PX4 v1.11.
![FlightCoreV1Orientation](../../assets/flight_controller/modalai/fc_v1/orientation.png)
### 连接器
Detailed information about the pinouts can be found [here](https://docs.modalai.com/flight-core-datasheet-connectors).
![FlightCoreV1Top](../../assets/flight_controller/modalai/fc_v1/top.png)
| Connector | 概要 |
| --------- | ----------------------------------------------------------------------------- |
| J1 | VOXL Communications Interface Connector (TELEM2) |
| J2 | Programming and Debug Connector |
| J3 | USB Connector |
| J4 | UART2, UART ESC (TELEM3) |
| J5 | Telemetry Connector (TELEM1) |
| J6 | VOXL-Power Management Input / Expansion |
| J7 | 8-Channel PWM Output Connector |
| J8 | CAN Bus Connector |
| J9 | PPM RC In |
| J10 | External GPS & Magnetometer Connector |
| J12 | RC input, Spektrum/SBus/UART Connector |
| J13 | I2C Display (Spare Sensor Connector) / Safety Button Input |
![FlightCoreV1Bottom](../../assets/flight_controller/modalai/fc_v1/bottom.png)
### User Guide
The full user guide is available [here](https://docs.modalai.com/flight-core-manual/).
### How to Build
To [build PX4](../dev_setup/building_px4.md) for this target:
```
make modalai_fc-v1
```
## 串口映射
| UART | 设备 | Port |
| ------ | ---------- | ----------------------------------------------------------- |
| USART1 | /dev/ttyS0 | GPS1 (J10) |
| USART2 | /dev/ttyS1 | TELEM3 (J4) |
| USART3 | /dev/ttyS2 | Debug Console (J2) |
| UART4 | /dev/ttyS3 | Expansion UART (J6) |
| UART5 | /dev/ttyS4 | TELEM2, Primary VOXL Communications (J1) |
| USART6 | /dev/ttyS5 | RC (J12) |
| UART7 | /dev/ttyS6 | TELEM1 (J5) |
| UART8 | /dev/ttyS7 | N/A |
<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
## 技术支持
Please visit the [ModalAI Forum](https://forum.modalai.com/category/10/flight-core) for more information.
docs/zh/flight_controller/modalai_voxl_2.md
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# ModalAI VOXL 2
:::warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://forum.modalai.com/) for hardware support or compliance issues.
:::
The ModalAI [VOXL 2](https://modalai.com/voxl-2) ([Datasheet](https://docs.modalai.com/voxl2-datasheets/)) is ModalAI’s next-gen autonomous computing platform built around the Qualcomm QRB5165 processor. VOXL 2 boasts 8 cores, integrated PX4, seven camera concurrency, advanced onboard AI up to 15+ TOPS, and 5G connectivity. At 16 grams, VOXL 2 is the future of fully autonomous and connected drones!
![VOXL-2](../../assets/flight_controller/modalai/voxl_2/voxl-2-hero.jpg)
:::info
This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
:::
## 产品规格
### 系统
| 特性 | VOXL 2 |
| ------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------- |
| CPU | QRB5165 <br>8 cores up to 3.091GHz <br>8GB LPDDR5<br>128GB Flash |
| OS | Ubuntu 18.04 - Linux Kernel v4.19 |
| GPU | Adreno 650 GPU – 1024 ALU |
| NPU | 15 TOPS |
| Flight Controller Embedded | Yes (Sensors DSP, PX4) |
| Built in WiFi | No |
| Add-on Connectivity | WiFi, 5G, 4G/LTE, Microhard |
| Video Encoding | 8K30 h.264/h.265 108MP still images |
| Computer Vision Sensors | QTY 6 4-lane CSI, QTY4 CCI (e.g. 2 stereo pair, hires, tracking) |
| Tracking Sensor | Yes |
| 尺寸 | 70mm x 36mm |
| 重量 | 16g |
| VOXL SDK: GPS-denied nav., SLAM, obstacle avoidance, object recognition | Yes |
| ROS | ROS 1 & 2 |
| QGroundControl | Yes |
| ATAK | Yes |
| NDAA ’20 Section 848 Compliant | Yes, Assembled in USA |
| PMD TOF | Yes (SDK 1.0 and newer) |
| FLIR Boson | USB |
| FLIR Lepton | USB, SPI |
:::info
More detailed hardware documentation can be found [here](https://docs.modalai.com/voxl-flight-datasheet/).
:::
## 尺寸
### 2D Dimensions
![VOXL2Dimensions](../../assets/flight_controller/modalai/voxl_2/voxl-2-dimensions.jpg)
### 3D Dimensions
[3D STEP File](https://storage.googleapis.com/modalai_public/modal_drawings/M0054_VOXL2_PVT_SIP_REVA.step)
## PX4 Firmware Compatibility
### voxl-dev branch
ModalAI is actively maintaining a [branched PX4 version](https://github.com/modalai/px4-firmware/tree/voxl-dev) that can be used.
As VOXL 2 runs Ubuntu, the production releases of PX4 for VOXL 2 are distributed through [apt package management](https://docs.modalai.com/configure-pkg-manager/) and the [VOXL SDK](https://docs.modalai.com/voxl-sdk/).
More information about the firmware can be found [here](https://docs.modalai.com/voxl2-px4-developer-guide/).
### main branch
PX4 mainline supports VOXL 2 (board documentation [here](https://github.com/PX4/PX4-Autopilot/tree/main/boards/modalai/voxl2)).
## QGroundControl支持
This board supported in QGroundControl 4.0 and later.
## 访问链接
- [PX4 Autonomy Developer Kit](https://www.modalai.com/products/px4-autonomy-developer-kit)
- [Starling 2](https://www.modalai.com/products/starling-2)
- [Starling 2 MAX](https://www.modalai.com/products/starling-2-max)
- [Sentinel Development Drone powered by VOXL 2](https://www.modalai.com/pages/sentinel)
- [Demo Video](https://www.youtube.com/watch?v=hMhQgWPLGXo)
- [VOXL 2 Flight Deck, ready to mount, tune and fly](https://www.modalai.com/collections/ready-to-mount/products/voxl-2-flight-deck)
- [VOXL 2 Development Kits](https://www.modalai.com/products/voxl-2)
- [Demo Video](https://www.youtube.com/watch?v=aVHBWbwp488)
## Quick Start
Quickstarts from the vendor are located [here](https://docs.modalai.com/voxl2-quickstarts/).
### VOXL SDK
VOXL SDK (Software Development Kit) consists of the open source [voxl-px4](https://docs.modalai.com/voxl-px4/), [core libraries](https://docs.modalai.com/core-libs/), [services](https://docs.modalai.com/mpa-services/), [tools](https://docs.modalai.com/inspect-tools/), [utilities](https://docs.modalai.com/sdk-utilities/), and [build environments](https://docs.modalai.com/build-environments/) that ModalAI provide to accelerate the use and development of VOXL compute boards and accessories.
VOXL SDK runs on VOXL, VOXL 2 and RB5 Flight!
The source code for projects within VOXL SDK can be found at https://gitlab.com/voxl-public, alongside build instructions.
### 连接器
Detailed information about the pinouts can be found [here](https://docs.modalai.com/voxl2-connectors/) along with a [video overview here](https://www.youtube.com/watch?v=xmqI3msjqdo)
![VOXLConnectors](../../assets/flight_controller/modalai/voxl_2/voxl-2-connectors.jpg)
All single ended signals on B2B connectors J3, J5, J6, J7, and J8 are 1.8V CMOS unless explicitly noted.
All single ended signals on cable-to-board connectors J10, J18, & J19 are 3.3V CMOS unless explicitly noted.
| Connector | 描述 | MPN (Board Side) | Mating MPN (Board/Cable Side) | 类型 | Signal Feature Summary |
| --------- | ------------------------------------------------ | ----------------------------------------------------------- | ------------------------------------------------ | ---------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| J2 | Fan | SM02B-SRSS-TB(LF)(SN) | SHR-02V-S | Cable Header, 2-pin R/A | 5V DC for FAN + PWM Controlled FAN-Return (GND) |
| J3 | Legacy B2B | QSH-030-01-L-D-K-TR | QTH-030-01-L-D-A-K-TR | B2B Receptacle, 60-pin | 5V/3.8V/3.3V/1.8V power for plug-in boards, JTAG and Debug Signals, QUP expansion, GPIOs, USB3.1 Gen 2 (USB1) |
| J4 | Prime Power In | 22057045 | 0050375043 | Cable Connector, 4-pin R/A | +5V main DC power in + GND, I2C@5V for power monitors |
| J5 | High Speed B2B | ADF6-30-03.5-L-4-2-A-TR | ADM6-30-01.5-L-4-2-A-TR | B2B Socket, 120-pin | More 3.8V/3.3V/1.8V power for plug-in boards, 5V power in for “SOM Mode”, QUP expansion, GPIOS (including I2S), SDCC (SD Card V3.0), UFS1 (secondary UFS Flash), 2L PCIe Gen 3, AMUX and SPMI PMIC signals |
| J6 | Camera Group 0 | DF40C-60DP-0.4V(51) | DF40C-60DS-0.4V | B2B Plug, 60-pin | Qty-2 4L MIPI CSI ports, CCI and camera control signals, 8 power rails (from 1.05V up to 5V) for cameras and other sensors, dedicated SPI (QUP) port |
| J7 | Camera Group 1 | DF40C-60DP-0.4V(51) | DF40C-60DS-0.4V | B2B Plug, 60-pin | Qty-2 4L MIPI CSI ports, CCI and camera control signals, 8 power rails (from 1.05V up to 5V) for cameras and other sensors, dedicated SPI (QUP) port |
| J8 | Camera Group 2 | DF40C-60DP-0.4V(51) | DF40C-60DS-0.4V | B2B Plug, 60-pin | Qty-2 4L MIPI CSI ports, CCI and camera control signals, 8 power rails (from 1.05V up to 5V) for cameras and other sensors, dedicated SPI (QUP) port |
| J9 | USB-C (ADB) | UJ31-CH-3-SMT-TR | USB Type-C | Cable Receptacle, 24-pin R/A | ADB USB-C with re-driver and display port alternate mode (USB0) |
| J10 | SPI Expansion | SM08B-GHS-TB(LF)(SN) | GHR-08V-S | Cable Header, 8-pin R/A | SPI@3.3V with 2 CS_N pins, 32kHz CLK_OUT@3.3V |
| J18 | ESC (SLPI Access) | SM04B-GHS-TB(LF)(SN) | GHR-04V-S | Cable Header, 4-pin R/A | ESC UART@3.3V, 3.3V reference voltage |
| J19 | GNSS/MAG/RC/I2C (SLPI Access) | SM12B-GHS-TB(LF)(SN) | GHR-12V-S | Cable Header, 6-pin R/A | GNSS UART@3.3V, Magnetometer I2C@3.3V, 5V, RC UART, Spare I2C |
### User Guide
The PX4 user guide for VOXL 2 is available [here](https://docs.modalai.com/voxl-px4/).
### Developer Guide
The PX4 developer guide for VOXL 2 is available [here](https://docs.modalai.com/voxl-px4-developer-guide/).
### How to Build
See the [VOXL PX4 Build Guide](https://docs.modalai.com/voxl2-px4-build-guide/) on how to build.
## 技术支持
Please visit the [ModalAI Forum](https://forum.modalai.com/category/26/voxl-2) for more information.
docs/zh/flight_controller/modalai_voxl_flight.md
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# ModalAI VOXL Flight
<Badge type="tip" text="PX4 v1.11" />
:::warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://forum.modalai.com/) for hardware support or compliance issues.
:::
The ModalAI [VOXL Flight](https://modalai.com/voxl-flight) ([Datasheet](https://docs.modalai.com/voxl-flight-datasheet)) is one of the first computing platforms to combine the power and sophistication of Snapdragon with the flexibility and ease of use of PX4 on an STM32F7.
Made in the USA, VOXL Flight supports obstacle avoidance and GPS-denied (indoor) navigation fused with a PX4 flight controller on a single PCB.
![VOXL-Flight](../../assets/flight_controller/modalai/voxl_flight/voxl-flight-dk.jpg)
:::info
This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
:::
## 产品规格
### 系统
| 特性 | Details |
| :- | :------ |
| 重量 | 26 g |
### Companion Computer
| 特性 | Details |
| :-------------------- | :----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| Base Operation System | Linux Yocto Jethro with 3.18 kernel. Additional Linux Operating Systems can be used by running Docker on VOXL, details [here](https://docs.modalai.com/docker-on-voxl/) |
| Compute | Qualcomm Snapdragon 821 w/ 4GB LPDDR4 1866MHz, Snapdragon 821 [Datasheet](https://developer.qualcomm.com/download/sd820e/qualcomm-snapdragon-820e-processor-apq8096sge-device-specification.pdf), [Docs](https://developer.qualcomm.com/hardware/apq-8096sg/tools) |
| CPU | Quad-core CPU up to 2.15GHz |
| GPU | Adreno 530 GPU at 624MHz |
| Compute DSP | Hexagon compute DSP (cDSP) 825MHz |
| Sensor DSP | Hexagon sensor DSP (sDSP) 700MHz |
| 视频 | 4k30 Video Capture h.264/5 w/ 720p FPV |
| Camera Interfaces | Support for MIPI-CSI2, USB UVC, HDMI |
| Wi-Fi | Pre-certified Wi-Fi module [QCNFA324 FCC ID:PPD-QCNFA324](https://fccid.io/PPD-QCNFA324), QCA6174A modem, 802.11ac 2x2 Dual-band, Bluetooth 4.2 (dual-mode) |
| 4G LTE | [Optional add-on module](https://www.modalai.com/collections/voxl-add-ons/products/voxl-lte) |
| Microhard pDDL | [Optional add-on module](https://www.modalai.com/collections/voxl-add-ons/products/voxl-microhard-modem-usb-hub) |
| GNSS | WGR7640 10Hz |
| I/O | 1x USB3.0 OTG (ADB port), 1x USB2.0 (expansion port), 2x UART, 3x I2C, additional GPIO and SPI can be configured |
| Storage | 32GB (UFS 2.0), Micro SD Card |
| Software | Docker, OpenCV 2.4.11, 3.4.6, 4.2, ROS Indigo, Qualcomm Machine Vision SDK, see [GitLab](https://gitlab.com/voxl-public) for lots of open source examples! |
| IMUs | ICM-42688 (SPI10), ICM-20948 (SPI1) |
| Barometer | BMP280 |
### Flight Controller
| 特性 | Details |
| :--------------- | :--------------------------------------------------------------- |
| MCU | 216MHz, 32-bit ARM M7 [STM32F765II][stm32f765ii] |
| 内存 | 256Kb FRAM |
| | 2Mbit Flash |
| | 512Kbit SRAM |
| 固件 | [PX4][px4] |
| IMUs | [ICM-20602][icm-20602] (SPI1) |
| | ICM-42688 (SPI2) |
| | [BMI088][bmi088] (SPI6) |
| Barometer | [BMP388][bmp388] (I2C4) |
| Secure Element | [A71CH][a71ch] (I2C4) |
| microSD Card | [Information on supported cards](../dev_log/logging.md#sd-cards) |
| 输入 | GPS/Mag |
| | Spektrum |
| | Telemetry |
| | CAN bus |
| | PPM |
| Outputs | 6 LEDs (2xRGB) |
| | 8 PWM Channels |
| Extra Interfaces | 3 serial ports |
| | I2C |
| | GPIO |
<!-- reference links for above table (improve layout) -->
[stm32f765ii]: https://www.st.com/en/microcontrollers-microprocessors/stm32f765ii.html
[px4]: https://github.com/PX4/PX4-Autopilot/tree/main/boards/modalai/fc-v1
[icm-20602]: https://www.invensense.com/products/motion-tracking/6-axis/icm-20602/
[bmi088]: https://www.bosch-sensortec.com/bst/products/all_products/bmi088_1
[bmp388]: https://www.bosch-sensortec.com/products/environmental-sensors/pressure-sensors/bmp388/
[a71ch]: https://www.nxp.com/products/security-and-authentication/authentication/plug-and-trust-the-fast-easy-way-to-deploy-secure-iot-connections:A71CH
:::info
More detailed hardware documentation can be found [here](https://docs.modalai.com/voxl-flight-datasheet/).
:::
## 尺寸
![FlightCoreV1Dimensions](../../assets/flight_controller/modalai/voxl_flight/voxl-flight-dimensions.jpg)
[3D STEP File](https://storage.googleapis.com/modalai_public/modal_drawings/M0019_VOXL-Flight.zip)
## PX4 Firmware Compatibility
_VOXL Flight_ is fully compatible with the official PX4 Firmware from PX4 v1.11.
ModalAI maintains a [branched PX4 version](https://github.com/modalai/px4-firmware/tree/modalai-1.11) for PX4 v1.11.
This includes UART ESC support and improvements in VIO and VOA that are planned to be upstreamed.
More information about the firmware can be found [here](https://docs.modalai.com/flight-core-firmware/).
## QGroundControl支持
This board supported in QGroundControl 4.0 and later.
## 访问链接
- [VOXL Flight Complete Kit](https://modalai.com/voxl-flight)
- [VOXL Flight Board](https://www.modalai.com/products/voxl-flight?variant=31707275362355) (only)
- [VOXL Flight integrated with Obstacle Avoidance Cameras (VOXL Flight Deck)](https://modalai.com/flight-deck) ([Datasheet](https://docs.modalai.com/voxl-flight-deck-platform-datasheet/))
- [VOXL Flight in a ready to fly VOXL m500 Development Drone](https://www.modalai.com/collections/development-drones/products/voxl-m500) ([Datasheet](https://docs.modalai.com/voxl-m500-reference-drone-datasheet/))
## Quick Start
A quickstart from the vendor is located [here](https://docs.modalai.com/voxl-flight-quickstart/).
### voxl-vision-px4
The VOXL Flight runs [voxl-vision-px4](https://gitlab.com/voxl-public/modal-pipe-architecture/voxl-vision-px4) on the companion computer portion of the hardware serving as a sort of MAVLink proxy.
For details, the source code is available [here](https://gitlab.com/voxl-public/modal-pipe-architecture/voxl-vision-px4)
### 连接器
Detailed information about the pinouts can be found [here](https://docs.modalai.com/voxl-flight-datasheet-connectors/).
#### Top
![VOXLFlightTop](../../assets/flight_controller/modalai/voxl_flight/voxl-flight-top.jpg)
_Note: 1000 Series connectors accessible from the STM32/PX4_
| Connector | 概要 | Used By |
| --------- | ------------------------------------------------------------------------- | ---------------------------------------------------- |
| J2 | Hires 4k Image Sensor (CSI0) | Snapdragon - Linux |
| J3 | Stereo Image Sensor (CSI1) | Snapdragon - Linux |
| J6 | Cooling Fan Connector | Snapdragon - Linux |
| J7 | BLSP6 (GPIO) and BLSP9 (UART) | Snapdragon - Linux |
| J13 | Expansion B2B | Snapdragon - Linux |
| J14 | Integrated GNSS Antenna Connection | Snapdragon - Linux |
| J1001 | Programming and Debug/UART3 | STM32 - PX4 |
| J1002 | UART ESC, UART2/TELEM3 | STM32 - PX4 |
| J1003 | PPM RC In | STM32 - PX4 |
| J1004 | RC Input, Spektrum/SBus/UART6 | STM32 - PX4 |
| J1006 | USB 2.0 Connector (PX4/QGroundControl) | STM32 - PX4 |
| J1007 | 8-Channel PWM/DShot Output | STM32 - PX4 |
| J1008 | CAN Bus | STM32 - PX4 |
| J1009 | I2C3, UART4 | STM32 - PX4 |
| J1010 | Telemetry (TELEM1) | STM32 - PX4 |
| J1011 | I2C2, Safety Button Input | STM32 - PX4 |
| J1012 | External GPS & Mag, UART1, I2C1 | STM32 - PX4 |
| J1013 | Power Input, I2C3 | STM32 - PX4 (powers whole system) |
#### Bottom
![VOXLFlightBottom](../../assets/flight_controller/modalai/voxl_flight/voxl-flight-bottom.jpg)
_Note: 1000 Series connectors accessible from the STM32/PX4_
| Connector | 概要 | Used By |
| -------------- | ---------------------------------------------------------- | --------------------------- |
| J4 | Tracking/Optic Flow Image Sensor (CSI2) | Snapdragon - Linux |
| J8 | USB 3.0 OTG | Snapdragon - Linux, **adb** |
| J10 | BLSP7 UART and I2C off-board | Snapdragon - Linux |
| J11 | BLSP12 UART and I2C off-board | Snapdragon - Linux |
| VOXL microSD | | Snapdragon - Linux |
| PX4 microSD | 32Gb Max | STM32 - PX4 |
| Wi-Fi Antennas | Included | Snapdragon - Linux |
### User Guide
The full user guide is available [here](https://docs.modalai.com/voxl-flight-quickstart).
### How to Build
To [build PX4](../dev_setup/building_px4.md) for this target:
```
make modalai_fc-v1
```
## 串口映射
_Note: mappings shown are for the PX4 controlled interfaces only_
| UART | 设备 | Port |
| ------ | ---------- | ---------------------------------------- |
| USART1 | /dev/ttyS0 | GPS1 (J1012) |
| USART2 | /dev/ttyS1 | TELEM3 (J1002) |
| USART3 | /dev/ttyS2 | Debug Console (J1001) |
| UART4 | /dev/ttyS3 | Expansion UART (J6) |
| UART5 | /dev/ttyS4 | UART between PX4 and Companion Computer |
| USART6 | /dev/ttyS5 | RC (J1004) |
| UART7 | /dev/ttyS6 | TELEM1 (J1010) |
| UART8 | /dev/ttyS7 | N/A |
<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
## 技术支持
Please visit the [ModalAI Forum](https://forum.modalai.com/category/8/voxl-flight) for more information.
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# mRo Control Zero F7 Flight Controller
:::warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://store.mrobotics.io/) for hardware support or compliance issues.
:::
The _mRo Control Zero F7<sup>&reg;</sup>_ is a new flight controller from mRo.
![mRo Control Zero F7](../../assets/flight_controller/mro_control_zero_f7/mro_control_zero_f7.jpg)
It is a no-compromise triple IMU commercial grade flight controller.
It includes 8x PWM outputs (DShot capable), 3x IMUs, 1x Magnetometer, 1x Barometric Pressure Sensor (Altimeter), 6x UART, and SD Card, all packed into a 32mm x 20mm PCB.
The PWMs are bidirectional, EMI protected, and level shifted to 5V logic levels.
All accessed using front and rear 30pin Molex PicoClasp connectors.
A durable plastic case, conformal board coating, and optional temperature calibration included.
:::info
This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
:::
## 主要特性
- 微处理器：
- 32-bit STM32F777 Cortex<sup>&reg;</sup> M4 core with FPU rev. 3
- 216 MHz/512 KB RAM/2 MB Flash
- F-RAM Cypress MF25V02-G 256-Kbit nonvolatile memory (Flash memory that performs as fast as RAM)
- 传感器：
- [Bosch BMI088](https://www.bosch-sensortec.com/bst/products/all_products/bmi088_1) 3-axis accelerometer/gyroscope (internally vibration dampened)
- [Invensense ICM-20602](https://www.invensense.com/products/motion-tracking/6-axis/icm-20602/) 3-axis accelerometer/gyroscope
- [Invensense ICM-20948](https://www.invensense.com/products/motion-tracking/9-axis/icm-20948/) 3-axis accelerometer/gyroscope/magnetometer
- [Infineon DPS310 barometer](https://www.infineon.com/cms/en/product/sensor/pressure-sensors/pressure-sensors-for-iot/dps310/) (So smooth and NO more light sensitivity)
- 接口：
- 6x UART (serial ports total), 3x with HW flow control, 1x FRSky Telemetry (D or X types), 1x Console and 1x GPS+I2C
- 8x PWM outputs (all DShot capable)
- 1x CAN
- 1x I2C
- 1x SPI
- Spektrum DSM / DSM2 / DSM-X® Satellite compatible input and binding
- Futaba S.BUS® & S.BUS2® compatible input
- FRSky Telemetry port output
- Graupner SUMD
- Yuneec ST24
- PPM sum input signal
- 1x JTAG (TC2030 Connector)
- 1x RSSI (PWM or voltage) input
- Tricolor LED
- Weight and Dimensions (Uncased):
- Weight: 5.3g (0.19oz)
- Width: 20mm (0.79")
- Length: 32mm (1.26")
- 电源系统
- 3x Ultra low noise LDO voltage regulator
## 购买渠道
- [mRo Control Zero](https://store.mrobotics.io/mRo-Control-Zero-F7-p/mro-ctrl-zero-f7.htm)
## 编译固件
:::tip
Most users will not need to build this firmware!
It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected.
:::
To [build PX4](../dev_setup/building_px4.md) for this target:
```
make mro_ctrl-zero-f7
```
## Debug Ports
### Console Port
The [PX4 System Console](../debug/system_console.md) runs on `USART7` using the pins listed below.
This is a standard serial pinout, designed to connect to a [3.3V FTDI](https://www.digikey.com/en/products/detail/TTL-232R-3V3/768-1015-ND/1836393) cable (5V tolerant).
| mRo control zero f7 | | FTDI | |
| ------------------- | ----------- | ---- | -------------------------------- |
| 17 | USART7 Tx | 5 | FTDI RX （黄色） |
| 19 | USART7 Rx | 4 | FTDI TX （橙色） |
| 6 | USART21 GND | 1 | FTDI GND (黑色) |
### SWD Port
The [SWD port](../debug/swd_debug.md) (JTAG) for FMU debugging is a TC2030 debug connector, as shown below.
![mro swd port](../../assets/flight_controller/mro_control_zero_f7/mro_control_zero_f7_swd.jpg)
You can use the [Tag Connect](https://www.tag-connect.com/) cable [TC2030 IDC NL](https://www.tag-connect.com/product/tc2030-idc-nl) below (with associated [retaining clip](https://www.tag-connect.com/product/tc2030-clip-retaining-clip-board-for-tc2030-nl-cables)) to attach to either a BlackMagic probe or a ST-LINK V2 debugger.
![tc2030 idc nl cable](../../assets/flight_controller/mro_control_zero_f7/tc2030_idc_nl.jpg)
There is also an [ARM20-CTX 20-Pin to TC2030-IDC adapter](https://www.tag-connect.com/product/arm20-ctx-20-pin-to-tc2030-idc-adapter-for-cortex) that can be used with other debug probes.
## 针脚定义
![mRo Control Zero F7](../../assets/flight_controller/mro_control_zero_f7/mro_control_pinouts.jpg)
## 串口映射
| UART | 设备 | Port |
| ------ | ---------- | -------------------------------------------------------------------------------------------------- |
| USART2 | /dev/ttyS0 | TELEM1 (flow control) |
| USART3 | /dev/ttyS1 | TELEM2 (flow control) |
| UART4 | /dev/ttyS2 | GPS1 |
| USART6 | /dev/ttyS3 | Flex port (can be configured as SPI or UART with Flow Control). |
| UART7 | /dev/ttyS4 | CONSOLE |
| UART8 | /dev/ttyS5 | Free serial port (typically for FrSky telemetry) |
<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
<!-- https://github.com/PX4/PX4-Autopilot/blob/main/boards/mro/ctrl-zero-f7/nuttx-config/nsh/defconfig#L202-L207 -->
## 更多信息
- [Introducing the new mRo Control Zero Autopilot](https://mrobotics.io/introducing-the-new-mro-control-zero-autopilot/) (blog)
- [Quick Start Guide](https://mrobotics.io/mrocontrolzero/)
docs/zh/flight_controller/mro_pixhawk.md
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# mRo Pixhawk Flight Controller (Pixhawk 1)
:::warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://store.mrobotics.io/) for hardware support or compliance issues.
:::
The _mRo Pixhawk<sup>&reg;</sup>_ is a hardware compatible version of the original [Pixhawk 1](../flight_controller/pixhawk.md). It runs PX4 on the [NuttX](https://nuttx.apache.org/) OS.
:::tip
The controller can be used as a drop-in replacement for the 3DR<sup>&amp;reg;</sup> [Pixhawk 1](../flight_controller/pixhawk.md).
The main difference is that it is based on the [Pixhawk-project](https://pixhawk.org/) **FMUv3** open hardware design, which corrects a bug that limited the original Pixhawk 1 to 1MB of flash.
:::
![mRo Pixhawk Image](../../assets/flight_controller/mro/mro_pixhawk.jpg)
Assembly/setup instructions for use with PX4 are provided here: [Pixhawk Wiring Quickstart](../assembly/quick_start_pixhawk.md)
:::tip
This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md) by the PX4 maintenance and test teams.
:::
## 主要特性
- 微处理器：
- 32-bit STM32F427 Cortex<sup>&reg;</sup> M4 core with FPU
- 168 MHz/256 KB RAM/2 MB Flash
- 32 bit STM32F100 failsafe co-processor
- 24 MHz/8 KB RAM/64 KB Flash
- 传感器：
- ST Micro L3GD20 3-axis 16-bit gyroscope
- ST Micro LSM303D 3-axis 14-bit accelerometer / magnetometer
- Invensense<sup>&reg;</sup> MPU 6000 3-axis accelerometer/gyroscope
- MEAS MS5611 气压计
- 接口：
- 5x UART (serial ports), one high-power capable, 2x with HW flow control
- 2x CAN
- Spektrum DSM / DSM2 / DSM-X® Satellite compatible input up to DX8 (DX9 and above not supported)
- Futaba<sup>&reg;</sup> S.BUS compatible input and output
- PPM sum signal
- RSSI (PWM or voltage) input
- I2C
- SPI
- 3.3 and 6.6V ADC inputs
- External microUSB port
- 电源系统
- Ideal diode controller with automatic failover
- Servo rail high-power (7 V) and high-current ready
- All peripheral outputs over-current protected, all inputs ESD protected
- 重量和尺寸:
- Weight: 38g (1.31oz)
- Width: 50mm (1.96")
- Thickness: 15.5mm (.613")
- Length: 81.5mm (3.21")
## 访问链接
- [Bare Bones](https://store.mrobotics.io/Genuine-PixHawk-1-Barebones-p/mro-pixhawk1-bb-mr.htm) - Just the board (useful as a 3DR Pixhawk replacement)
- [mRo Pixhawk 2.4.6 Essential Kit!](https://store.mrobotics.io/Genuine-PixHawk-Flight-Controller-p/mro-pixhawk1-minkit-mr.htm) - Everything except for telemetry radios
- [mRo Pixhawk 2.4.6 Cool Kit! (Limited edition)](https://store.mrobotics.io/product-p/mro-pixhawk1-fullkit-mr.htm) - Everything you need including telemetry radios
## 编译固件
:::tip
Most users will not need to build this firmware!
It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected.
:::
To [build PX4](../dev_setup/building_px4.md) for this target:
```
make px4_fmu-v3_default
```
## Debug Ports
See [3DR Pixhawk 1 > Debug Ports](../flight_controller/pixhawk.md#debug-ports)
## 针脚定义
See [3DR Pixhawk 1 > Pinouts](../flight_controller/pixhawk.md#pinouts)
## 串口映射
| UART | 设备 | Port |
| ------ | ---------- | ---------------------------------------- |
| UART1 | /dev/ttyS0 | IO debug |
| USART2 | /dev/ttyS1 | TELEM1 (flow control) |
| USART3 | /dev/ttyS2 | TELEM2 (flow control) |
| UART4 | | |
| UART7 | CONSOLE | |
| UART8 | SERIAL4 | |
<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
## 原理图
The board is based on the [Pixhawk-project](https://pixhawk.org/) **FMUv3** open hardware design.
- [FMUv3 schematic](https://github.com/PX4/Hardware/raw/master/FMUv3_REV_D/Schematic%20Print/Schematic%20Prints.PDF) -- Schematic and layout
:::info
As a CC-BY-SA 3.0 licensed Open Hardware design, all schematics and design files are [available](https://github.com/PX4/Hardware).
:::
docs/zh/flight_controller/mro_x2.1.md
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# mRo-X2.1 Autopilot
:::warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://store.mrobotics.io/) for hardware support or compliance issues.
:::
The [mRo-X2.1 autopilot](http://www.mRobotics.io/) is based on the [Pixhawk<sup>&reg;</sup>-project](https://pixhawk.org/) **FMUv2** open hardware design.
It runs PX4 on the [NuttX](https://nuttx.apache.org/) OS.
![mRo X2.1](../../assets/flight_controller/mro/mro_x2.1.jpg)
:::info
This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
:::
## 总览
- Main System-on-Chip: [STM32F427](http://www.st.com/web/en/catalog/mmc/FM141/SC1169/SS1577/LN1789)
- CPU: STM32F427VIT6 ARM<sup>&reg;</sup> microcontroller - Revision 3
- IO: STM32F100C8T6 ARM<sup>&reg;</sup> microcontroller
- 传感器：
- Invensense<sup>&reg;</sup> MPU9250 9DOF
- Invensense ICM-20602 6DOF
- MEAS MS5611 气压计
- 尺寸/重量
- Size: 36mm x 50mm
(Can be ordered with vertical, horizontal or no headers installed)
- 安装点：30.5mm x 30.5mm 直径 3.2mm
- 重量: 10.9g
The diagram below provides a side-by-side comparison with a Pixhawk 1. The mRo features almost identical hardware and connectivity but
has a much smaller footprint. Major differences are updated sensors and Rev 3 FMU.
![Mro Pixhawk 1 vs X2.1 comparison](../../assets/flight_controller/mro/px1_x21.jpg)
## 连接
- 2.54 毫米头：
- GPS (UART4) with I2C
- CAN Bus
- 遥控输入
- PPM 输入
- Spektrum 输入
- RSSI 输入
- sBus 输入
- sBus 输出
- 电源输入
- 蜂鸣器输出
- LED 输出
- 8路伺服输出
- 6路辅助输出
- Offboard microUSB connector
- Kill Pin output _(Currently not supported by firmware)_
- AirSpeed Sensor
- USART2 (Telem 1)
- USART3 (Telem 2)
- UART7 (Console)
- UART8 (OSD)
## PX4 BootLoader Issue
By default a mRo X2.1 might come preconfigured for ArduPilot<sup>&reg;</sup> rather than PX4. This
can be seen during firmware update when the board is recognized as FMUv2 instead of X2.1.
In this case you must update the BootLoader using [BL_Update_X21.zip](https://github.com/PX4/PX4-user_guide/raw/main/assets/hardware/BL_Update_X21.zip).
If this correction is not carried out your compass direction will be wrong and the
secondary IMU will not be detected.
The update steps are:
1. Download and extract [BL_Update_X21.zip](https://github.com/PX4/PX4-user_guide/raw/main/assets/hardware/BL_Update_X21.zip).
2. Find the folder _BL_Update_X21_. This contains a **bin** file and a subfolder named **/etc** containing an **rc.txt** file
3. Copy these files to your micro SD card's root directory and insert it into the mRO x2.1
4. Power on the mRO x2.1 Wait for it to boot and then reboot 1 time.
## 访问链接
This product can be ordered at the [mRobotics<sup>&reg;</sup> Store](https://store.mrobotics.io/mRo-X2-1-Rev-2-p/m10021a.htm).
## 接线指南
![mRo\_X2.1\_Wiring](../../assets/flight_controller/mro/mro_x21_wiring.png)
## 编译固件
:::tip
Most users will not need to build this firmware!
It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected.
:::
To [build PX4](../dev_setup/building_px4.md) for this target:
```
make mro_x21_default
```
## 原理图
The board is documented on the mRo hardware repo: [x21_V2_schematic.pdf](https://github.com/mRoboticsIO/Hardware/blob/master/X2.1/Docs/x21_V2_schematic.pdf).
## 串口映射
| UART | 设备 | Port |
| ------ | ---------- | --------------- |
| USART1 | /dev/ttyS0 | IO debug |
| USART2 | /dev/ttyS1 | SERIAL1 |
| USART3 | /dev/ttyS2 | TELEM2 |
| UART4 | /dev/ttyS3 | GPS/I2C |
| USART6 | /dev/ttyS4 | PX4IO |
| UART7 | /dev/ttyS5 | SERIAL5 CONSOLE |
| UART8 | /dev/ttyS6 | SERIAL4 |
<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
docs/zh/flight_controller/nxp_mr_vmu_rt1176.md
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# NXP MR-VMU-RT1176 Flight Controller
<Badge type="tip" text="PX4 v1.15" />
:::warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://www.nxp.com) for hardware support (https://community.nxp.com/) or compliance issues.
:::
The _MR-VMU-RT1176_ reference design is based on the [Pixhawk<sup>&reg;</sup> FMUv6X-RT open standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-020%20Pixhawk%20Autopilot%20v6X-RT%20Standard.pdf), the latest update to the successful family of Pixhawk<sup>&reg;</sup> flight controllers.
This is NXP's open source _reference design_ for using FMUv6X-RT, and was designed and made in collaboration with industry partners<sup>&reg;</sup>, NXP's mobile robotics team and the PX4 team.
As a reference/evaluation design, it is intended to be replicated, modified or integrated in production volume by others.
It has already gone through all FCC/CE ROHS REACH UKCA, EMI/RFI ESD certifications and is available globally
Several 3rd party manufacturers (such as Holybro.com) provide this or derivative commercial products.
![MR-VMU-RT1176 Upright Image](../../assets/flight_controller/nxp_mr-vmu-rt1176/mr-vmu-rt1176_upleft.jpg)
The board includes the same FMU module found on Pixhawk 6X-RT paired with an NXP-based carrier board.
The carrier board offers 100Base-T1 (two-wire) automotive ethernet, an NFC antenna (Connected to SE051), and a third CAN bus.
It also removes the IO processor to enable 12 PWM ports, with 8 providing Dshot capability.
This board takes advantage of multiple Pixhawk​​® open standards, such as the FMUv6X-RT Standard, [Autopilot Bus Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-010%20Pixhawk%20Autopilot%20Bus%20Standard.pdf), and [Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf).
Equipped with a high performance NXP i.mx RT1176 dual core Processor, modular design, triple redundancy, temperature-controlled IMU board, isolated sensor domains, delivering incredible performance, reliability, and flexibility.
:::tip
This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md) by the PX4 maintenance and test teams.
:::
## 简介
Inside the MR-VMU-RT1176, you can find an NXP i.MX RT1176, paired with sensor technology from Bosch®, InvenSense®, giving you flexibility and reliability for controlling any autonomous vehicle, suitable for both academic and commercial applications.
The Pixhawk® 6X-RT's i.MX RT1176 Crossover dual-core MCU contain an Arm® Cortex®-M7 core running up to 1GHz and Arm® Cortex®-M4 core running up to 400MHz, has 2MB SRAM and external XIP Flash with 64MB.
The PX4 Autopilot takes advantage of the increased processing power and RAM.
Thanks to this increased processing power, developers can be more productive and efficient with their development work, allowing for complex algorithms and models.
The FMUv6X-RT open standard includes high-performance, low-noise IMUs on board, designed for better stabilization.
Triple-redundant IMU & double-redundant barometer on separate buses.
When PX4 detects a sensor failure, the system seamlessly switches to another to maintain flight control reliability.
An independent LDO powers every sensor set with independent power control.
A vibration isolation System to filter out high-frequency vibration and reduce noise to ensure accurate readings, allowing vehicles to reach better overall flight performances.
External sensor bus (SPI5) has two chip select lines and data-ready signals for additional sensors and payload with SPI-interface, and with an integrated Microchip Ethernet PHY, high-speed communication with mission computers via ethernet is now possible.
The MR-VMU-RT1176 reference design is perfect for developers at corporate research labs, startups, academics (research, professors, students), and commercial application that like to try out T1 (2 wire) automotive ethernet.
Note that since it is a reference design, this _particular_ board is not produced in high volume.
Similar variants will be available from our licensees.
## Key Design Points
- High performance [NXP i.MX RT1170 1GHz Crossover MCU](https://www.nxp.com/products/processors-and-microcontrollers/arm-microcontrollers/i-mx-rt-crossover-mcus/i-mx-rt1170-1-ghz-crossover-mcu-with-arm-cortex-cores:i.MX-RT1170) with Arm® Cortex® cores
- Hardware secure element [NXP EdgeLock SE051](https://www.nxp.com/products/security-and-authentication/authentication/edgelock-se051-proven-easy-to-use-iot-security-solution-with-support-for-updatability-and-custom-applets:SE051).
This is an extension to the widely trusted EdgeLock SE050 Plug & Trust secure element family, supports applet updates in the field and delivers proven security certified to CC EAL 6+, with AVA_VAN.5 up to the OS level, for strong protection against the most recent attack scenarios.
This can be used, for example, to securely store operator ID or certificates.
- Modular flight controller: separated IMU, FMU, and Base system connected by a 100-pin & a 50-pin Pixhawk® Autopilot Bus connector.
- Redundancy: 3x IMU sensors & 2x Barometer sensors on separate buses
- Triple-redundancy domains: Completely isolated sensor domains with separate buses and separate power control
- Newly designed vibration isolation system to filter out high frequency vibration and reduce noise to ensure accurate readings
- 100Base-T1 2-Wire Ethernet interface for high-speed mission computer integration
- IMUs are temperature-controlled by onboard heating resistors, allowing optimum working temperature of IMUs&#x20
### Processors & Sensors
- FMU Processor: NXP i.MX RT1176
- 32 Bit Arm® Cortex®-M7, 1GHz
- 32 Bit Arm® Cortex®-M4, 400MHz secondary core
- 64MB external flash memory
- 2MB RAM
- NXP EdgeLock SE051 hardware secure element
- IEC62443-4-2 certified for the applicable requirements
- 46 kB user memory with personalization options to go up to 104 kB
- Groundbreaking CC EAL6+ certified solution for IoT deployments
- AES and 3DES encryption and decryption
- On-board sensors
- Accel/Gyro: ICM-20649 or BMI088
- Accel/Gyro: ICM-42688-P
- Accel/Gyro: ICM-42670-P
- Mag: BMM150
- Barometer: 2x BMP388
### Electrical data
- Voltage Ratings:
- Max input voltage: 6V
- USB Power Input: 4.75\~5.25V
- Servo Rail Input: 0\~36V
- Current Ratings:
- `TELEM1` output current limiter: 1.5A
- All other port combined output current limiter: 1.5A
### Mechanical data
- 尺寸
- Flight Controller Module: 38.8 x 31.8 x 14.6mm
- Standard Baseboard: 50 x 96 x 16.7mm
- 重量
- Flight Controller Module: 23g
- Standard Baseboard: 51g
### 接口
- 12 PWM servo outputs, 8 with D-SHOT
- R/C input for Spektrum / DSM
- Dedicated R/C input for PPM and S.Bus input
- Dedicated analog / PWM RSSI input and S.Bus output
- 4 general purpose serial ports:
- 3 with full flow control
- 1 with separate 1.5A current limit (Telem1)
- 1 with I2C and additional GPIO line for external NFC reader
- 2 GPS ports
- 1 full GPS plus Safety Switch Port
- 1 basic GPS port
- 1 I2C port
- 1 Ethernet port
- Transformerless Applications
- 100Mbps
- 1 SPI bus
- 2 chip select lines
- 2 data-ready lines
- 1 SPI SYNC line
- 1 SPI reset line
- 3 CAN Buses for CAN peripheral (2 currently supported by PX4)
- CAN Bus has individual silent controls or ESC RX-MUX control
- 2 Power input ports with SMBus
- 1 AD & IO port
- 2 个模拟输入接口
- 1 PWM/Capture input
- 2 Dedicated debug and GPIO lines
- 其它特性:
- Operating & storage temperature: -40 ~ 85°c
## 购买渠道
Order from [NXP](https://www.nxp.com).
## 组装 / 设置
Wiring is similar to the [Holybro Pixhawk 6X](../flight_controller/pixhawk6x.md#connections) and other boards that follow the [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf).
<!-- TBD - provide sample wiring diagram. -->
## Connections
_MR-VMU-RT1176_ connectors (following [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf))
![MR-VMU-RT1176 Top Image](../../assets/flight_controller/nxp_mr-vmu-rt1176/mr-vmu-rt1176_top.jpg)
![MR-VMU-RT1176 Front Image](../../assets/flight_controller/nxp_mr-vmu-rt1176/mr-vmu-rt1176_front.jpg)
![MR-VMU-RT1176 Leftside Image](../../assets/flight_controller/nxp_mr-vmu-rt1176/mr-vmu-rt1176_left.jpg)
![MR-VMU-RT1176 Rightside Image](../../assets/flight_controller/nxp_mr-vmu-rt1176/mr-vmu-rt1176_right.jpg)
有关详细信息，请参阅︰
- [NXP MR-VMU-RT1176 Baseboard Connections](https://nxp.gitbook.io/vmu-rt1176/production-v1-carrier-board-connectors) (nxp.gitbook.io)
## 针脚定义
[NXP MR-VMU-RT1176 Baseboard Pinout](https://nxp.gitbook.io/vmu-rt1176/pin-out) (nxp.gitbook.io)
备注：
- The [camera capture pin](../camera/fc_connected_camera.md#camera-capture-configuration) (`PI0`) is pin 2 on the AD&IO port, marked above as `FMU_CAP1`.
## 串口映射
| UART | 设备 | Port |
| ------ | ---------- | -------- |
| UART1 | /dev/ttyS0 | Debug |
| UART3 | /dev/ttyS1 | GPS |
| UART4 | /dev/ttyS2 | TELEM1 |
| UART5 | /dev/ttyS3 | GPS2 |
| UART6 | /dev/ttyS4 | PX4IO |
| UART8 | /dev/ttyS5 | TELEM2 |
| UART10 | /dev/ttyS6 | TELEM3 |
| UART11 | /dev/ttyS7 | External |
<!--
## Dimensions
TBD
-->
## 额定电压
_MR-VMU-RT1176_ can be triple-redundant on the power supply if three power sources are supplied.
The three power rails are: **POWER1**, **POWER2** and **USB**.
The **POWER1** & **POWER2** ports on the MR-VMU-RT1176 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).
### Normal Operation Maximum Ratings
Under these conditions all power sources will be used in this order to power the system:
1. **POWER1** and **POWER2** inputs (4.9V to 5.5V)
2. **USB** input (4.75V to 5.25V)
### Absolute Maximum Ratings
Under these conditions the system will not draw any power (will not be operational), but will remain intact.
1. **POWER1** and **POWER2** inputs (operational range 4.1V to 5.7V, 0V to 10V undamaged)
2. **USB** input (operational range 4.1V to 5.7V, 0V to 6V undamaged)
3. Servo input: VDD_SERVO pin of **FMU PWM OUT** and **I/O PWM OUT** (0V to 42V undamaged)
### Voltage monitoring
Digital I2C battery monitoring is enabled by default (see [Quickstart > Power](../assembly/quick_start_pixhawk6x.md#power)).
:::info
Analog battery monitoring via an ADC is not supported on this particular board, but may be supported in variations of this flight controller with a different baseboard.
:::
## 编译固件
:::tip
Most users will not need to build this firmware!
It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected.
:::
To [build PX4](../dev_setup/building_px4.md) for this target:
```sh
make px4_fmu-v6xrt_default
```
## Debug Port {#debug_port}
The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) run on the **FMU Debug** port.
The pinouts and connector comply with the [Pixhawk Debug Full](../debug/swd_debug.md#pixhawk-debug-full) interface defined in the [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf) interface (JST SM10B connector).
| 针脚 | 信号 | 电压 |
| --------------------------- | ----------------------------------- | --------------------- |
| 1（红） | `Vtref` | +3.3V |
| 2 | Console TX (OUT) | +3.3V |
| 3 | Console RX (IN) | +3.3V |
| 4（黑） | `SWDIO` | +3.3V |
| 6 | `SWCLK` | +3.3V |
| 6 | `SWO` | +3.3V |
| 7 | NFC GPIO | +3.3V |
| 8 (blk) | PH11 | +3.3V |
| 9 (blk) | nRST | +3.3V |
| 10 (blk) | `GND` | GND |
For information about using this port see:
- [SWD Debug Port](../debug/swd_debug.md)
- [PX4 System Console](../debug/system_console.md) (Note, the FMU console maps to USART3).
## 外部设备
- [Digital Airspeed Sensor](https://holybro.com/products/digital-air-speed-sensor)
- [Telemetry Radio Modules](https://holybro.com/collections/telemetry-radios?orderby=date)
- [Rangefinders/Distance sensors](../sensor/rangefinders.md)
## 支持的平台/机身
Any multicopter / airplane / rover or boat that can be controlled with normal RC servos or Futaba S-Bus servos.
The complete set of supported configurations can be seen in the [Airframes Reference](../airframes/airframe_reference.md).
## 更多信息
- [Update Pixhawk 6X-RT Bootloader](../advanced_config/bootloader_update_v6xrt.md)
- [Pixhawk 6X Wiring QuickStart](../assembly/quick_start_pixhawk6x.md)
- [PM02D Power Module](../power_module/holybro_pm02d.md)
- [PM03D Power Module](../power_module/holybro_pm03d.md)
- [Pixhawk FMUv6X-RT open standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-020%20Pixhawk%20Autopilot%20v6X-RT%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).
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# NXP RDDRONE-FMUK66 FMU (Discontinued)
<Badge type="info" text="Discontinued" />
:::warning
This flight controller has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available.
:::
:::warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://www.nxp.com/) for hardware support or compliance issues.
:::
RDDRONE-FMUK66 FMU is a reference design using NXP Semiconductor components that closely follows Pixhawk FMUv4 specifications while adding two wire automotive Ethernet 100BASET1 and secure element A71CH (RevC) or SE050 (RevD).
NXP provides the schematics, gerbers, BOM and source files so that anyone can duplicate, change or repurpose this design.
This is the official FMU for use with [HoverGames](https://www.hovergames.com/).
![RDDRONE-FMUK66 FMU Hero Image1](../../assets/flight_controller/nxp_rddrone_fmuk66/HoverGamesDrone_14042019_XL_020.jpg)
![RDDRONE-FMUK66 FMU Hero Image2](../../assets/flight_controller/nxp_rddrone_fmuk66/HoverGamesDrone_14042019_XL_021.jpg)
The NXP FMU and included peripherals have been tested to comply with FCC/CE/RoHs/REACH directives.
:::info
These flight controllers are [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
:::
## 总览
- **Main FMU Processor:**
- Kinetis K66 MK66FN2MOVLQ18 microcontroller running at 180MHz Cortex-M4F MCU, 2MB Flash, 256KB SRAM, Dual USBs (FS + HS), Ethernet, 144-LQFP.
- **On-board sensors:**
- Accel/Gyro: BMI088/ICM42688 (RevD)...
- Accel/Magnetometer: FXOS8700CQ
- Gyro: FXAS21002CQ
- Magnetometer: BMM150
- Barometer: ML3115A2
- Barometer: BMP280
- **GPS:**
- u-blox Neo-M8N GPS/GLONASS receiver; integrated magnetometer IST8310
This FMU is provided only as a kit, and includes [Segger Jlink EDU mini debugger](https://www.segger.com/products/debug-probes/j-link/models/j-link-edu-mini/), DCD-LZ debugger adapter, USB-TTL-3V3 console cable, HolyBro GPS module, battery power module, SDCard and case, screws and stickers.
Telemetry radios ([HGD-TELEM433](https://www.nxp.com/part/HGD-TELEM433) and [HGD-TELEM915](https://www.nxp.com/part/HGD-TELEM915)) must be purchased separately to match ISM band frequencies used in your country.
![RDDRONE-FMUK66 FMU Kit](../../assets/flight_controller/nxp_rddrone_fmuk66/rddrone_fmu66_kit_img_contents.jpg)
A "Lite" version RDDRONE-FMUK66L is also available which does not include the power module, GPS, Jlink or USB-TTL-3V3 console cable or SDCard.[Scroll down to see FMUK66L in the buy section of the FMUK66 buy page](https://www.nxp.com/design/designs/px4-robotic-drone-fmu-rddrone-fmuk66:RDDRONE-FMUK66#buy)
Additional information can be found in the [Technical Data Sheet](https://www.nxp.com/design/designs/px4-robotic-drone-fmu-rddrone-fmuk66:RDDRONE-FMUK66). <!-- www.nxp.com/rddrone-fmuk66 -->
## 购买渠道
**RDDRONE-FMUK66** reference design kit may be purchased direct from NXP or from any of NXP's authorised worldwide network of [electronics distributors](https://www.nxp.com/support/sample-and-buy/distributor-network:DISTRIBUTORS).
- [Purchase Link](https://www.nxp.com/design/designs/px4-robotic-drone-fmu-rddrone-fmuk66:RDDRONE-FMUK66#buy) (www.nxp.com)
- Telemetry radios are purchased separately depending on frequency band:
- [HGD-TELEM433](https://www.nxp.com/part/HGD-TELEM433)
- [HGD-TELEM915](https://www.nxp.com/part/HGD-TELEM915)
:::info
_RDDRONE-FMUK66_ FMU is also included in the complete HoverGames drone kit: [KIT-HGDRONEK66](https://www.nxp.com/applications/solutions/industrial/aerospace-and-mobile-robotics/uavs-drones-and-rovers/nxp-hovergames-drone-kit-including-rddrone-fmuk66-and-peripherals:KIT-HGDRONEK66#buy)
:::
<!--
## Connectors
[Connector Diagram]
## Pinouts
[Pinouts listing or link]
## Dimensions
[Dimensions]
-->
## 组装 / 设置
https://nxp.gitbook.io/hovergames
## 编译固件
:::tip
Most users will not need to build this firmware!
It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected.
:::
To [build PX4](../dev_setup/building_px4.md) for this target:
```
make nxp_fmuk66-v3_default
```
## 调试接口
The [PX4 System Console](../debug/system_console.md) and the [SWD interface](../debug/swd_debug.md) run on the [DCD-LZ FMU Debug](https://nxp.gitbook.io/hovergames/rddrone-fmuk66/connectors/debug-interface-dcd-lz) port.
NXP's DCD-LZ is a 7 pin JST-GH connector and adds the nRST/MCU_RESET pin to the [Pixhawk 6-Pin standard debug port](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf).
The DCD-LZ breakout adapter permits the use of a standard 10 pin JTAG/SWD interface (i.e. using the Segger Jlink) and a standard 5 pin FTDI USB-TTL-3V3 type cable.
<!--
## Peripherals
* [List of anything people should use with this hardware]
-->
## 支持的平台/机身
Any multicopter / airplane / rover or boat that can be controlled with normal RC servos or Futaba S-Bus servos.
The complete set of supported configurations can be seen in the [Airframes Reference](../airframes/airframe_reference.md).
![HoverGames Drone Kit](../../assets/flight_controller/nxp_rddrone_fmuk66/hovergames_drone_14042019_xl001.jpg)
:::tip
The NXP [HoverGames Drone Kit](https://www.nxp.com/kit-hgdronek66) (shown above) is a complete drone development kit that includes everything needed to build a quadcopter.
You only need to supply the 3S/4S LiPo battery.
:::
## 更多信息
- [HoverGames online documentation](https://nxp.gitbook.io/hovergames) PX4 user and programming guide, specific assembly, construction, debugging, programming instructions.
- 3DModels supporting HoverGames and RDDRONE-FMUK66 can be found on _Thingiverse_ at these search links: [fmuk66](https://www.thingiverse.com/search?q=fmuk66\&type=things\&sort=relevant), [hovergames](https://www.thingiverse.com/search?q=hovergames\&type=things\&sort=relevant).
![HoverGamesDronelogo](../../assets/flight_controller/nxp_rddrone_fmuk66/hovergames_colored_small.png)
docs/zh/flight_controller/ocpoc_zynq.md
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# Aerotenna OcPoC-Zynq Mini Flight Controller (Discontinued)
<Badge type="info" text="Discontinued" />
:::warning
This flight controller has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available.
PX4 v1.11 is the last release that has (experimental) support for this platform.
See the [PX4v1.11 docs](http://docs.px4.io/v1.11/en/flight_controller/ocpoc_zynq.html#aerotenna-ocpoc-zynq-mini-flight-controller) for more information.
:::
![ocpoc-zynq-mini](../../assets/hardware/hardware-ocpoc-zynq-mini.jpg)
docs/zh/flight_controller/omnibus_f4_sd.md
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# Omnibus F4 SD
:::warning
This flight controller has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available.
:::
:::warning
PX4 does not manufacture this (or any) autopilot.
Contact the manufacturer for support or compliance issues.
:::
The _Omnibus F4 SD_ is a controller board designed for racers.
In contrast to a typical racer board it has some additional features, such as an SD card and a faster CPU.
<img src="../../assets/flight_controller/omnibus_f4_sd/board.jpg" width="400px" title="Omnibus F4 SD" />
These are the main differences compared to a [Pixracer](../flight_controller/pixracer.md):
- Lower price
- Fewer IO ports (though it's still possible to attach a GPS or a Flow sensor for example)
- Requires external pull up resistor on the I2C bus for external GPS, see [I2C](#i2c) below.
- Less RAM (192 KB vs. 256 KB) and FLASH (1 MB vs. 2 MB)
- Same board dimensions as a _Pixracer_, but slightly smaller form factor (because it has less connectors)
- Integrated OSD (not yet implemented in software)
:::tip
All the usual PX4 features can still be used for your racer!
:::
:::info
This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
:::
## 主要特性
- Main System-on-Chip: [STM32F405RGT6](https://www.st.com/en/microcontrollers/stm32f405rg.html)
- CPU: 168 MHz ARM Cortex M4 with single-precision FPU
- RAM: 192 KB SRAM
- FLASH: 1 MB
- Standard racer form factor: 36x36 mm with standard 30.5 mm hole pattern
- MPU6000 Accel / Gyro
- BMP280 Baro (not all boards have it mounted)
- microSD (for logging)
- Futaba S.BUS and S.BUS2 / Spektrum DSM2 and DSMX / Graupner SUMD / PPM input / Yuneec ST24
- OneShot PWM out (configurable)
- Built-in current sensor
- Built-in OSD chip (AB7456 via SPI)
## 购买渠道
The board is produced by different vendors, with some variations (e.g. with or without a barometer).
:::tip
PX4 is compatible with boards that support the Betaflight OMNIBUSF4SD target (if _OMNIBUSF4SD_ is present on the product page the board should work with PX4).
:::
:::tip
Any Omnibus F4 labeled derivative (e.g. clone) should work as well. However, power distribution on these boards is of varying quality.
:::
These are the boards tested and known to work:
- [Hobbywing XRotor Flight Controller F4](https://www.hobbywing.com/en/products/info.html?id=164)
::: info
This board fits on top of the [Hobbywing XRotor Micro 40A 4in1 ESC](https://www.hobbywing.com/en/products/info.html?id=116) without soldering. This ESC board also provides power for the Omnibus board.
:::
Purchase from:
- [Hobbywing XRotor F4 Flight Controller w/OSD](https://www.getfpv.com/hobbywing-xrotor-f4-flight-controller-w-osd.html) (getfpv)
- Original Airbot Omnibus F4 SD
Purchase from:
- [Airbot (CN manufacturer)](https://store.myairbot.com/omnibusf4prov3.html)
- [Ready To Fly Quads (US reseller)](https://quadsrtf.com/product/flip-32-f4-omnibus-rev-2/)
Accessories include:
- [ESP8266 WiFi Module](../telemetry/esp8266_wifi_module.md) for MAVLink telemetry.
You need to connect these pins: GND, RX, TX, VCC and CH-PD (CH-PD to 3.3V). The baud rate is 921600.
## 连接器
Boards from different vendors (based on this design) can have significantly different layout.
Layouts/Silkscreens for various versions are shown below.
### Airbot Omnibus F4 SD
Below are silkscreens for the Airbot Omnibus F4 SD (V1), showing both top and bottom.
![Omnibus F4 SD v1 Silkscreen Top](../../assets/flight_controller/omnibus_f4_sd/silk-top.jpg)
![Omnibus F4 SD v1 Silkscreen Bottom](../../assets/flight_controller/omnibus_f4_sd/silk-bottom.jpg)
### Hobbywing XRotor Flight Controller F4
Below are silkscreens for the Hobbywing XRotor Flight Controller F4.
![Hobbywing XRotor Flight Controller F4 Silkscreen](../../assets/flight_controller/omnibus_f4_sd/hobbywing_xrotor_silk.png)
## 针脚定义
### 遥控器
RC is connected to one of the following ports:
- UART1
- SBUS/PPM port (via inverter, internally goes to UART1)
:::info
Some Omnibus F4 boards have a jumper connecting either or both the MCU SBUS and PPM to a single pin header. Set your jumper or solder bridge to the appropriate MCU pin before use.
:::
### UARTs
- UART6: GPS port
- TX: MCU pin PC6
- RX: MCU pin PC7
- Airbot Omnibus F4 SD Pinout is on Port J10 (TX6/RX6):
![Omnibus F4 SD UART6](../../assets/flight_controller/omnibus_f4_sd/uart6.jpg)
- UART4
- TX: MCU pin PA0
- RX: MCU pin PA1
- 57600 波特率
- This can be configured as the `TELEM 2` port.
- Airbot Omnibus F4 SD Pinout:
- TX: RSSI pin
- RX: PWM out 5
![Omnibus F4 SD UART4](../../assets/flight_controller/omnibus_f4_sd/uart4.jpg)
![Omnibus F4 SD UART4 Top](../../assets/flight_controller/omnibus_f4_sd/uart4-top.jpg)
### I2C
There is one I2C port available via:
- SCL: MCU pin PB10 (might be labeled as TX3)
- SDA: MCU pin PB11 (might be labeled as RX3)
:::info
You will need external pullups on both signals (clock and data).
You can use 2.2k pullups for example to attach an external mag.
:::
- Airbot Omnibus F4 SD Pinout is on Port J10 (SCL [clock] / SCA [data]): <img src="../../assets/flight_controller/omnibus_f4_sd/uart6.jpg" title="Omnibus F4 SD UART6" />
Here is an example implementation. I used a Spektrum plug to get 3.3v from the DSM port, connecting only 3.3v + to each line via 2.2k resistor.
![Omnibus F4 SD Pullup](../../assets/flight_controller/omnibus_f4_sd/pullup-schematic.jpg)
![Omnibus F4 SD Pullup Implementation](../../assets/flight_controller/omnibus_f4_sd/pullup.jpg)
## 串口映射
| UART | 设备 | Port |
| ------ | ---------- | -------- |
| USART1 | /dev/ttyS0 | SerialRX |
| USART4 | /dev/ttyS1 | TELEM1 |
| USART6 | /dev/ttyS2 | GPS |
<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
## RC Telemetry
The Omnibus supports telemetry to the RC Transmitter using [FrSky Telemetry](../peripherals/frsky_telemetry.md) or [CRSF Crossfire Telemetry](#crsf_telemetry).
<a id="crsf_telemetry"></a>
### CRSF Crossfire Telemetry
[TBS CRSF Telemetry](../telemetry/crsf_telemetry.md) may be used to send telemetry data from the flight controller (the vehicle's attitude, battery, flight mode and GPS data) to an RC transmitter such as a Taranis.
Benefits over [FrSky telemetry](../peripherals/frsky_telemetry.md) include:
- Only a single UART is needed for RC and telemetry.
- The CRSF protocol is optimized for low latency.
- 150 Hz RC update rate.
- The signals are uninverted and thus no (external) inverter logic is required.
:::info
If you use CRSF Telemetry you will need to build custom PX4 firmware.
By contrast, FrSky telemetry can use prebuilt firmware.
:::
For Omnibus we recommend the [TBS Crossfire Nano RX](http://team-blacksheep.com/products/prod:crossfire_nano_rx), since it is specifically designed for small Quads.
On the handheld controller (e.g. Taranis) you will also need a [Transmitter Module](http://team-blacksheep.com/shop/cat:rc_transmitters#product_listing).
This can be plugged into the back of the RC controller.
:::info
The referenced links above contains the documentation for the TX/RX modules.
:::
#### 设置
Connect the Nano RX and Omnibus pins as shown:
| Omnibus UART1 | Nano RX |
| ------------- | ------- |
| TX | Ch2 |
| RX | Ch1 |
Next update the TX/RX modules to use the CRSF protocol and set up telemetry.
Instructions for this are provided in the [TBS Crossfire Manual](https://www.team-blacksheep.com/tbs-crossfire-manual.pdf) (search for 'Setting up radio for CRSF').
#### PX4 CRSF Configuration
You will need to build custom firmware to use CRSF.
For more information see [CRSF Telemetry](../telemetry/crsf_telemetry.md#px4-configuration).
## 原理图
The schematics are provided by [Airbot](https://myairbot.com/): [OmnibusF4-Pro-Sch.pdf](http://bit.ly/obf4pro).
<a id="bootloader"></a>
## PX4 Bootloader Update
The board comes pre-installed with [Betaflight](https://github.com/betaflight/betaflight/wiki).
Before PX4 firmware can be installed, the _PX4 bootloader_ must be flashed.
Download the [omnibusf4sd_bl.hex](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/omnibus_f4_sd/omnibusf4sd_bl_d52b70cb39.hex) bootloader binary and read [this page](../advanced_config/bootloader_update_from_betaflight.md) for flashing instructions.
## 编译固件
To [build PX4](../dev_setup/building_px4.md) for this target:
```
make omnibus_f4sd_default
```
## Installing PX4 Firmware
You can use either pre-built firmware or your own custom firmware.
:::warning
If you use [CRSF Telemetry](../telemetry/crsf_telemetry.md#px4-configuration) in your radio system, as describe above, then you must use custom firmware.
:::
The firmware can be installed in any of the normal ways:
- Build and upload the source
```
make omnibus_f4sd_default upload
```
- [Load the firmware](../config/firmware.md) using _QGroundControl_.
## 配置
In addition to the [basic configuration](../config/index.md), the following parameters are important:
| 参数 | 设置 |
| ---------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------- |
| [SYS_HAS_MAG](../advanced_config/parameter_reference.md#SYS_HAS_MAG) | This should be disabled since the board does not have an internal mag. You can enable it if you attach an external mag. |
| [SYS_HAS_BARO](../advanced_config/parameter_reference.md#SYS_HAS_BARO) | Disable this if your board does not have a barometer. |
## Further Info
[This page](https://blog.dronetrest.com/omnibus-f4-flight-controller-guide/) provides a good overview with pinouts and setup instructions.
docs/zh/flight_controller/pixfalcon.md
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# Pixfalcon Flight Controller (Discontinued)
<Badge type="info" text="Discontinued" />
:::warning
This flight controller has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available.
:::
:::warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://holybro.com/) for hardware support or compliance issues.
:::
The Pixfalcon autopilot (designed by [Holybro<sup>&reg;</sup>](https://holybro.com/)) is binary-compatible (FMUv2) derivative of the [Pixhawk 1](../flight_controller/pixhawk.md) design that has been optimized for space-constrained applications such as FPV racers. It has less IO to allow for the reduction in size.
![Pixfalcon hero image](../../assets/hardware/hardware-pixfalcon.png)
## 总览
- Main System-on-Chip: [STM32F427](http://www.st.com/web/en/catalog/mmc/FM141/SC1169/SS1577/LN1789)
- CPU: 180 MHz ARM<sup>&reg;</sup> Cortex<sup>&reg;</sup> M4 with single-precision FPU
- RAM: 256 KB SRAM (L1)
- Failsafe System-on-Chip: STM32F100
- CPU: 24 MHz ARM Cortex M3
- RAM: 8 KB SRAM
- GPS: u-blox<sup>&reg;</sup> M8 (bundled)
### 连接
- 1x I2C
- 2x UART (one for Telemetry / OSD, no flow control)
- 8x PWM with manual override
- S.BUS / PPM input
## 访问链接:
From distributor [Hobbyking<sup>&reg;</sup>](https://hobbyking.com/en_us/pixfalcon-micro-px4-autopilot-plus-micro-m8n-gps-and-mega-pbd-power-module.html)
Optional hardware:
- Optical flow: PX4 Flow unit from manufacturer [Holybro](https://holybro.com/products/px4flow)
- Digital Airspeed sensor from manufacturer [Holybro](https://holybro.com/products/digital-air-speed-sensor) or distributor [Hobbyking](https://hobbyking.com/en_us/hkpilot-32-digital-air-speed-sensor-and-pitot-tube-set.html)
- On screen display with integrated Telemetry:
- [Hobbyking OSD + EU Telemetry (433 MHz)](https://hobbyking.com/en_us/micro-hkpilot-telemetry-radio-module-with-on-screen-display-osd-unit-433mhz.html)
- Pure Telemetry options:
- [Hobbyking Wifi Telemetry](https://hobbyking.com/en_us/apm-pixhawk-wireless-wifi-radio-module.html)
- [SIK Radios](../telemetry/sik_radio.md)
## 编译固件
:::tip
Most users will not need to build this firmware!
It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected.
:::
To [build PX4](../dev_setup/building_px4.md) for this target:
```
make px4_fmu-v2_default
```
## 调试接口
This board does not have a debug port (i.e it does not have a port for accessing the [System Console](../debug/system_console.md) or the [SWD interface](../debug/swd_debug.md) (JTAG).
Developers will need to solder wires to the board test pads for SWD, and to the STM32F4 (IC) TX and RX to get a console.
## 串口映射
| UART | 设备 | Port |
| ------ | ---------- | ------------------------------------------- |
| UART1 | /dev/ttyS0 | IO Debug |
| USART2 | /dev/ttyS1 | TELEM1 (No flow control) |
| UART4 | /dev/ttyS2 | GPS |
<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
docs/zh/flight_controller/pixhack_v3.md
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# Pixhack v3
:::warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://store.cuav.net/) for hardware support or compliance issues.
:::
The CUAV _Pixhack V3_ flight controller board is a flexible autopilot intended primarily for manufacturers of commercial systems.
The board is a variant of the SOLO Pixhawk<sup>&reg;</sup> 2 (PH2) flight controller, which is in turn based on the [Pixhawk-project](https://pixhawk.org/) **FMUv3** open hardware design.
It runs PX4 on the [NuttX](https://nuttx.apache.org/) OS, and is fully compatible with both PX4 or ArduPilot<sup>&reg;</sup> (APM) firmware.
_Pixhack V3_ has significant improvements with respect to the original design, including better interface layout and the addition of vibration damping and a thermostat system.
![Pixhack v3](../../assets/flight_controller/pixhack_v3/pixhack_v3_157_large_default.jpg)
:::info
This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
:::
## 总览
- 微处理器：
- STM32F427
- STM32F100 (故障保护协处理器)
- 传感器：
- 加速度计 (3): LSM303D,MPU6000,MPU6000
- 陀螺仪 (3): L3GD20, MPU6000, MPU9250
- 指南针 (2): LS303D, MPU9250
- 气压计 (2): MS5611\*2
- 接口：
- MAVLink UART (2)
- GPS UART (2)
- DEBUG UART (1)
- 遥控信号输入(支持PPM, SBUS, DSM/DSM2)
- RSSI输入: PWM或3.3ADC
- I2C总线 (2)
- CAN总线 (1)
- ADC输入: 3.3V X1 , 6.6V X1
- PWM输出: 8 PWM IO + 4 IO
- 电源系统
- Power口输入电压: 4.5 ~ 5.5 V
- USB口输入电压：5.0 V +- 0.25v
- 重量和尺寸:
- 重量: 63g
- 宽度：68mm
- 厚度: 17mm
- 长度：44mm
- 其它特性:
- 工作温度: -20 ~ 60°C
## 访问链接
The board can be purchased from:
- [store.cuav.net](http://store.cuav.net/index.php?id_product=8\&id_product_attribute=0\&rewrite=pixhack-v3-autopilot\&controller=product\&id_lang=3)
- [leixun.aliexpress.com/store](https://leixun.aliexpress.com/store)
## 编译固件
:::tip
Most users will not need to build this firmware!
It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected.
:::
To [build PX4](../dev_setup/building_px4.md) for this target:
```
make px4_fmu-v3_default
```
## 引脚和原理图
- [Documentation/wiring guides](http://doc.cuav.net/flight-controller/pixhack/en/pixhack-v3.html)
## 串口映射
| UART | 设备 | Port |
| ------ | ---------- | ---------------------------------------- |
| UART1 | /dev/ttyS0 | IO debug |
| USART2 | /dev/ttyS1 | TELEM1 (flow control) |
| USART3 | /dev/ttyS2 | TELEM2 (flow control) |
| UART4 | | |
| UART7 | CONSOLE | |
| UART8 | SERIAL4 | |
docs/zh/flight_controller/pixhawk-2.md
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# Hex Cube Black Flight Controller
:::warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://cubepilot.org/#/home) for hardware support or compliance issues.
:::
:::tip
The [Cube Orange](cubepilot_cube_orange.md) is the successor to this product.
We recommend however to consider products built on industry standards, such as the [Pixhawk Standards](autopilot_pixhawk_standard.md).
This flight controller is not following the standard and uses a patented connector.
:::
The [Hex Cube Black](http://www.proficnc.com/61-system-kits2) flight controller (previously known as Pixhawk 2.1) is a flexible autopilot intended primarily for manufacturers of commercial systems.
It is based on the [Pixhawk-project](https://pixhawk.org/) **FMUv3** open hardware design and runs PX4 on the [NuttX](https://nuttx.apache.org/) OS.
![Cube Black](../../assets/flight_controller/cube/cube_black_hero.png)
The controller is designed to be used with a domain-specific carrier board in order to reduce the wiring, improve reliability, and ease of assembly.
For example, a carrier board for a commercial inspection vehicle might include connections for a companion computer,
while a carrier board for a racer could includes ESCs form the frame of the vehicle.
Cube includes vibration isolation on two of the IMU's, with a third fixed IMU as a reference / Backup.
:::info
The manufacturer [Cube Docs](https://docs.cubepilot.org/user-guides/autopilot/the-cube-module-overview) contain detailed information, including an overview of the [Differences between Cube Colours](https://docs.cubepilot.org/user-guides/autopilot/the-cube-module-overview#differences-between-cube-colours).
:::
:::tip
This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md) by the PX4 maintenance and test teams.
:::
## 主要特性
- 32bit STM32F427 [Cortex-M4F](http://en.wikipedia.org/wiki/ARM_Cortex-M#Cortex-M4)<sup>&reg;</sup> core with FPU
- 168 MHz / 252 MIPS
- 256 KB RAM
- 2 MB Flash \(fully accessible\)
- 32 bit STM32F103 failsafe co-processor
- 14 PWM / Servo outputs (8 with failsafe and manual override, 6 auxiliary, high-power compatible)
- Abundant connectivity options for additional peripherals (UART, I2C, CAN)
- Integrated backup system for in-flight recovery and manual override with dedicated processor and stand-alone power supply (fixed-wing use)
- Backup system integrates mixing, providing consistent autopilot and manual override mixing modes (fixed-wing use)
- Redundant power supply inputs and automatic failover
- External safety switch
- Multicolor LED main visual indicator
- High-power, multi-tone piezo audio indicator
- microSD card for high-rate logging over extended periods of time
<a id="stores"></a>
## 购买渠道
[Cube Black](http://www.proficnc.com/61-system-kits) (ProfiCNC)
## 组装
[Cube Wiring Quickstart](../assembly/quick_start_cube.md)
## 产品规格
### 处理器
- 32bit STM32F427 [Cortex M4](http://en.wikipedia.org/wiki/ARM_Cortex-M#Cortex-M4) core with FPU
- 168 MHz / 252 MIPS
- 256 KB RAM
- 2 MB Flash (fully accessible)
- 32 bit STM32F103 failsafe co-processor
### 传感器
- TBA
### 接口
- 5x UART (serial ports), one high-power capable, 2x with HW flow control
- 2x CAN (one with internal 3.3V transceiver, one on expansion connector)
- Spektrum DSM / DSM2 / DSM-X® Satellite compatible input
- Futaba S.BUS® compatible input and output
- PPM sum signal input
- RSSI (PWM or voltage) input
- I2C
- SPI
- 3.3v ADC input
- Internal microUSB port and external microUSB port extension
### Power System and Protection
- Ideal diode controller with automatic failover
- Servo rail high-power (max. 10V) and high-current (10A+) ready
- All peripheral outputs over-current protected, all inputs ESD protected
### 额定电压
Pixhawk can be triple-redundant on the power supply if three power sources are supplied. The three rails are: Power module input, servo rail input, USB input.
#### Normal Operation Maximum Ratings
Under these conditions all power sources will be used in this order to power the system
- Power module input (4.8V to 5.4V)
- Servo rail input (4.8V to 5.4V) **UP TO 10V FOR MANUAL OVERRIDE, BUT AUTOPILOT PART WILL BE UNPOWERED ABOVE 5.7V IF POWER MODULE INPUT IS NOT PRESENT**
- USB power input (4.8V to 5.4V)
#### Absolute Maximum Ratings
Under these conditions the system will not draw any power (will not be operational), but will remain intact.
- Power module input (4.1V to 5.7V, 0V to 20V undamaged)
- Servo rail input (4.1V to 5.7V, 0V to 20V)
- USB power input (4.1V to 5.7V, 0V to 6V)
## 引脚和原理图
Board schematics and other documentation can be found here: [The Cube Project](https://github.com/proficnc/The-Cube).
## Ports
### Top-Side (GPS, TELEM etc)
![Cube Ports - Top (GPS, TELEM etc) and Main/AUX](../../assets/flight_controller/cube/cube_ports_top_main.jpg)
<a id="serial_ports"></a>
### 串口映射
| UART | 设备 | Port |
| ------ | ---------- | ---------------------------------------- |
| USART1 | /dev/ttyS0 | <!-- IO debug? --> |
| USART2 | /dev/ttyS1 | TELEM1 (flow control) |
| USART3 | /dev/ttyS2 | TELEM2 (flow control) |
| UART4 | /dev/ttyS3 | GPS1 |
| USART6 | /dev/ttyS4 | PX4IO |
| UART7 | /dev/ttyS5 | CONSOLE |
| UART8 | /dev/ttyS6 | <!-- unknown --> |
<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
<!-- This originally said " **TEL4:** /dev/ttyS6 (ttyS4 UART): **Note** `TEL4` is labeled as `GPS2` on Cube." -->
### Debug Ports
![Cube Debug Ports](../../assets/flight_controller/cube/cube_ports_debug.jpg)
### USB/SDCard Ports
![Cube USB/SDCard Ports](../../assets/flight_controller/cube/cube_ports_usb_sdcard.jpg)
## 编译固件
:::tip
Most users will not need to build this firmware!
It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected.
:::
To [build PX4](../dev_setup/building_px4.md) for this target:
```
make px4_fmu-v3_default
```
## Issues
CAN1 and CAN2 silk screen on the Cube Black are flipped (CAN1 is CAN2 and vice versa).
## Further Information/Documentation
- [Cube Wiring Quickstart](../assembly/quick_start_cube.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)
docs/zh/flight_controller/pixhawk.md
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# 3DR Pixhawk 1 Flight Controller (Discontinued)
:::warning
This flight controller has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available.
You can use the [mRo Pixhawk](../flight_controller/mro_pixhawk.md) as a drop-in replacement.
:::
:::warning
PX4 does not manufacture this (or any) autopilot.
Contact the manufacturer for support or compliance issues.
:::
The _3DR Pixhawk<sup>&reg;</sup> 1_ autopilot is a popular general purpose flight controller based on the [Pixhawk-project](https://pixhawk.org/) **FMUv2** open hardware design (it combines the functionality of the PX4FMU + PX4IO).
It runs PX4 on the [NuttX](https://nuttx.apache.org/) OS.
![Pixhawk Image](../../assets/hardware/hardware-pixhawk.png)
Assembly/setup instructions for use with PX4 are provided here: [Pixhawk Wiring Quickstart](../assembly/quick_start_pixhawk.md)
## 主要特性
- Main System-on-Chip: [STM32F427](http://www.st.com/web/en/catalog/mmc/FM141/SC1169/SS1577/LN1789)
- CPU: 180 MHz ARM<sup>&reg;</sup> Cortex<sup>&reg;</sup> M4 with single-precision FPU
- RAM: 256 KB SRAM (L1)
- Failsafe System-on-Chip: STM32F100
- CPU: 24 MHz ARM Cortex M3
- RAM: 8 KB SRAM
- Wifi: ESP8266 external
- GPS: u-blox<sup>&reg;</sup> 7/8 (Hobbyking<sup>&reg;</sup>) / u-blox 6 (3D Robotics)
- Optical flow: [PX4 Flow unit](../sensor/px4flow.md)
- Redundant power supply inputs and automatic failover
- External safety switch
- Multicolor LED main visual indicator
- High-power, multi-tone piezo audio indicator
- microSD card for high-rate logging over extended periods of time
连接
- 1x I2C
- 1x CAN (2x optional)
- 1x ADC
- 4x UART (2x with flow control)
- 1x Console
- 8x PWM with manual override
- 6x PWM / GPIO / PWM input
- S.BUS / PPM / Spektrum input
- S.BUS output
# 购买渠道
Originally manufactured by 3DR&reg; this board was the original standard microcontroller platform for PX4&reg;. While the board is no longer manufactured by 3DR, you can use the [mRo Pixhawk](../flight_controller/mro_pixhawk.md) as a drop-in replacement.
Order mRo Pixhawk from:
- [Bare Bones](https://store.mrobotics.io/Genuine-PixHawk-1-Barebones-p/mro-pixhawk1-bb-mr.htm) - Just the board (useful as a 3DR Pixhawk replacement)
- [mRo Pixhawk 2.4.6 Essential Kit](https://store.mrobotics.io/Genuine-PixHawk-Flight-Controller-p/mro-pixhawk1-minkit-mr.htm) - includes everything except for telemetry radios
- [mRo Pixhawk 2.4.6 Cool Kit! (Limited edition)](https://store.mrobotics.io/product-p/mro-pixhawk1-fullkit-mr.htm) - includes everything you need including telemetry radios
## 产品规格
### 处理器
- 32bit STM32F427 [Cortex-M4F](http://en.wikipedia.org/wiki/ARM_Cortex-M#Cortex-M4) core with FPU
- 168 MHz
- 256 KB RAM
- 2 MB Flash
- 32 bit STM32F103 failsafe co-processor
### 传感器
- ST Micro L3GD20H 16 bit gyroscope
- ST Micro LSM303D 14 bit accelerometer / magnetometer
- Invensense MPU 6000 3-axis accelerometer/gyroscope
- MEAS MS5611 气压计
### 接口
- 5x UART (serial ports), one high-power capable, 2x with HW flow control
- 2x CAN (one with internal 3.3V transceiver, one on expansion connector)
- Spektrum DSM / DSM2 / DSM-X® Satellite compatible input
- Futaba S.BUS® compatible input and output
- PPM sum signal input
- RSSI (PWM or voltage) input
- I2C
- SPI
- 3.3 and 6.6V ADC inputs
- Internal microUSB port and external microUSB port extension
<lite-youtube videoid="gCCC5A-Bvv4" title="PX4 Pixhawk (3DR) Multicolor Led in action"/>
### Power System and Protection
- Ideal diode controller with automatic failover
- Servo rail high-power (max. 10V) and high-current (10A+) ready
- All peripheral outputs over-current protected, all inputs ESD protected
## 额定电压
Pixhawk can be triple-redundant on the power supply if three power sources are supplied. The three rails are: Power module input, servo rail input, USB input.
### Normal Operation Maximum Ratings
Under these conditions all power sources will be used in this order to power the system
- Power module input (4.8V to 5.4V)
- Servo rail input (4.8V to 5.4V) **UP TO 10V FOR MANUAL OVERRIDE, BUT AUTOPILOT PART WILL BE UNPOWERED ABOVE 5.7V IF POWER MODULE INPUT IS NOT PRESENT**
- USB power input (4.8V to 5.4V)
### Absolute Maximum Ratings
Under these conditions the system will not draw any power (will not be operational), but will remain intact.
- Power module input (4.1V to 5.7V, 0V to 20V undamaged)
- Servo rail input (4.1V to 5.7V, 0V to 20V)
- USB power input (4.1V to 5.7V, 0V to 6V)
## 原理图
[FMUv2 + IOv2 schematic](https://raw.githubusercontent.com/PX4/Hardware/master/FMUv2/PX4FMUv2.4.5.pdf) -- Schematic and layout
:::info
As a CC-BY-SA 3.0 licensed Open Hardware design, all schematics and design files are [available](https://github.com/PX4/Hardware).
:::
## Connections
Pixhawk ports are shown below.
These use Hirose DF13 connectors (predating the JST-GH connectors defined in the Pixhawk connector standard).
:::warning
Many 3DR Pixhawk clones use Molex picoblade connectors instead of DF13 connectors.
They have rectangular instead of square pins, and cannot be assumed to be compatible.
:::
![Pixhawk Connectors](../../assets/flight_controller/pixhawk1/pixhawk_connectors.png)
:::tip
The `RC IN` port is for RC receivers only and provides sufficient power for that purpose.
**NEVER** connect any servos, power supplies or batteries to it or to the receiver connected to it.
:::
## 针脚定义
#### TELEM1，TELEM2 接口
| 针脚 | 信号 | 电压 |
| ---- | ---------------------------- | --------------------- |
| 1（红） | VCC | +5V |
| 2 | TX (OUT) | +3.3V |
| 3 | RX (IN) | +3.3V |
| 4（黑） | CTS (IN) | +3.3V |
| 6 | RTS (OUT) | +3.3V |
| 6 | GND | GND |
#### GPS 接口
| 针脚 | 信号 | 电压 |
| ---- | --------------------------- | --------------------- |
| 1（红） | VCC | +5V |
| 2 | TX (OUT) | +3.3V |
| 3 | RX (IN) | +3.3V |
| 4（黑） | CAN2 TX | +3.3V |
| 6 | CAN2 RX | +3.3V |
| 6 | GND | GND |
#### SERIAL 4/5 port
Due to space constraints two ports are on one connector.
| 针脚 | 信号 | 电压 |
| ---- | -------------------------- | --------------------- |
| 1（红） | VCC | +5V |
| 2 | TX (#4) | +3.3V |
| 3 | RX (#4) | +3.3V |
| 4（黑） | TX (#5) | +3.3V |
| 6 | RX (#5) | +3.3V |
| 6 | GND | GND |
#### ADC 6.6V
| 针脚 | 信号 | 电压 |
| ---- | ------ | --------------------------- |
| 1（红） | VCC | +5V |
| 2 | ADC IN | up to +6.6V |
| 3 | GND | GND |
#### ADC 3.3V
| 针脚 | 信号 | 电压 |
| ---- | ------ | --------------------------- |
| 1（红） | VCC | +5V |
| 2 | ADC IN | up to +3.3V |
| 3 | GND | GND |
| 4（黑） | ADC IN | up to +3.3V |
| 6 | GND | GND |
#### I2C
| 针脚 | 信号 | 电压 |
| ---- | --- | ------------------------------------------------- |
| 1（红） | VCC | +5V |
| 2 | SCL | +3.3 (pullups) |
| 3 | SDA | +3.3 (pullups) |
| 4（黑） | GND | GND |
#### CAN
| 针脚 | 信号 | 电压 |
| ---- | -------------------------- | ---- |
| 1（红） | VCC | +5V |
| 2 | CAN_H | +12V |
| 3 | CAN_L | +12V |
| 4（黑） | GND | GND |
#### SPI
| 针脚 | 信号 | 电压 |
| ---- | ------------------------------------------------------ | -------------------- |
| 1（红） | VCC | +5V |
| 2 | SPI_EXT_SCK | +3.3 |
| 3 | SPI_EXT_MISO | +3.3 |
| 4（黑） | SPI_EXT_MOSI | +3.3 |
| 6 | !SPI_EXT_NSS | +3.3 |
| 6 | !GPIO_EXT | +3.3 |
| 7 | GND | GND |
#### POWER
| 针脚 | 信号 | 电压 |
| ---- | --- | --------------------- |
| 1（红） | VCC | +5V |
| 2 | VCC | +5V |
| 3 | 电流 | +3.3V |
| 4（黑） | 电压 | +3.3V |
| 6 | GND | GND |
| 6 | GND | GND |
#### SWITCH
| 针脚 | 信号 | 电压 |
| ---- | -------------------------------------------------------- | --------------------- |
| 1（红） | VCC | +3.3V |
| 2 | !IO_LED_SAFETY | GND |
| 3 | SAFETY | GND |
## 串口映射
| UART | 设备 | Port |
| ------ | ---------- | ---------------------------------------- |
| UART1 | /dev/ttyS0 | IO debug |
| USART2 | /dev/ttyS1 | TELEM1 (flow control) |
| USART3 | /dev/ttyS2 | TELEM2 (flow control) |
| UART4 | | |
| UART7 | CONSOLE | |
| UART8 | SERIAL4 | |
<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
## Debug Ports
### Console Port
The [PX4 System Console](../debug/system_console.md) runs on the port labeled [SERIAL4/5](#serial-4-5-port).
:::tip
A convenient way to connect to the console is to use a [Dronecode probe](https://kb.zubax.com/display/MAINKB/Dronecode+Probe+documentation), as it comes with connectors that can be used with several different Pixhawk devices.
Simply connect the 6-pos DF13 1:1 cable on the [Dronecode probe](https://kb.zubax.com/display/MAINKB/Dronecode+Probe+documentation) to the Pixhawk `SERIAL4/5` port.
![Dronecode probe](../../assets/flight_controller/pixhawk1/dronecode_probe.jpg)
:::
The pinout is standard serial pinout, designed to connect to a [3.3V FTDI](https://www.digikey.com/en/products/detail/TTL-232R-3V3/768-1015-ND/1836393) cable (5V tolerant).
| 3DR Pixhawk 1 | | FTDI | |
| ------------- | ---------------------------- | ---- | -------------------------------- |
| 1 | + 5v (红色) | | N/C |
| 2 | S4 Tx | | N/C |
| 3 | S4 Rx | | N/C |
| 4 | S5 Tx | 5 | FTDI RX （黄色） |
| 5 | S5 Rx | 4 | FTDI TX （橙色） |
| 6 | GND | 1 | FTDI GND (黑色) |
The wiring for an FTDI cable to a 6-pos DF13 1:1 connector is shown in the figure below.
![Console Connector](../../assets/flight_controller/pixhawk1/console_connector.jpg)
The complete wiring is shown below.
![Console Debug](../../assets/flight_controller/pixhawk1/console_debug.jpg)
:::info
For information on how to _use_ the console see: [System Console](../debug/system_console.md).
:::
### SWD Port
The [SWD](../debug/swd_debug.md) (JTAG) ports are hidden under the cover (which must be removed for hardware debugging).
There are separate ports for FMU and IO, as highlighted below.
![Pixhawk SWD](../../assets/flight_controller/pixhawk1/pixhawk_swd.jpg)
The ports are ARM 10-pin JTAG connectors, which you will probably have to solder.
The pinout for the ports is shown below (the square markers in the corners above indicates pin 1).
![ARM 10-Pin connector pinout](../../assets/flight_controller/pixhawk1/arm_10pin_jtag_connector_pinout.jpg)
:::info
All Pixhawk FMUv2 boards have a similar SWD port.
:::
## 编译固件
:::tip
Most users will not need to build this firmware!
It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected.
:::
To [build PX4](../dev_setup/building_px4.md) for this target:
```
make px4_fmu-v2_default
```
## Parts / Housings
- **ARM MINI JTAG (J6)**: 1.27 mm 10pos header (SHROUDED), for Black Magic Probe: FCI 20021521-00010D4LF ([Distrelec](https://www.distrelec.ch/en/minitek-127-straight-male-pcb-header-surface-mount-rows-10-contacts-27mm-pitch-amphenol-fci-20021521-00010d4lf/p/14352308), [Digi-Key](https://www.digikey.com/en/products/detail/20021521-00010T1LF/609-4054-ND/2414951),) or Samtec FTSH-105-01-F-DV-K (untested) or Harwin M50-3600542 ([Digikey](https://www.digikey.com/en/products/detail/harwin-inc/M50-3600542/2264370) or [Mouser](http://ch.mouser.com/ProductDetail/Harwin/M50-3600542/?qs=%2fha2pyFadujTt%2fIEz8xdzrYzHAVUnbxh8Ki%252bwWYPNeEa09PYvTkIOQ%3d%3d))
- JTAG Adapter Option #1: [BlackMagic Probe](https://1bitsquared.com/products/black-magic-probe). Note, may come without cables (check with manufacturer).
If so, you will need the **Samtec FFSD-05-D-06.00-01-N** cable ([Samtec sample service](https://www.samtec.com/products/ffsd-05-d-06.00-01-n) or [Digi-Key Link: SAM8218-ND](http://www.digikey.com/product-search/en?x=0\&y=0\&lang=en\&site=us\&KeyWords=FFSD-05-D-06.00-01-N)) or [Tag Connect Ribbon](http://www.tag-connect.com/CORTEXRIBBON10) and a Mini-USB cable.
- JTAG Adapter Option #2: [Digi-Key Link: ST-LINK/V2](https://www.digikey.com/product-detail/en/stmicroelectronics/ST-LINK-V2/497-10484-ND) / [ST USER MANUAL](http://www.st.com/internet/com/TECHNICAL_RESOURCES/TECHNICAL_LITERATURE/USER_MANUAL/DM00026748.pdf), needs an ARM Mini JTAG to 20pos adapter: [Digi-Key Link: 726-1193-ND](https://www.digikey.com/en/products/detail/texas-instruments/MDL-ADA2/1986451)
- JTAG Adapter Option #3: [SparkFun Link: Olimex ARM-TINY](http://www.sparkfun.com/products/8278) or any other OpenOCD-compatible ARM Cortex JTAG adapter, needs an ARM Mini JTAG to 20pos adapter: [Digi-Key Link: 726-1193-ND](https://www.digikey.com/en/products/detail/texas-instruments/MDL-ADA2/1986451)
- **USARTs**: Hirose DF13 6 pos ([Digi-Key Link: DF13A-6P-1.25H(20)](https://www.digikey.com/products/en?keywords=H3371-ND))
- Mates: Hirose DF13 6 pos housing ([Digi-Key Link: Hirose DF13-6S-1.25C](https://www.digikey.com/products/en?keywords=H2182-ND))
- **I2C and CAN**: Hirose DF13 4 pos ([Digi-Key Link: DF13A-4P-1.25H(20)](https://www.digikey.com/en/products/detail/hirose-electric-co-ltd/DF13A-4P-1-25H-20/530666) - discontinued)
## 支持的平台/机身
Any multicopter / airplane / rover or boat that can be controlled with normal RC servos or Futaba S-Bus servos.
docs/zh/flight_controller/pixhawk3_pro.md
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# Pixhawk 3 Pro (Discontinued)
:::warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://store-drotek.com/) for hardware support or compliance issues.
:::
The Pixhawk<sup>&reg;</sup> 3 Pro is based on the FMUv4 hardware design (Pixracer) with some upgrades and additional features.
The board was designed by [Drotek<sup>&reg;</sup>](https://drotek.com) and PX4.
![Pixhawk 3 Pro hero image](../../assets/hardware/hardware-pixhawk3_pro.jpg)
:::info
The main hardware documentation is here: https://drotek.gitbook.io/pixhawk-3-pro/hardware
:::
:::tip
This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md) by the PX4 maintenance and test teams.
:::
## 总览
- Microcontroller: **STM32F469**; Flash size is **2MiB**, RAM size is **384KiB**
- **ICM-20608-G** gyro / accelerometer
- **MPU-9250** gyro / accelerometer / magnetometer
- **LIS3MDL** compass
- Sensors connected via two SPI buses (one high rate and one low-noise bus)
- Two I2C buses
- Two CAN buses
- Voltage / battery readings from two power modules
- FrSky<sup>&reg;</sup> Inverter
- 8 Main + 6 AUX PWM outputs (Separate IO chip, PX4IO)
- microSD (logging)
- S.BUS / Spektrum / SUMD / PPM input
- JST GH user-friendly connectors: same connectors and pinouts as Pixracer
## Where to buy
From [Drotek store](https://store.drotek.com/) (EU) :
- [Pixhawk 3 Pro (Pack)](https://store.drotek.com/autopilots/844-pixhawk-3-pro-pack.html)
- [Pixhawk 3 Pro](https://store.drotek.com/autopilots/821-pixhawk-pro-autopilot-8944595120557.html)
From [readymaderc](https://www.readymaderc.com) (USA) :
- [Pixhawk 3 Pro](https://www.readymaderc.com/products/details/pixhawk-3-pro-flight-controller)
## 编译固件
:::tip
Most users will not need to build this firmware!
It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected.
:::
To [build PX4](../dev_setup/building_px4.md) for this target:
```
make px4_fmu-v4pro_default
```
## 调试接口
The board has FMU and IO debug ports as shown below.
![Debug Ports](../../assets/flight_controller/pixhawk3pro/pixhawk3_pro_debug_ports.jpg)
The pinouts and connector comply with the [Pixhawk Debug Mini](../debug/swd_debug.md#pixhawk-debug-mini) interface defined in the [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf) (JST SM06B connector).
| 针脚 | 信号 | 电压 |
| ---- | ---------------- | --------------------- |
| 1（红） | VCC TARGET SHIFT | +3.3V |
| 2 | UART7 Tx | +3.3V |
| 3 | UART7 Rx | +3.3V |
| 4（黑） | SWDIO | +3.3V |
| 6 | SWCLK | +3.3V |
| 6 | GND | GND |
For information about wiring and using this port see:
- [SWD Debug Port](../debug/swd_debug.md)
- [PX4 System Console](../debug/system_console.md#pixhawk_debug_port) (Note, the FMU console maps to UART7).
## 串口映射
| UART | 设备 | Port |
| ------ | ---------- | ---------------------------------------- |
| UART1 | /dev/ttyS0 | WiFi |
| USART2 | /dev/ttyS1 | TELEM1 (flow control) |
| USART3 | /dev/ttyS2 | TELEM2 (flow control) |
| UART4 | | |
| UART7 | CONSOLE | |
| UART8 | SERIAL4 | |
<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
docs/zh/flight_controller/pixhawk4.md
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# Holybro Pixhawk 4
:::warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://holybro.com/) for hardware support or compliance issues.
:::
_Pixhawk 4_<sup>&reg;</sup> is an advanced autopilot designed and made in collaboration with Holybro<sup>&reg;</sup> and the PX4 team.
It is optimized to run PX4 v1.7 and later, and is suitable for academic and commercial developers.
It is based on the [Pixhawk-project](https://pixhawk.org/) **FMUv5** open hardware design and runs PX4 on the [NuttX](https://nuttx.apache.org/) OS.
<img src="../../assets/flight_controller/pixhawk4/pixhawk4_hero_upright.jpg" width="200px" title="Pixhawk4 Upright Image" /> <img src="../../assets/flight_controller/pixhawk4/pixhawk4_logo_view.jpg" width="420px" title="Pixhawk4 Image" />
:::tip
This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md) by the PX4 maintenance and test teams.
:::
## 总览
- 主处理器：STM32F765
- 32 位 Arm® Cortex®-M7，216MHz，2MB 储存，512KB RAM
- IO 处理器：STM32F100
- 32 位 Arm® Cortex®-M3，24MHz，8KB SRAM
- 内置传感器：
- 加速度计 / 陀螺仪：ICM-20689
- Accel/Gyro: BMI055 or ICM20602
- 磁力计：IST8310
- 气压计：MS5611
- GPS：ublox Neo-M8N GPS/GLONASS 接收器；集成磁力计 IST8310
- 接口：
- 8-16 路PWM输出（8路来自 IO，8路来自 FMU）
- FMU上有3个专用PWM/Capture输入
- CPPM专用的RC输入
- 用于 Spektrum / DSM 与 有模拟 / PWM RSSI 的 S.Bus 的专用遥控输入
- Dedicated S.Bus servo output
- 5个通用串行口
- 3 个 I2C 接口
- 4路SPI总线
- 多达 2 路 CAN 总线用于带串口的电调
- 2个电池电流/电压模拟输入口
- 电源系统
- 电源模块输出：4.9~5.5V
- USB 电源输入：4.75~5.25V
- 伺服导轨输入电压：0~36V
- 重量和尺寸:
- 重量：15.8g
- 尺寸：44_84_12mm
- 其它特性:
- 工作温度：-40 ~ 85°C
Additional information can be found in the [Pixhawk 4 Technical Data Sheet](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/pixhawk4/pixhawk4_technical_data_sheet.pdf).
## 购买渠道
Order from [Holybro](https://holybro.com/products/pixhawk-4).
## 连接器
![Pixhawk 4 connectors](../../assets/flight_controller/pixhawk4/pixhawk4-connectors.jpg)
:::warning
The **DSM/SBUS RC** and **PPM RC** ports are for RC receivers only.
These are powered! NEVER connect any servos, power supplies or batteries (or to any connected receiver).
:::
## 针脚定义
Download _Pixhawk 4_ pinouts from [here](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Pixhawk4-Pinouts.pdf).
:::info
Connector pin assignments are left to right (i.e. Pin 1 is the left-most pin).
The exception is the [debug port(s)](#debug_port) (pin 1 is the right-most, as shown below).
:::
## 串口映射
| UART | 设备 | Port |
| ------ | ---------- | ---------------------------------------- |
| UART1 | /dev/ttyS0 | GPS |
| USART2 | /dev/ttyS1 | TELEM1 (flow control) |
| USART3 | /dev/ttyS2 | TELEM2 (flow control) |
| UART4 | /dev/ttyS3 | TELEM4 |
| USART6 | /dev/ttyS4 | RC SBUS |
| UART7 | /dev/ttyS5 | Debug Console |
| UART8 | /dev/ttyS6 | PX4IO |
## 尺寸
![Pixhawk 4 Dimensions](../../assets/flight_controller/pixhawk4/pixhawk4_dimensions.jpg)
## 额定电压
_Pixhawk 4_ can be triple-redundant on the power supply if three power sources are supplied. The three power rails are: **POWER1**, **POWER2** and **USB**.
:::info
The output power rails **FMU PWM OUT** and **I/O PWM OUT** (0V to 36V) do not power the flight controller board (and are not powered by it).
You must supply power to one of **POWER1**, **POWER2** or **USB** or the board will be unpowered.
:::
**Normal Operation Maximum Ratings**
Under these conditions all power sources will be used in this order to power the system:
1. **POWER1** and **POWER2** inputs (4.9V to 5.5V)
2. **USB** input (4.75V to 5.25V)
**Absolute Maximum Ratings**
Under these conditions the system will not draw any power (will not be operational), but will remain intact.
1. **POWER1** and **POWER2** inputs (operational range 4.1V to 5.7V, 0V to 10V undamaged)
2. **USB** input (operational range 4.1V to 5.7V, 0V to 6V undamaged)
3. Servo input: VDD_SERVO pin of **FMU PWM OUT** and **I/O PWM OUT** (0V to 42V undamaged)
## 组装 / 设置
The [Pixhawk 4 Wiring Quick Start](../assembly/quick_start_pixhawk4.md) provides instructions on how to assemble required/important peripherals including GPS, Power Management Board etc.
## 编译固件
:::tip
Most users will not need to build this firmware!
It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected.
:::
To [build PX4](../dev_setup/building_px4.md) for this target:
```
make px4_fmu-v5_default
```
<a id="debug_port"></a>
## 调试接口
The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) run on the **FMU Debug** port, while the I/O console and SWD interface can be accessed via **I/O Debug** port.
In order to access these ports, the user must remove the _Pixhawk 4_ casing.
![Pixhawk 4 Debug Ports](../../assets/flight_controller/pixhawk4/pixhawk4_debug_port.jpg)
The pinout uses the standard [Pixhawk debug connector pinout](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf).
For wiring information see:
- [System Console > Pixhawk Debug Port](../debug/system_console.md#pixhawk_debug_port)
## 外部设备
- [Digital Airspeed Sensor](https://store-drotek.com/793-digital-differential-airspeed-sensor-kit-.html)
- [Telemetry Radio Modules](../telemetry/index.md)
- [Rangefinders/Distance sensors](../sensor/rangefinders.md)
## 支持的平台/机身
Any multicopter / airplane / rover or boat that can be controlled with normal RC servos or Futaba S-Bus servos.
The complete set of supported configurations can be seen in the [Airframes Reference](../airframes/airframe_reference.md).
## 更多信息
- [Pixhawk 4 Technical Data Sheet](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/pixhawk4/pixhawk4_technical_data_sheet.pdf)
- [FMUv5 reference design pinout](https://docs.google.com/spreadsheets/d/1-n0__BYDedQrc_2NHqBenG1DNepAgnHpSGglke-QQwY/edit#gid=912976165).
- [Pixhawk 4 Wiring QuickStart](../assembly/quick_start_pixhawk4.md)
- [Pixhawk 4 Pinouts](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Pixhawk4-Pinouts.pdf) (Holybro)
- [Pixhawk 4 Quick Start Guide](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Pixhawk4-quickstartguide.pdf) (Holybro)
docs/zh/flight_controller/pixhawk4_mini.md
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# Holybro Pixhawk 4 Mini (Discontinued)
:::warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://holybro.com/) for hardware support or compliance issues.
:::
The _Pixhawk<sup>&reg;</sup> 4 Mini_ autopilot is designed for engineers and hobbyists who are looking to tap into the power of _Pixhawk 4_ but are working with smaller drones.
_Pixhawk 4 Mini_ takes the FMU processor and memory resources from the _Pixhawk 4_ while eliminating interfaces that are normally unused.
This allows the _Pixhawk 4 Mini_ to be small enough to fit in a 250mm racer drone.
_Pixhawk 4 Mini_ was designed and developed in collaboration with Holybro<sup>&reg;</sup> and Auterion<sup>&reg;</sup>.
It is based on the [Pixhawk](https://pixhawk.org/) **FMUv5** design standard and is optimized to run PX4 flight control software.
![Pixhawk4 mini](../../assets/flight_controller/pixhawk4mini/pixhawk4mini_iso_1.png)
:::tip
This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md) by the PX4 maintenance and test teams.
:::
## 总览
- 主处理器：STM32F765
- 32 位 Arm® Cortex®-M7，216MHz，2MB 储存，512KB RAM
- 内置传感器：
- 加速度计 / 陀螺仪：ICM-20689
- Accel/Gyro: BMI055 or ICM20602
- 磁力计：IST8310
- 气压计：MS5611
- GPS：ublox Neo-M8N GPS/GLONASS 接收器；集成磁力计 IST8310
- 接口：
- 8 路 PWM 输出
- FMU 上有 4 路专用 PWM/Capture 输入
- CPPM专用的RC输入
- 用于 Spektrum / DSM 与 有模拟 / PWM RSSI 的 S.Bus 的专用遥控输入
- 3个通用串行口
- 2 路 I2C 总线
- 3 路 SPI 总线
- 1 路 CAN 总线用于 CAN 电调
- 电池电压 / 电流模拟输入口
- 2 个模拟输入接口
- 电源系统
- Power 接口输入：4.75~5.5V
- USB 电源输入：4.75~5.25V
- 舵机轨道输入：0~24V
- 最大电流感应：120A
- 重量和尺寸:
- Weight: 37.2g
- Dimensions: 38x55x15.5mm
- 其它特性:
- 工作温度：-40 ~ 85°C
Additional information can be found in the [_Pixhawk 4 Mini_ Technical Data Sheet](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/pixhawk4mini/pixhawk4mini_technical_data_sheet.pdf).
## 购买渠道
Order from [Holybro](https://holybro.com/collections/autopilot-flight-controllers/products/pixhawk4-mini).
## 接口
![Pixhawk 4 Mini interfaces](../../assets/flight_controller/pixhawk4mini/pixhawk4mini_interfaces.png)
:::warning
The **RC IN** and **PPM** ports are for RC receivers only. These are powered! NEVER connect any servos, power supplies or batteries (or to any connected receiver).
:::
## 针脚定义
Download _Pixhawk 4 Mini_ pinouts from [here](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/pixhawk4mini/pixhawk4mini_pinouts.pdf).
## 尺寸
![Pixhawk 4 Mini Dimensions](../../assets/flight_controller/pixhawk4mini/pixhawk4mini_dimensions.png)
## 额定电压
_Pixhawk 4 Mini_ can have power supply redundancy — if two power sources are supplied. The power rails are: **POWER** and **USB**.
:::info
The output power rail of **MAIN OUT** does not power the flight controller board (and is not powered by it).
You must [supply power](../assembly/quick_start_pixhawk4_mini.md#power) to one of **POWER** or **USB** or the board will be unpowered.
:::
**Normal Operation Maximum Ratings**
Under these conditions all power sources will be used in this order to power the system:
1. **POWER** (4.75V to 5.5V)
2. **USB** input (4.75V to 5.25V)
**Absolute Maximum Ratings**
Under these conditions the system will remain intact.
1. **POWER** input (0V to 6V undamaged)
2. **USB** input (0V to 6V undamaged)
3. Servo input: VDD_SERVO pin of **MAIN OUT** (0V to 24V undamaged)
## 组装 / 设置
The [_Pixhawk 4 Mini_ Wiring Quick Start](../assembly/quick_start_pixhawk4_mini.md) provides instructions on how to assemble required/important peripherals including GPS, Power Management Board, etc.
## 编译固件
:::tip
Most users will not need to build this firmware!
It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected.
:::
To [build PX4](../dev_setup/building_px4.md) for this target:
```
make px4_fmu-v5_default
```
## 调试接口
The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) run on the **FMU Debug** port.
In order to access these ports, the user must remove the _Pixhawk 4 Mini_ casing.
![Pixhawk 4 Mini FMU Debug](../../assets/flight_controller/pixhawk4mini/pixhawk4mini_fmu_debug.png)
The port has a standard serial pinout and can be connected to a standard FTDI cable (3.3V, but it's 5V tolerant) or a [Dronecode probe](https://kb.zubax.com/display/MAINKB/Dronecode+Probe+documentation). The pinout uses the standard [Pixhawk debug connector](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf) pinout. Please refer to the [wiring](../debug/system_console.md) page for details of how to wire up this port.
## 串口映射
| UART | 设备 | QGC Parameter Description | Port Label on FC |
| :----: | :--------: | :-----------------------: | :-----------------------------------------: |
| UART1 | /dev/ttyS0 | GPS1 | GPS Module |
| USART2 | /dev/ttyS1 | TELEM1 | TELEM1 |
| USART3 | /dev/ttyS2 | TELEM2 | N/A |
| UART4 | /dev/ttyS3 | TELEM/SERIAL4 | UART/l2C B |
| USART6 | /dev/ttyS4 | N/A | RC IN |
| UART7 | /dev/ttyS5 | N/A | Debug |
| UART8 | /dev/ttyS6 | N/A | Not connected (no PX4IO) |
## 外部设备
- [Digital Airspeed Sensor](https://holybro.com/products/digital-air-speed-sensor)
- [Telemetry Radio Modules](../telemetry/index.md)
- [Rangefinders/Distance sensors](../sensor/rangefinders.md)
## 支持的平台
Motors and servos are connected to the **MAIN OUT** ports in the order specified for your vehicle in the [Airframe Reference](../airframes/airframe_reference.md).
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
_Pixhawk 4 Mini_ does not have AUX ports.
The board cannot be used with frames that require more than 8 ports or which use AUX ports for motors or control surfaces.
It can be used for airframes that use AUX for non-essential peripherals (e.g. "feed-through of RC AUX1 channel").
:::
## 更多信息
- [_Pixhawk 4 Mini_ Technical Data Sheet](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/pixhawk4mini/pixhawk4mini_technical_data_sheet.pdf)
- [FMUv5 reference design pinout](https://docs.google.com/spreadsheets/d/1-n0__BYDedQrc_2NHqBenG1DNepAgnHpSGglke-QQwY/edit#gid=912976165).
docs/zh/flight_controller/pixhawk5x.md
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# Holybro Pixhawk 5X
:::warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://holybro.com/) for hardware support or compliance issues.
:::
_Pixhawk 5X_<sup>&reg;</sup> is the latest update to the successful family of Pixhawk® flight controllers designed and made in collaboration with Holybro<sup>&reg;</sup> and the PX4 team.
It is based on the [Pixhawk​​® Autopilot FMUv5X Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-011%20Pixhawk%20Autopilot%20v5X%20Standard.pdf), [Autopilot Bus Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-010%20Pixhawk%20Autopilot%20Bus%20Standard.pdf), and [Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf).
It comes with the latest PX4 Autopilot​® pre-installed, triple redundancy, temperature-controlled, isolated sensor domain, delivering incredible performance and reliability.
<img src="../../assets/flight_controller/pixhawk5x/pixhawk5x_hero_upright.jpg" width="250px" title="Pixhawk5x Upright Image" /> <img src="../../assets/flight_controller/pixhawk5x/pixhawk5x_exploded_diagram.jpg" width="450px" title="Pixhawk5x Exploded Image" />
:::tip
This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md) by the PX4 maintenance and test teams.
:::
## 简介
Inside the Pixhawk® 5X, you can find an STMicroelectronics® based STM32F7, paired with sensor technology from Bosch®, InvenSense®, giving you flexibility and reliability for controlling any autonomous vehicle, suitable for both academic and commercial applications.
The Pixhawk® 5X’s F7 microcontroller has 2MB flash memory and 512KB RAM.
The PX4 Autopilot takes advantage of the increased power and RAM.
Thanks to the updated processing power, developers can be more productive and efficient with their development work, allowing for complex algorithms and models.
The FMUv5X open standard includes high-performance, low-noise IMUs on board, designed for better stabilization.
Triple redundant IMU & double redundant barometer on separate buses.
When the PX4 Autopilot detects a sensor failure, the system seamlessly switches to another to maintain flight control reliability.
An independent LDO powers every sensor set with independent power control.
A newly designed vibration isolations to filter out high-frequency vibration and reduce noise to ensure accurate readings, allowing vehicles to reach better overall flight performances.
External sensor bus (SPI5) has two chip select lines and data-ready signals for additional sensors and payload with SPI-interface, and with an integrated Microchip Ethernet PHY (LAN8742AI-CZ-TR), high-speed communication with mission computers via ethernet is now supported.
Two smart battery monitoring ports (SMBus), support for INA226 SMBus Power module.
The Pixhawk® 5X is perfect for developers at corporate research labs, startups, academics (research, professors, students), and commercial application.
## Key Design Points
- Modular flight controller
- separated IMU, FMU, and Base system connected by a 100-pin & a 50-pin Pixhawk® Autopilot Bus connector, designed for flexible and customizable systems
- Redundancy
- 3x IMU sensors & 2x Barometer sensors on separate buses, allowing parallel and continuous operation even in the event of a hardware failure
- Triple redundancy domains
- Completely isolated sensor domains with separate buses and separate power control
- Temperature-controlled IMUs
- Onboard IMU heating resistors, allowing optimum working temperature of IMUs
- Vibration isolation system
- Newly designed system to filter out high frequency vibration and reduce noise to ensure accurate readings
- Ethernet interface
- For high-speed mission computer integration
- Automated sensor calibration eliminating varying signals and temperature
- Two smart batteries monitoring on SMBus
- Additional GPIO line and 5V for the external NFC reader
- Secure element for secure authentication of the drone (SE050)
## Technical specification
- FMU Processor: STM32F765
- 32 位 Arm® Cortex®-M7，216MHz，2MB 储存，512KB RAM
- IO 处理器：STM32F100
- 32 位 Arm® Cortex®-M3，24MHz，8KB SRAM
- On-board Sensors:
- Accel/Gyro: ICM-20649
- Accel/Gyro: ICM-42688P
- 加速度计 / 陀螺仪：ICM-20602
- Magnetometer: BMM150
- Barometer: 2x BMP388
- 接口
- 16- PWM servo outputs
- R/C input for Spektrum / DSM
- Dedicated R/C input for PPM and S.Bus input
- Dedicated analog / PWM RSSI input and S.Bus output
- 4个通用串行口
- 3 with full flow control
- 1 with separate 1.5A current limit
- 1 with I2C and additional GPIO line for external NFC reader
- 2 GPS ports
- 1 full GPS & Safety Switch Port
- 1 basic GPS port
- 1 I2C port
- 1 Ethernet port
- Transformerless Applications
- 100Mbps
- 1 SPI bus
- 2 chip select lines
- 2 data-ready lines
- 1 SPI SYNC line
- 1 SPI reset line
- 2 CAN Buses for CAN peripheral
- CAN Bus has individual silent controls or ESC RX-MUX control
- 2 Power input ports with SMBus
- 1 AD & IO port
- 2 个模拟输入接口
- 1 PWM/Capture input
- 2 Dedicated debug and GPIO lines
- 额定电压
- Max input voltage: 6V
- USB 电源输入：4.75~5.25V
- 伺服导轨输入电压：0~36V
- 尺寸
- Flight Controller Module: 38.8 x 31.8 x 14.6mm
- Standard Baseboard: 52.4 x 103.4 x 16.7mm
- 重量
- Flight Controller Module: 23g
- Standard Baseboard: 51g
- 其它特性:
- Operating & storage temperature: -40 ~ 85°c
## 购买渠道
Order from [Holybro](https://holybro.com/products/pixhawk-5x).
## 组装 / 设置
The [Pixhawk 5X Wiring Quick Start](../assembly/quick_start_pixhawk5x.md) provides instructions on how to assemble required/important peripherals including GPS, Power Module etc.
## Connections
![Pixhawk 5x Wiring Overview](../../assets/flight_controller/pixhawk5x/pixhawk5x_wiring_diagram.jpg)
## 针脚定义
![Pixhawk 5X Pinout](../../assets/flight_controller/pixhawk5x/pixhawk5x_pinout.png)
:::info
Connector pin assignments are left to right (i.e. Pin 1 is the left-most pin).
::: infos:
- The [camera capture pin](../camera/fc_connected_camera.md#camera-capture-configuration) (`PI0`) is pin 2 on the AD&IO port, marked above as `FMU_CAP1`.
- _Pixhawk 5X_ pinouts can be downloaded in PDF from 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).
## 串口映射
| UART | 设备 | Port |
| ------ | ---------- | ------------------------------- |
| USART1 | /dev/ttyS0 | GPS |
| USART2 | /dev/ttyS1 | TELEM3 |
| USART3 | /dev/ttyS2 | Debug Console |
| UART4 | /dev/ttyS3 | UART4 & I2C |
| UART5 | /dev/ttyS4 | TELEM2 |
| USART6 | /dev/ttyS5 | PX4IO/RC |
| UART7 | /dev/ttyS6 | TELEM1 |
| UART8 | /dev/ttyS7 | GPS2 |
## 尺寸
![Pixhawk 5X Dimensions](../../assets/flight_controller/pixhawk5x/pixhawk5x_dimensions_all.jpg)
## 额定电压
_Pixhawk 5X_ can be triple-redundant on the power supply if three power sources are supplied. The three power rails are: **POWER1**, **POWER2** and **USB**.
The **POWER1** & **POWER2** 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).
**Normal Operation Maximum Ratings**
Under these conditions all power sources will be used in this order to power the system:
1. **POWER1** and **POWER2** inputs (4.9V to 5.5V)
2. **USB** input (4.75V to 5.25V)
**Absolute Maximum Ratings**
Under these conditions the system will not draw any power (will not be operational), but will remain intact.
1. **POWER1** and **POWER2** inputs (operational range 4.1V to 5.7V, 0V to 10V undamaged)
2. **USB** input (operational range 4.1V to 5.7V, 0V to 6V undamaged)
3. Servo input: VDD_SERVO pin of **FMU PWM OUT** and **I/O PWM OUT** (0V to 42V undamaged)
**Voltage monitoring**
Digital I2C battery monitoring is enabled by default (see [Quickstart > Power](../assembly/quick_start_pixhawk5x.md#power)).
::: info
Analog battery monitoring via an ADC is not supported on this particular board, but may be supported in variations of this flight controller with a different baseboard.
:::
## 编译固件
:::tip
Most users will not need to build this firmware!
It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected.
:::
To [build PX4](../dev_setup/building_px4.md) for this target:
```
make px4_fmu-v5x_default
```
<a id="debug_port"></a>
## 调试接口
The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) run on the **FMU Debug** port.
The pinouts and connector comply with the [Pixhawk Debug Full](../debug/swd_debug.md#pixhawk-debug-full) interface defined in the [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf) interface (JST SM10B connector).
| 针脚 | 信号 | 电压 |
| --------------------------- | ----------------------------------- | --------------------- |
| 1（红） | `Vtref` | +3.3V |
| 2 | Console TX (OUT) | +3.3V |
| 3 | Console RX (IN) | +3.3V |
| 4（黑） | `SWDIO` | +3.3V |
| 6 | `SWCLK` | +3.3V |
| 6 | `SWO` | +3.3V |
| 7 | NFC GPIO | +3.3V |
| 8 (blk) | PH11 | +3.3V |
| 9 (blk) | nRST | +3.3V |
| 10 (blk) | `GND` | GND |
For information about using this port see:
- [SWD Debug Port](../debug/swd_debug.md)
- [PX4 System Console](../debug/system_console.md) (Note, the FMU console maps to USART3).
## 外部设备
- [Digital Airspeed Sensor](https://holybro.com/products/digital-air-speed-sensor)
- [Telemetry Radio Modules](https://holybro.com/collections/telemetry-radios?orderby=date)
- [Rangefinders/Distance sensors](../sensor/rangefinders.md)
## 支持的平台/机身
Any multicopter / airplane / rover or boat that can be controlled with normal RC servos or Futaba S-Bus servos.
The complete set of supported configurations can be seen in the [Airframes Reference](../airframes/airframe_reference.md).
## 更多信息
- [Pixhawk 5X Wiring QuickStart](../assembly/quick_start_pixhawk5x.md)
- [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).
docs/zh/flight_controller/pixhawk6c.md
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# Holybro Pixhawk 6C
:::warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://holybro.com/) for hardware support or compliance issues.
:::
_Pixhawk 6C_<sup>&reg;</sup> is the latest update to the successful family of Pixhawk® flight controllers designed and made in collaboration with Holybro<sup>&reg;</sup> and the PX4 team.
It is equipped with a high performance H7 Processor, and comes with IMU redundancy, temperature-controlled IMU board, and cost effective design, delivering incredible performance and reliability.
It complies with the Pixhawk [Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf).
<img src="../../assets/flight_controller/pixhawk6c/pixhawk6c_hero_upright.png" width="250px" title="Pixhawk6c Upright Image" />
:::tip
This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md) by the PX4 maintenance and test teams.
:::
## 简介
The Pixhawk® 6C is the latest update to the successful family of Pixhawk® flight controllers.
Inside the Pixhawk® 6C, you can find an STMicroelectronics® based STM32H743, paired with sensor technology from Bosch® & InvenSense®, giving you flexibility and reliability for controlling any autonomous vehicle, suitable for both academic and commercial applications.
The Pixhawk® 6C's H7 microcontroller contain the Arm® Cortex®-M7 core running up to 480 MHz, has 2MB flash memory and 1MB RAM. Thanks to the updated processing power, developers can be more productive and efficient with their development work, allowing for complex algorithms and models.
The Pixhawk 6C includes high-performance, low-noise IMUs on board, designed to be cost effective while having IMU redundancy. A vibration isolation System to filter out high-frequency vibration and reduce noise to ensure accurate readings, allowing vehicles to reach better overall flight performances.
The Pixhawk® 6C is perfect for developers at corporate research labs, startups, academics (research, professors, students), and commercial application.
**Key Design Points**
- High performance STM32H743 Processor with more computing power & RAM
- New cost-effective design with low-profile form factor
- Newly designed integrated vibration isolation system to filter out high frequency vibration and reduce noise to ensure accurate readings
- IMUs are temperature-controlled by onboard heating resistors, allowing optimum working temperature of IMUs&#x20
# Technical Specification
### **Processors & Sensors**
- FMU Processor: STM32H743&#x20
- 32 Bit Arm® Cortex®-M7, 480MHz, 2MB memory, 1MB SRAM&#x20
- IO Processor: STM32F103
- &#x20;32 Bit Arm® Cortex®-M3, 72MHz, 64KB SRAM&#x20
- On-board sensors&#x20
- &#x20;Accel/Gyro: ICM-42688-P&#x20
- Accel/Gyro: BMI055&#x20
- Mag: IST8310&#x20
- 气压计：MS5611
### **Electrical data**
- Voltage Ratings:
- Max input voltage: 6V
- USB Power Input: 4.75\~5.25V
- Servo Rail Input: 0\~36V
- Current Ratings:
- TELEM1 Max output current limiter: 1.5A
- All other port combined output current limiter: 1.5A
### **Mechanical data**
- Dimensions: 84.8 \* 44 \* 12.4 mm
- Weight: 59.3g
### **Interfaces**
- 16- PWM servo outputs (8 from IO, 8 from FMU)
- 3个通用串行口
- TELEM1 - Full flow control, separate 1.5A current limit
- TELEM2 - Full flow control
- TELEM3
- 2 GPS ports
- GPS1 - Full GPS port (GPS plus safety switch)
- GPS2 - Basic GPS port
- 1 I2C port
- Supports dedicated I2C calibration EEPROM located on sensor module
- 2 CAN Buses
- CAN Bus has individual silent controls or ESC RX-MUX control
- 2 Debug ports:
- FMU Debug
- I/O Debug
- Dedicated R/C input for Spektrum / DSM and S.BUS, CPPM, analog / PWM RSSI
- Dedicated S.BUS output
- 2 Power input ports (Analog)
- 其它特性:
- Operating & storage temperature: -40 ~ 85°c
## 购买渠道
Order from [Holybro](https://holybro.com/products/pixhawk-6c).
## 组装 / 设置
The [Pixhawk 6C Wiring Quick Start](../assembly/quick_start_pixhawk6c.md) provides instructions on how to assemble required/important peripherals including GPS, Power Module etc.
## 针脚定义
- [Holybro Pixhawk 6C Pinout](https://docs.holybro.com/autopilot/pixhawk-6c/pixhawk-6c-pinout)
## 串口映射
| UART | 设备 | Port |
| ------ | ---------- | ------------- |
| USART1 | /dev/ttyS0 | GPS1 |
| USART2 | /dev/ttyS1 | TELEM3 |
| USART3 | /dev/ttyS2 | Debug Console |
| UART5 | /dev/ttyS3 | TELEM2 |
| USART6 | /dev/ttyS4 | PX4IO |
| UART7 | /dev/ttyS5 | TELEM1 |
| UART8 | /dev/ttyS6 | GPS2 |
## 尺寸
- [Pixhawk 6C Dimensions](https://docs.holybro.com/autopilot/pixhawk-6c/dimensions)
## 额定电压
_Pixhawk 6C_ can be triple-redundant on the power supply if three power sources are supplied. The three power rails are: **POWER1**, **POWER2** and **USB**.
**Normal Operation Maximum Ratings**
Under these conditions all power sources will be used in this order to power the system:
1. **POWER1** and **POWER2** inputs (4.9V to 5.5V)
2. **USB** input (4.75V to 5.25V)
**Absolute Maximum Ratings**
Under these conditions the system will not draw any power (will not be operational), but will remain intact.
1. **POWER1** and **POWER2** inputs (operational range 4.1V to 5.7V, 0V to 10V undamaged)
2. **USB** input (operational range 4.1V to 5.7V, 0V to 6V undamaged)
3. Servo input: VDD_SERVO pin of **FMU PWM OUT** and **I/O PWM OUT** (0V to 42V undamaged)
**Voltage monitoring**
Pixhawk 6C uses analog power modules.
Holybro makes various analog [power modules](../power_module/index.md) for different needs:
- [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)
## 编译固件
:::tip
Most users will not need to build this firmware!
It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected.
:::
To [build PX4](../dev_setup/building_px4.md) for this target:
```
make px4_fmu-v6c_default
```
<a id="debug_port"></a>
## 调试接口
The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) run on the **FMU Debug** port.
The pinouts and connector comply with the [Pixhawk Debug Full](../debug/swd_debug.md#pixhawk-debug-full) interface defined in the [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf) interface (JST SM10B connector).
| 针脚 | 信号 | 电压 |
| --------------------------- | ----------------------------------- | --------------------- |
| 1（红） | `Vtref` | +3.3V |
| 2 | Console TX (OUT) | +3.3V |
| 3 | Console RX (IN) | +3.3V |
| 4（黑） | `SWDIO` | +3.3V |
| 6 | `SWCLK` | +3.3V |
| 6 | `SWO` | +3.3V |
| 7 | NFC GPIO | +3.3V |
| 8 (blk) | PH11 | +3.3V |
| 9 (blk) | nRST | +3.3V |
| 10 (blk) | `GND` | GND |
For information about using this port see:
- [SWD Debug Port](../debug/swd_debug.md)
- [PX4 System Console](../debug/system_console.md) (Note, the FMU console maps to USART3).
## 外部设备
- [Digital Airspeed Sensor](https://holybro.com/products/digital-air-speed-sensor)
- [Telemetry Radio Modules](https://holybro.com/collections/telemetry-radios?orderby=date)
- [Rangefinders/Distance sensors](../sensor/rangefinders.md)
## 支持的平台/机身
Any multicopter / airplane / rover or boat that can be controlled with normal RC servos or Futaba S-Bus servos.
The complete set of supported configurations can be seen in the [Airframes Reference](../airframes/airframe_reference.md).
## 更多信息
- [Holybro Docs](https://docs.holybro.com/) (Holybro)
- [Pixhawk 6C Wiring QuickStart](../assembly/quick_start_pixhawk6c.md)
- [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)
- [FMUv6C reference design pinout](https://docs.google.com/spreadsheets/d/1FcmWRKd6zjdz3-cnjEDYEmANKZOFzNSc/edit?usp=sharing\&ouid=113251442407318461574\&rtpof=true\&sd=true).
- [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf).
docs/zh/flight_controller/pixhawk6c_mini.md
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# Holybro Pixhawk 6C Mini
:::warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://holybro.com/) for hardware support or compliance issues.
:::
_Pixhawk 6C Mini_<sup>&reg;</sup> is the latest update to the successful family of Pixhawk® flight controllers designed and made in collaboration with Holybro<sup>&reg;</sup> and the PX4 team.
It is equipped with a high performance H7 Processor, and comes with IMU redundancy, temperature-controlled IMU board, and cost effective design, delivering incredible performance and reliability.
It complies with the Pixhawk [Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf).
![Pixhawk6c mini Upright Image](../../assets/flight_controller/pixhawk6c_mini/pixhawk6c_mini_hero.jpg)
:::tip
This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md) by the PX4 maintenance and test teams.
:::
## 简介
The Pixhawk® 6C Mini is the latest update to the successful family of Pixhawk® flight controllers.
Inside the Pixhawk® 6C Mini, you can find an STMicroelectronics® based STM32H743, paired with sensor technology from Bosch® & InvenSense®, giving you flexibility and reliability for controlling any autonomous vehicle, suitable for both academic and commercial applications.
The Pixhawk® 6C Mini's H7 microcontroller contain the Arm® Cortex®-M7 core running up to 480 MHz, has 2MB flash memory and 1MB RAM.
Thanks to the updated processing power, developers can be more productive and efficient with their development work, allowing for complex algorithms and models.
The Pixhawk 6C Mini includes high-performance, low-noise IMUs on board, designed to be cost effective while having IMU redundancy.
A vibration isolation System to filter out high-frequency vibration and reduce noise to ensure accurate readings, allowing vehicles to reach better overall flight performances.
The Pixhawk® 6C Mini is perfect for developers at corporate research labs, startups, academics (research, professors, students), and commercial application.
**Key Design Points**
- High performance STM32H743 Processor with more computing power & RAM
- New cost-effective design with low-profile form factor
- Newly designed integrated vibration isolation system to filter out high frequency vibration and reduce noise to ensure accurate readings
- IMUs are temperature-controlled by onboard heating resistors, allowing optimum working temperature of IMUs&#x20
## Technical Specification
### **Processors & Sensors**
- FMU Processor: STM32H743&#x20
- 32 Bit Arm® Cortex®-M7, 480MHz, 2MB memory, 1MB SRAM&#x20
- IO Processor: STM32F103
- &#x20;32 Bit Arm® Cortex®-M3, 72MHz, 64KB SRAM&#x20
- On-board sensors&#x20
- &#x20;Accel/Gyro: ICM-42688-P&#x20
- Accel/Gyro: BMI055&#x20
- Mag: IST8310&#x20
- 气压计：MS5611
### **Electrical data**
- Voltage Ratings:
- Max input voltage: 6V
- USB Power Input: 4.75\~5.25V
- Servo Rail Input: 0\~36V
- Current Ratings:
- \`TELEM1\`\` Max output current limiter: 1A
- All other port combined output current limiter: 1A
### **Mechanical data**
- Dimensions: 53.3 x 39 x 16.2 mm
- Weight : 39.2g
### **Interfaces**
- 14- PWM servo outputs (8 from IO, 6 from FMU)
- 3个通用串行口
- `TELEM1` - Full flow control, separate 1A current limit
- `TELEM2` - Full flow control
- 2 GPS ports
- GPS1 - Full GPS port (GPS plus safety switch)
- GPS2 - Basic GPS port
- 1 I2C port
- Supports dedicated I2C calibration EEPROM located on sensor module
- 2 CAN Buses
- CAN Bus has individual silent controls or ESC RX-MUX control
- 1 Debug ports:
- FMU Debug Mini
- Dedicated R/C input for Spektrum/DSM and S.BUS, CPPM, analog / PWM RSSI
- 1 Power input ports (Analog)
- 其它特性:
- Operating & storage temperature: -40 ~ 85°c
## 购买渠道
Order from [Holybro](https://holybro.com/products/pixhawk-6c-mini).
## 组装 / 设置
The Pixhawk 4 Mini's port is very similar to the Pixhawk 6C Mini's port.
Please refer to the [Pixhawk 4 Mini Wiring Quick Start](../assembly/quick_start_pixhawk4_mini.md) as it provides instructions on how to assemble required/important peripherals including GPS, Power Module etc.
## 针脚定义
- [Holybro Pixhawk 6C Mini Port Pinout](https://docs.holybro.com/autopilot/pixhawk-6c-mini/pixhawk-6c-mini-ports)
## 串口映射
| UART | 设备 | QGC Parameter Description | Port Label on FC |
| ------ | ---------- | ------------------------- | ---------------- |
| USART1 | /dev/ttyS0 | GPS1 | GPS1 |
| USART2 | /dev/ttyS1 | TELEM3 | N/A |
| USART3 | /dev/ttyS2 | N/A | FMU Debug |
| UART5 | /dev/ttyS3 | TELEM2 | TELEM2 |
| USART6 | /dev/ttyS4 | PX4IO | I/O PWM Out |
| UART7 | /dev/ttyS5 | TELEM1 | TELEM1 |
| UART8 | /dev/ttyS6 | GPS2 | GPS2 |
<!-- See http://docs.px4.io/main/en/hardware/serial_port_mapping.html#serial-port-mapping -->
## 尺寸
![Pixhawk6c Mini Dimensions](../../assets/flight_controller/pixhawk6c_mini/pixhawk_6c_mini_dimension.jpg)
## 额定电压
_Pixhawk 6C Mini_ can be double-redundant on the power supply if two power sources are supplied. The two power rails are: **POWER1** and **USB**.
**Normal Operation Maximum Ratings**
Under these conditions all power sources will be used in this order to power the system:
1. **POWER1** inputs (4.9V to 5.5V)
2. **USB** input (4.75V to 5.25V)
**Absolute Maximum Ratings**
Under these conditions the system will not draw any power (will not be operational), but will remain intact.
1. **POWER1** inputs (operational range 4.1V to 5.7V, 0V to 10V undamaged)
2. **USB** input (operational range 4.1V to 5.7V, 0V to 6V undamaged)
3. Servo input: VDD_SERVO pin of **FMU PWM OUT** and **I/O PWM OUT** (0V to 42V undamaged)
**Voltage monitoring**
Pixhawk 6C Mini uses analog power modules.
Holybro makes various analog [power modules](../power_module/index.md) for different needs:
- [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)
- [PM08 Power Module](https://holybro.com/products/pm08-power-module-14s-200a)
## 编译固件
:::tip
Most users will not need to build this firmware!
It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected.
:::
To [build PX4](../dev_setup/building_px4.md) for this target:
```
make px4_fmu-v6c_default
```
<a id="debug_port"></a>
## 调试接口
The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) run on the **FMU Debug** port.
The pinouts and connector comply with the [Pixhawk Debug Mini](../debug/swd_debug.md#pixhawk-debug-mini) interface defined in the [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf) interface (JST SH connector).
| 针脚 | 信号 | 电压 |
| ---- | ----------------------------------- | --------------------- |
| 1（红） | `Vtref` | +3.3V |
| 2 | Console TX (OUT) | +3.3V |
| 3 | Console RX (IN) | +3.3V |
| 4（黑） | `SWDIO` | +3.3V |
| 6 | `SWCLK` | +3.3V |
| 6 | `GND` | GND |
For information about using this port see:
- [SWD Debug Port](../debug/swd_debug.md)
- [PX4 System Console](../debug/system_console.md) (Note, the FMU console maps to USART3).
## 外部设备
- [Digital Airspeed Sensor](https://holybro.com/products/digital-air-speed-sensor)
- [Telemetry Radio Modules](../telemetry/index.md):
- [Holybro Telemetry Radio](../telemetry/holybro_sik_radio.md)
- [Holybro Microhard P900 Radio](../telemetry/holybro_microhard_p900_radio.md)
- [Holybro XBP9X Telemetry Radio](../telemetry/holybro_xbp9x_radio.md)
- [Rangefinders/Distance sensors](../sensor/rangefinders.md)
## 支持的平台/机身
Any multicopter / airplane / rover or boat that can be controlled with normal RC servos or Futaba S-Bus servos.
The complete set of supported configurations can be seen in the [Airframes Reference](../airframes/airframe_reference.md).
## See Also
- [Holybro Docs](https://docs.holybro.com/) (Holybro)
- [Pixhawk 4 Mini Wiring Quick Start](../assembly/quick_start_pixhawk4_mini.md) (and [Pixhawk 6C Wiring QuickStart](../assembly/quick_start_pixhawk6c.md))
- [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)
- [PM08 Power Module](https://holybro.com/products/pm08-power-module-14s-200a)
- [FMUv6C reference design pinout](https://docs.google.com/spreadsheets/d/1FcmWRKd6zjdz3-cnjEDYEmANKZOFzNSc/edit?usp=sharing\&ouid=113251442407318461574\&rtpof=true\&sd=true).
- [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf).
docs/zh/flight_controller/pixhawk6x-rt.md
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# Holybro Pixhawk 6X-RT
:::warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://holybro.com/) for hardware support or compliance issues.
:::
_Pixhawk 6X-RT_<sup>&reg;</sup> is the latest update to the successful family of Pixhawk® flight controllers designed and made in collaboration with Holybro<sup>&reg;</sup>, NXP's mobile robotics team and the PX4 team based on NXP's open source reference design.
It is based on the [Pixhawk​​® Autopilot FMUv6X Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-012%20Pixhawk%20Autopilot%20v6X%20Standard.pdf), [Autopilot Bus Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-010%20Pixhawk%20Autopilot%20Bus%20Standard.pdf), and [Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf).
Equipped with a high performance NXP i.mx RT1176 dual core Processor, modular design, triple redundancy, temperature-controlled IMU board, isolated sensor domains, delivering incredible performance, reliability, and flexibility.
<img src="../../assets/flight_controller/pixhawk6x-rt/pixhawk6x-rt.png" width="350px" title="Pixhawk6X-RT Upright Image" /> <img src="../../assets/flight_controller/pixhawk6x/pixhawk6x_exploded_diagram.png" width="300px" title="Pixhawk6X Exploded Image" />
:::tip
This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md) by the PX4 maintenance and test teams.
:::
## 简介
Inside the Pixhawk®​ 6X-RT, you can find an NXP i.mx RT1176, paired with sensor technology from Bosch®​​, InvenSense®​,​ giving you flexibility and reliability for controlling any autonomous vehicle, suitable for both academic and commercial applications.
The Pixhawk® 6X-RT's i.mx RT1176 Crossover dual-core MCU contain an Arm® Cortex®-M7 core running up to 1GHz and Arm® Cortex®-M4 core running up to 400MHz, has 2MB SRAM and external XIP Flash with 64MB.
The PX4 Autopilot takes advantage of the increased power and RAM.
Thanks to the increased processing power, developers can be more productive and efficient with their development work, allowing for complex algorithms and models.
The FMUv6X open standard includes high-performance, low-noise IMUs on board, designed for better stabilization.
Triple redundant IMU & double redundant barometer on separate buses. When PX4 detects a sensor failure, the system seamlessly switches to another to maintain flight control reliability.
An independent LDO powers every sensor set with independent power control. A vibration isolation System to filter out high-frequency vibration and reduce noise to ensure accurate readings, allowing vehicles to reach better overall flight performances.
External sensor bus (SPI5) has two chip select lines and data-ready signals for additional sensors and payload with SPI-interface, and with an integrated Microchip Ethernet PHY, high-speed communication with mission computers via ethernet is now possible.
The Pixhawk®​ 6X-RT is perfect for developers at corporate research labs, startups, academics (research, professors, students), and commercial application.
## Key Design Points
- High performance [NXP i.MX RT1170 1GHz Crossover MCU](https://www.nxp.com/products/processors-and-microcontrollers/arm-microcontrollers/i-mx-rt-crossover-mcus/i-mx-rt1170-1-ghz-crossover-mcu-with-arm-cortex-cores:i.MX-RT1170) with Arm® Cortex® cores
- Hardware secure element [NXP EdgeLock SE051](https://www.nxp.com/products/security-and-authentication/authentication/edgelock-se051-proven-easy-to-use-iot-security-solution-with-support-for-updatability-and-custom-applets:SE051) an extension to the widely trusted EdgeLock SE050 Plug & Trust secure element family, supports applet updates in the field and delivers proven security certified to CC EAL 6+, with AVA_VAN.5 up to the OS level, for strong protection against the most recent attack scenarios. E.g, to securely store operator ID or certificates.
- Modular flight controller: separated IMU, FMU, and Base system connected by a 100-pin & a 50-pin Pixhawk®​ Autopilot Bus connector.
- Redundancy: 3x IMU sensors & 2x Barometer sensors on separate buses
- Triple redundancy domains: Completely isolated sensor domains with separate buses and separate power control
- Newly designed vibration isolation system to filter out high frequency vibration and reduce noise to ensure accurate readings
- Ethernet interface for high-speed mission computer integration
- IMUs are temperature-controlled by onboard heating resistors, allowing optimum working temperature of IMUs&#x20
### Processors & Sensors
- FMU Processor: NXP i.MX RT1176
- 32 Bit Arm® Cortex®-M7, 1GHz
- 32 Bit Arm® Cortex®-M4, 400MHz secondary core
- 64MB external flash memory
- 2MB RAM
- NXP EdgeLock SE051 hardware secure element
- IEC62443-4-2 certified for the applicable requirements
- 46 kB user memory with personalization options to go up to 104 kB
- Groundbreaking CC EAL6+ certified solution for IoT deployments
- AES and 3DES encryption and decryption
- IO 处理器：STM32F100
- 32 位 Arm® Cortex®-M3，24MHz，8KB SRAM
- On-board sensors
- Accel/Gyro: ICM-20649 or BMI088
- Accel/Gyro: ICM-42688-P
- Accel/Gyro: ICM-42670-P
- Mag: BMM150
- Barometer: 2x BMP388
### Electrical data
- Voltage Ratings:
- Max input voltage: 6V
- USB Power Input: 4.75\~5.25V
- Servo Rail Input: 0\~36V
- Current Ratings:
- `TELEM1` output current limiter: 1.5A
- All other port combined output current limiter: 1.5A
### Mechanical data
- 尺寸
- Flight Controller Module: 38.8 x 31.8 x 14.6mm
- Standard Baseboard: 52.4 x 103.4 x 16.7mm
- Mini Baseboard: 43.4 x 72.8 x 14.2 mm
- 重量
- Flight Controller Module: 23g
- Standard Baseboard: 51g
- Mini Baseboard: 26.5g
### 接口
- 16- PWM servo outputs
- R/C input for Spektrum / DSM
- Dedicated R/C input for PPM and S.Bus input
- Dedicated analog / PWM RSSI input and S.Bus output
- 4个通用串行口
- 3 with full flow control
- 1 with separate 1.5A current limit (Telem1)
- 1 with I2C and additional GPIO line for external NFC reader
- 2 GPS ports
- 1 full GPS plus Safety Switch Port
- 1 basic GPS port
- 1 I2C port
- 1 Ethernet port
- Transformerless Applications
- 100Mbps
- 1 SPI bus
- 2 chip select lines
- 2 data-ready lines
- 1 SPI SYNC line
- 1 SPI reset line
- 2 CAN Buses for CAN peripheral
- CAN Bus has individual silent controls or ESC RX-MUX control
- 2 Power input ports with SMBus
- 1 AD & IO port
- 2 个模拟输入接口
- 1 PWM/Capture input
- 2 Dedicated debug and GPIO lines
- 其它特性:
- Operating & storage temperature: -40 ~ 85°c
## 购买渠道
Order from [Holybro](https://holybro.com/products/fmuv6x-rt-developer-edition).
## 组装 / 设置
The [Pixhawk 6X Wiring Quick Start](../assembly/quick_start_pixhawk6x.md) provides instructions on how to assemble required/important peripherals including GPS, Power Module etc.
## Connections
Sample Wiring Diagram
![Pixhawk 6X Wiring Overview](../../assets/flight_controller/pixhawk6x/pixhawk6x_wiring_diagram.png)
## 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)
备注：
- The [camera capture pin](../camera/fc_connected_camera.md#camera-capture-configuration) (`PI0`) is pin 2 on the AD&IO port, marked above as `FMU_CAP1`.
## 串口映射
| UART | 设备 | Port |
| ------ | ---------- | -------- |
| UART1 | /dev/ttyS0 | Debug |
| UART3 | /dev/ttyS1 | GPS |
| UART4 | /dev/ttyS2 | TELEM1 |
| UART5 | /dev/ttyS3 | GPS2 |
| UART6 | /dev/ttyS4 | PX4IO |
| UART8 | /dev/ttyS5 | TELEM2 |
| UART10 | /dev/ttyS6 | TELEM3 |
| UART11 | /dev/ttyS7 | External |
## 尺寸
[Pixhawk 6X Dimensions](https://docs.holybro.com/autopilot/pixhawk-6x/dimensions)
## 额定电压
_Pixhawk 6X-RT_ can be triple-redundant on the power supply if three power sources are supplied. The three power rails are: **POWER1**, **POWER2** and **USB**.
The **POWER1** & **POWER2** 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).
**Normal Operation Maximum Ratings**
Under these conditions all power sources will be used in this order to power the system:
1. **POWER1** and **POWER2** inputs (4.9V to 5.5V)
2. **USB** input (4.75V to 5.25V)
**Absolute Maximum Ratings**
Under these conditions the system will not draw any power (will not be operational), but will remain intact.
1. **POWER1** and **POWER2** inputs (operational range 4.1V to 5.7V, 0V to 10V undamaged)
2. **USB** input (operational range 4.1V to 5.7V, 0V to 6V undamaged)
3. Servo input: VDD_SERVO pin of **FMU PWM OUT** and **I/O PWM OUT** (0V to 42V undamaged)
**Voltage monitoring**
Digital I2C battery monitoring is enabled by default (see [Quickstart > Power](../assembly/quick_start_pixhawk6x.md#power)).
:::info
Analog battery monitoring via an ADC is not supported on this particular board, but may be supported in variations of this flight controller with a different baseboard.
:::
## 编译固件
:::tip
Most users will not need to build this firmware!
It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected.
:::
To [build PX4](../dev_setup/building_px4.md) for this target:
```
make px4_fmu-v6xrt_default
```
<a id="debug_port"></a>
## 调试接口
The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) run on the **FMU Debug** port.
The pinouts and connector comply with the [Pixhawk Debug Full](../debug/swd_debug.md#pixhawk-debug-full) interface defined in the [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf) interface (JST SM10B connector).
| 针脚 | 信号 | 电压 |
| --------------------------- | ----------------------------------- | --------------------- |
| 1（红） | `Vtref` | +3.3V |
| 2 | Console TX (OUT) | +3.3V |
| 3 | Console RX (IN) | +3.3V |
| 4（黑） | `SWDIO` | +3.3V |
| 6 | `SWCLK` | +3.3V |
| 6 | `SWO` | +3.3V |
| 7 | NFC GPIO | +3.3V |
| 8 (blk) | PH11 | +3.3V |
| 9 (blk) | nRST | +3.3V |
| 10 (blk) | `GND` | GND |
For information about using this port see:
- [SWD Debug Port](../debug/swd_debug.md)
- [PX4 System Console](../debug/system_console.md) (Note, the FMU console maps to USART3).
## 外部设备
- [Digital Airspeed Sensor](https://holybro.com/products/digital-air-speed-sensor)
- [Telemetry Radio Modules](https://holybro.com/collections/telemetry-radios?orderby=date)
- [Rangefinders/Distance sensors](../sensor/rangefinders.md)
## 支持的平台/机身
Any multicopter / airplane / rover or boat that can be controlled with normal RC servos or Futaba S-Bus servos.
The complete set of supported configurations can be seen in the [Airframes Reference](../airframes/airframe_reference.md).
## 更多信息
- [Update Pixhawk 6X-RT Bootloader](../advanced_config/bootloader_update_v6xrt.md)
- [Holybro Docs](https://docs.holybro.com/) (Holybro)
- [Pixhawk 6X Wiring QuickStart](../assembly/quick_start_pixhawk6x.md)
- [PM02D Power Module](../power_module/holybro_pm02d.md)
- [PM03D Power Module](../power_module/holybro_pm03d.md)
- [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).
docs/zh/flight_controller/pixhawk6x.md
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# Holybro Pixhawk 6X
:::warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://holybro.com/) for hardware support or compliance issues.
:::
_Pixhawk 6X_<sup>&reg;</sup> is the latest update to the successful family of Pixhawk® flight controllers designed and made in collaboration with Holybro<sup>&reg;</sup> and the PX4 team.
It is based on the [Pixhawk​​® Autopilot FMUv6X Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-012%20Pixhawk%20Autopilot%20v6X%20Standard.pdf), [Autopilot Bus Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-010%20Pixhawk%20Autopilot%20Bus%20Standard.pdf), and [Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf).
Equipped with a high performance H7 Processor, modular design, triple redundancy, temperature-controlled IMU board, isolated sensor domains, delivering incredible performance, reliability, and flexibility.
### Pixhawk 6X (Rev 3)
<img src="../../assets/flight_controller/pixhawk6x/pixhawk6x_hero_upright.png" width="230px" title="Pixhawk6X Upright Image" /> <img src="../../assets/flight_controller/pixhawk6x/pixhawk6x_exploded_diagram.png" width="400px" title="Pixhawk6X Exploded Image" />
### Pixhawk 6X (ICM-45686)
:::: tabs
:::tab Standard v2A
![Pixhawk 6X Standard v2A](../../assets/flight_controller/pixhawk6x/pixhawk6x_icm_v2a.webp)
:::
:::tab Standard v2B
![Pixhawk 6X Standard v2B](../../assets/flight_controller/pixhawk6x/pixhawk6x_icm_v2b.webp)
:::
:::tab Mini
![Pixhawk 6X Mini](../../assets/flight_controller/pixhawk6x/pixhawk6x_icm_mini.webp)
:::
::::
:::tip
This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md) by the PX4 maintenance and test teams.
:::
## 简介
Inside the Pixhawk®​ 6X, you can find an STMicroelectronics​® based STM32H753, paired with sensor technology from Bosch®​​, InvenSense®​,​ giving you flexibility and reliability for controlling any autonomous vehicle, suitable for both academic and commercial applications.
The Pixhawk® 6X's H7 microcontroller contain the Arm® Cortex®-M7 core running up to 480 MHz, has 2MB flash memory and 1MB RAM. The PX4 Autopilot takes advantage of the increased power and RAM. Thanks to the updated processing power, developers can be more productive and efficient with their development work, allowing for complex algorithms and models.
The FMUv6X open standard includes high-performance, low-noise IMUs on board, designed for better stabilization. Triple redundant IMU & double redundant barometer on separate buses. When the PX4 Autopilot detects a sensor failure, the system seamlessly switches to another to maintain flight control reliability.
An independent LDO powers every sensor set with independent power control. A vibration isolation System to filter out high-frequency vibration and reduce noise to ensure accurate readings, allowing vehicles to reach better overall flight performances.
External sensor bus (SPI5) has two chip select lines and data-ready signals for additional sensors and payload with SPI-interface, and with an integrated Microchip Ethernet PHY, high-speed communication with mission computers via ethernet is now possible.
The Pixhawk®​ 6X is perfect for developers at corporate research labs, startups, academics (research, professors, students), and commercial application.
## Key Design Points
- High performance STM32H753 Processor
- Modular flight controller: separated IMU, FMU, and Base system connected by a 100-pin & a 50-pin Pixhawk®​ Autopilot Bus connector.
- Redundancy: 3x IMU sensors & 2x Barometer sensors on separate buses
- Triple redundancy domains: Completely isolated sensor domains with separate buses and separate power control
- Newly designed vibration isolation system to filter out high frequency vibration and reduce noise to ensure accurate readings
- Ethernet interface for high-speed mission computer integration
- IMUs are temperature-controlled by onboard heating resistors, allowing optimum working temperature of IMUs&#x20
### Processors & Sensors
- FMU Processor: STM32H753
- 32 Bit Arm® Cortex®-M7, 480MHz, 2MB flash memory, 1MB RAM
- IO 处理器：STM32F100
- 32 位 Arm® Cortex®-M3，24MHz，8KB SRAM
- On-board sensors
- Accel/Gyro: ICM-20649 or BMI088
- Accel/Gyro: ICM-42688-P
- Accel/Gyro: ICM-42670-P
- Mag: BMM150
- Barometer: 2x BMP388
### Electrical data
- Voltage Ratings:
- Max input voltage: 6V
- USB Power Input: 4.75\~5.25V
- Servo Rail Input: 0\~36V
- Current Ratings:
- `TELEM1` output current limiter: 1.5A
- All other port combined output current limiter: 1.5A
### Mechanical data
- 尺寸
- Flight Controller Module: 38.8 x 31.8 x 14.6mm
- Standard Baseboard: 52.4 x 103.4 x 16.7mm
- Mini Baseboard: 43.4 x 72.8 x 14.2 mm
- 重量
- Flight Controller Module: 23g
- Standard Baseboard: 51g
- Mini Baseboard: 26.5g
### 接口
- 16- PWM servo outputs
- R/C input for Spektrum / DSM
- Dedicated R/C input for PPM and S.Bus input
- Dedicated analog / PWM RSSI input and S.Bus output
- 4个通用串行口
- 3 with full flow control
- 1 with separate 1.5A current limit (Telem1)
- 1 with I2C and additional GPIO line for external NFC reader
- 2 GPS ports
- 1 full GPS plus Safety Switch Port
- 1 basic GPS port
- 1 I2C port
- 1 Ethernet port
- Transformerless Applications
- 100Mbps
- 1 SPI bus
- 2 chip select lines
- 2 data-ready lines
- 1 SPI SYNC line
- 1 SPI reset line
- 2 CAN Buses for CAN peripheral
- CAN Bus has individual silent controls or ESC RX-MUX control
- 2 Power input ports with SMBus
- 1 AD & IO port
- 2 个模拟输入接口
- 1 PWM/Capture input
- 2 Dedicated debug and GPIO lines
- 其它特性:
- Operating & storage temperature: -40 ~ 85°c
## 购买渠道
Order from [Holybro](https://holybro.com/products/pixhawk-6x).
## 组装 / 设置
The [Pixhawk 6X Wiring Quick Start](../assembly/quick_start_pixhawk6x.md) provides instructions on how to assemble required/important peripherals including GPS, Power Module etc.
## Connections
Sample Wiring Diagram
![Pixhawk 6X Wiring Overview](../../assets/flight_controller/pixhawk6x/pixhawk6x_wiring_diagram.png)
## 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)
备注：
- The [camera capture pin](../camera/fc_connected_camera.md#camera-capture-configuration) (`PI0`) is pin 2 on the AD&IO port, marked above as `FMU_CAP1`.
## 串口映射
| UART | 设备 | Port |
| ------ | ---------- | ------------------------------- |
| USART1 | /dev/ttyS0 | GPS |
| USART2 | /dev/ttyS1 | TELEM3 |
| USART3 | /dev/ttyS2 | Debug Console |
| UART4 | /dev/ttyS3 | UART4 & I2C |
| UART5 | /dev/ttyS4 | TELEM2 |
| USART6 | /dev/ttyS5 | PX4IO/RC |
| UART7 | /dev/ttyS6 | TELEM1 |
| UART8 | /dev/ttyS7 | GPS2 |
## 尺寸
[Pixhawk 6X Dimensions](https://docs.holybro.com/autopilot/pixhawk-6x/dimensions)
## 额定电压
_Pixhawk 6X_ can be triple-redundant on the power supply if three power sources are supplied. The three power rails are: **POWER1**, **POWER2** and **USB**.
The **POWER1** & **POWER2** 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).
**Normal Operation Maximum Ratings**
Under these conditions all power sources will be used in this order to power the system:
1. **POWER1** and **POWER2** inputs (4.9V to 5.5V)
2. **USB** input (4.75V to 5.25V)
**Absolute Maximum Ratings**
Under these conditions the system will not draw any power (will not be operational), but will remain intact.
1. **POWER1** and **POWER2** inputs (operational range 4.1V to 5.7V, 0V to 10V undamaged)
2. **USB** input (operational range 4.1V to 5.7V, 0V to 6V undamaged)
3. Servo input: VDD_SERVO pin of **FMU PWM OUT** and **I/O PWM OUT** (0V to 42V undamaged)
**Voltage monitoring**
Digital I2C battery monitoring is enabled by default (see [Quickstart > Power](../assembly/quick_start_pixhawk6x.md#power)).
:::info
Analog battery monitoring via an ADC is not supported on this particular board, but may be supported in variations of this flight controller with a different baseboard.
:::
## 编译固件
:::tip
Most users will not need to build this firmware!
It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected.
:::
To [build PX4](../dev_setup/building_px4.md) for this target:
```
make px4_fmu-v6x_default
```
<a id="debug_port"></a>
## 调试接口
The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) run on the **FMU Debug** port.
The pinouts and connector comply with the [Pixhawk Debug Full](../debug/swd_debug.md#pixhawk-debug-full) interface defined in the [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf) interface (JST SM10B connector).
| 针脚 | 信号 | 电压 |
| --------------------------- | ----------------------------------- | --------------------- |
| 1（红） | `Vtref` | +3.3V |
| 2 | Console TX (OUT) | +3.3V |
| 3 | Console RX (IN) | +3.3V |
| 4（黑） | `SWDIO` | +3.3V |
| 6 | `SWCLK` | +3.3V |
| 6 | `SWO` | +3.3V |
| 7 | NFC GPIO | +3.3V |
| 8 (blk) | PH11 | +3.3V |
| 9 (blk) | nRST | +3.3V |
| 10 (blk) | `GND` | GND |
For information about using this port see:
- [SWD Debug Port](../debug/swd_debug.md)
- [PX4 System Console](../debug/system_console.md) (Note, the FMU console maps to USART3).
## 外部设备
- [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)
## 支持的平台/机身
Any multicopter / airplane / rover or boat that can be controlled with normal RC servos or Futaba S-Bus servos.
The complete set of supported configurations can be seen in the [Airframes Reference](../airframes/airframe_reference.md).
## 更多信息
- [Holybro Docs](https://docs.holybro.com/) (Holybro)
- [Pixhawk 6X Wiring QuickStart](../assembly/quick_start_pixhawk6x.md)
- [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).
docs/zh/flight_controller/pixhawk6x_pro.md
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# Holybro Pixhawk 6X Pro
:::warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://holybro.com/) for hardware support or compliance issues.
:::
![Pixhawk6X Pro Internal Architecture](../../assets/flight_controller/pixhawk6x_pro/pixhawk6x_pro_internal_architecture.jpeg)
## Key Design Points
- High-performance ADIS16470 Industrial IMU with high accelerometer dynamic range (±40 g), perfect for accurate motion sensing in demanding UAV applications
- All new advanced durable vibration isolation material with resonance frequency in the higher spectrum, ideal for industrial and commercial drone applications
- High performance STM32H753 Processor
- Ethernet interface for high-speed mission computer integration
## Baseboards
The Pixhawk 6X Pro can be purchased with a number of baseboards (or no baseboard) to suit different use cases and vehicle types, including [Standard v2A](https://docs.holybro.com/autopilot/pixhawk-baseboards/pixhawk-baseboard-v2-ports), [Standard v2B](https://docs.holybro.com/autopilot/pixhawk-baseboards/pixhawk-baseboard-v2-ports), and [Mini](https://docs.holybro.com/autopilot/pixhawk-baseboards/pixhawk-mini-baseboard-ports), which are shown below.
It can also be used with any other Pixhawk Autopilot Bus (PAB) specification-compliant baseboard, such as the [Holybro Pixhawk Jetson Baseboard](../companion_computer/holybro_pixhawk_jetson_baseboard.md) and [Holybro Pixhawk RPi CM4 Baseboard](../companion_computer/holybro_pixhawk_rpi_cm4_baseboard.md).
:::: tabs
:::tab Pixhawk 6X Pro Standard v2A
![Pixhawk 6X Pro Standard v2A](../../assets/flight_controller/pixhawk6x_pro/pixhawk6x_pro_v2a.webp)
:::
:::tab Pixhawk 6X Pro Standard v2B
![Pixhawk 6X Pro Standard v2B](../../assets/flight_controller/pixhawk6x_pro/pixhawk6x_pro_v2b.webp)
:::
:::tab Pixhawk 6X Pro Mini
![Pixhawk 6X Pro Mini](../../assets/flight_controller/pixhawk6x_pro/pixhawk6x_pro_mini.webp)
:::
::::
## 特性
- Triple redundant IMU & double redundant barometer on separate buses
- Modular flight controller: separated IMU, FMU, and Base system
- Safety-driven design incorporates sensors from different manufacturers and model lineups
- Independent LDO powers every sensor set with independent power control.
- Temperature-controlled IMU board, allowing optimum working temperature of IMUs
:::details
Processors & Sensors
- FMU Processor: STM32H753
- 32 Bit Arm® Cortex®-M7, 480MHz, 2MB flash memory, 1MB RAM
- IO Processor: STM32F103
- 32 Bit Arm® Cortex®-M3, 72MHz, 64KB SRAM
- On-board sensors
- Accel/Gyro: ADIS16470 (±40g, Vibration Isolated, Industrial IMU)
- Accel/Gyro: IIM-42652 (±16g, Vibration Isolated, Industrial IMU)
- Accel/Gyro: ICM-45686 with BalancedGyro™ Technology (±32g, Hard Mounted)
- Barometer: ICP20100
- Barometer: BMP388
- Mag: BMM150
:::
:::details
Electrical data
- Voltage Ratings:
- Max input voltage: 6V
- USB 电源输入：4.75~5.25V
- 伺服导轨输入电压：0~36V
- Current Ratings: - Telem1 output current limiter: 1.5A - All other port combined output current limiter: 1.5A
:::
:::details
Mechanical data
- 尺寸
- Flight Controller Module: 38.8 x 31.8 x 30.1mm
- Standard Baseboard: 52.4 x 103.4 x 16.7mm
- Mini Baseboard: 43.4 x 72.8 x 14.2 mm
- Weight - Flight Controller Module: 50g - Standard Baseboard: 51g - Mini Baseboard: 26.5g
:::
:::details
接口
- 16- PWM servo outputs
- R/C input for Spektrum / DSM
- Dedicated R/C input for PPM and S.Bus input
- Dedicated analog / PWM RSSI input and S.Bus output
- 4个通用串行口
- 3 with full flow control
- 1 with separate 1.5A current limit (Telem1)
- 1 with I2C and additional GPIO line for external NFC reader
- 2 GPS ports
- 1 full GPS plus Safety Switch Port
- 1 basic GPS port
- 1 I2C port
- 1 Ethernet port
- Transformerless Applications
- 100Mbps
- 1 SPI bus
- 2 chip select lines
- 2 data-ready lines
- 1 SPI SYNC line
- 1 SPI reset line
- 2 CAN Buses for CAN peripheral
- CAN Bus has individual silent controls or ESC RX-MUX control
- 2 Power input ports with SMBus - 1 AD & IO port - 2 additional analog input - 1 PWM/Capture input - 2 Dedicated debug and GPIO lines
:::
## 购买渠道
Order from [Holybro](https://holybro.com/products/pixhawk-6x-pro).
## 组装 / 设置
The [Pixhawk 6X Wiring Quick Start](../assembly/quick_start_pixhawk6x.md) provides instructions on how to assemble required/important peripherals including GPS, Power Module etc.
## Connections
### Multicopter Wiring Example
![Pixhawk 6X Pro Wiring Overview](../../assets/flight_controller/pixhawk6x_pro/pixhawk6x_pro_wiring_diagram.png)
### VTOL Wiring Example
![Pixhawk 6X Pro VTOL Fixed wing Wiring Overview](../../assets/flight_controller/pixhawk6x_pro/pixhawk6x_pro_wiring_diagram_vtol.webp)
## 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)
备注：
- The [camera capture pin](../camera/fc_connected_camera.md#camera-capture-configuration) (`PI0`) is pin 2 on the AD&IO port, marked above as `FMU_CAP1`.
## 串口映射
| UART | 设备 | Port |
| ------ | ---------- | ------------------------------- |
| USART1 | /dev/ttyS0 | GPS |
| USART2 | /dev/ttyS1 | TELEM3 |
| USART3 | /dev/ttyS2 | Debug Console |
| UART4 | /dev/ttyS3 | UART4 & I2C |
| UART5 | /dev/ttyS4 | TELEM2 |
| USART6 | /dev/ttyS5 | PX4IO/RC |
| UART7 | /dev/ttyS6 | TELEM1 |
| UART8 | /dev/ttyS7 | GPS2 |
## 尺寸
[Pixhawk 6X Pro Dimensions](https://docs.holybro.com/autopilot/pixhawk-6x-pro/dimensions)
## 额定电压
_Pixhawk 6X Pro_ can be triple-redundant on the power supply if three power sources are supplied.
The three power rails are: **POWER1**, **POWER2** and **USB**.
The **POWER1** & **POWER2** 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).
**Normal Operation Maximum Ratings**
Under these conditions all power sources will be used in this order to power the system:
1. **POWER1** and **POWER2** inputs (4.9V to 5.5V)
2. **USB** input (4.75V to 5.25V)
**Absolute Maximum Ratings**
Under these conditions the system will not draw any power (will not be operational), but will remain intact.
1. **POWER1** and **POWER2** inputs (operational range 4.1V to 5.7V, 0V to 10V undamaged)
2. **USB** input (operational range 4.1V to 5.7V, 0V to 6V undamaged)
3. Servo input: VDD_SERVO pin of **FMU PWM OUT** and **I/O PWM OUT** (0V to 42V undamaged)
**Voltage monitoring**
Digital I2C battery monitoring is enabled by default (see [Quickstart > Power](../assembly/quick_start_pixhawk6x.md#power)).
:::info
Analog battery monitoring via an ADC is not supported on this particular board, but may be supported in variations of this flight controller with a different baseboard.
:::
## 编译固件
:::tip
Most users will not need to build this firmware!
It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected.
:::
To [build PX4](../dev_setup/building_px4.md) for this target:
```
make px4_fmu-v6x_default
```
## 调试接口
The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) run on the **FMU Debug** port.
The pinouts and connector comply with the [Pixhawk Debug Full](../debug/swd_debug.md#pixhawk-debug-full) interface defined in the [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf) interface (JST SM10B connector).
| 针脚 | 信号 | 电压 |
| --------------------------- | ----------------------------------- | --------------------- |
| 1（红） | `Vtref` | +3.3V |
| 2 | Console TX (OUT) | +3.3V |
| 3 | Console RX (IN) | +3.3V |
| 4（黑） | `SWDIO` | +3.3V |
| 6 | `SWCLK` | +3.3V |
| 6 | `SWO` | +3.3V |
| 7 | NFC GPIO | +3.3V |
| 8 (blk) | PH11 | +3.3V |
| 9 (blk) | nRST | +3.3V |
| 10 (blk) | `GND` | GND |
For information about using this port see:
- [SWD Debug Port](../debug/swd_debug.md)
- [PX4 System Console](../debug/system_console.md) (Note, the FMU console maps to USART3).
## 外部设备
- [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)
## Supported Platforms/Airframes
Any multicopter / airplane / rover or boat that can be controlled with normal RC servos or Futaba S-Bus servos.
The complete set of supported configurations can be seen in the [Airframes Reference](../airframes/airframe_reference.md).
## CAD File
Download [here](https://docs.holybro.com/autopilot/pixhawk-6x-pro/download).
## See Also
- [Holybro Docs](https://docs.holybro.com/autopilot/pixhawk-6x-pro) (Holybro)
- [Pixhawk 6X Wiring QuickStart](../assembly/quick_start_pixhawk6x.md)
- [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).
docs/zh/flight_controller/pixhawk_autopilot_bus.md
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# Pixhawk Autopilot Bus & Carriers
The [Pixhawk Autopilot Bus (PAB) Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-010%20Pixhawk%20Autopilot%20Bus%20Standard.pdf) provides a standard interface design that allows any compliant Pixhawk flight controller to be used "plug-and-play" with any compliant base board.
This modularity makes it easier to integrate flight controllers into different system-on-module designs.
For example, the PAB means that you can use the same flight controller hardware on a more compact board with fewer outputs, or on a board that integrates with a companion computer, and so on.
The following carriers and flight controllers are PAB-compliant, and can therefore be used interchangeably.
:::info
The "Mechanical Design" section of the standard provides specific recommendations for mechanical compatibility between vendors.
The flight controllers and baseports listed here are expected to be compliant with all recommendations.
:::
## PAB Compatible Carriers
- [ARK Electronics Pixhawk Autopilot Bus Carrier](../flight_controller/ark_pab.md)
- [Holybro Pixhawk Standard Baseboard](https://holybro.com/products/pixhawk-baseboards)
- [Holybro Pixhawk Mini Baseboard](https://holybro.com/products/pixhawk-baseboards)
- [Holybro Pixhawk RPi CM4 Baseboard](../companion_computer/holybro_pixhawk_rpi_cm4_baseboard.md) (Integrated Companion/Flight Controller Board)
## PAB Compatible Flight Controllers
- [ARK Electronics ARKV6X](../flight_controller/ark_v6x.md)
- [Holybro Pixhawk 5X (FMUv5X)](../flight_controller/pixhawk5x.md)
- [Holybro Pixhawk 6X (FMUv6X)](../flight_controller/pixhawk6x.md)
- [CUAV Pixhawk V6X (FMUv6X)](../flight_controller/cuav_pixhawk_v6x.md)
docs/zh/flight_controller/pixhawk_mini.md
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# Holybro Pixhawk Mini (Discontinued)
:::warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://holybro.com/) for hardware support or compliance issues.
:::
The Holybro _Pixhawk<sup>&reg;</sup> Mini_ autopilot is a next-generation evolution of the Pixhawk.
It is about 1/3rd the size of the original Pixhawk and has more powerful processors and sensors.
The Pixhawk Mini is based on the PX4 open-hardware project and has been optimized for the PX4 flight stack.
![Pixhawk Mini](../../assets/flight_controller/pixhawk_mini/pixhawk_mini_hero.jpg)
Wiring information is available [below](#wiring).
:::info
This flight controller was designed by 3DR in collaboration with HobbyKing<sup>&amp;reg;</sup>.
It was formerly known as the 3DR Pixhawk Mini.
:::
:::tip
This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md) by the PX4 maintenance and test teams.
:::
## 产品规格
**Processors:**
- **Main Processor:** STM32F427 Rev 3
- **IO Processor:** STM32F103
**Sensors:**
- **Accel/Gyro/Mag:** MPU9250
- [deprecated](https://github.com/PX4/PX4-Autopilot/pull/7618) by the PX4 firmware
- **Accel/Gyro:** ICM20608
- **Barometer:** MS5611
**Voltage ratings:**
- **Power module output:** 4.1\~5.5V
- **Max input voltage:** 45V (10S LiPo)
- **Max current sensing:** 90A
- **USB Power Input:** 4.1\\`5.5V
- **Servo Rail Input:** 0\~10V
**Interfaces:**
- 1 x UART Serial Port (for GPS)
- Spektrum DSM/DSM2/DSM-X® Satellite Compatible RC input
- Futaba S BUS® Compatible RC input
- PPM Sum Signal RC Input
- I2C (for digital sensors)
- CAN (for digital motor control with compatible controllers)
- ADC (for analog sensors)
- Micro USB Port
**Weight and dimensions:**
- **Dimensions:** 38x43x12mm
- **Weight:** 15.8g
**GPS module (supplied with kit):**
- **GNSS receiver:** u-blox<sup>&reg;</sup> Neo-M8N; compass HMC5983
- **Weight:** 22.4g
- **Dimensions:** 37x37x12mm
## 购买渠道
Discontinued.
## Connector assignments
`<To be added>`
## 特性
Key features of the Pixhawk Mini are:
- Advanced 32 bit ARM Cortex® M4 Processor running NuttX RTOS
- 8 PWM/servo outputs
- Multiple connectivity options for additional peripherals (UART, I2C, CAN)
- Redundant power supply inputs and automatic failover
- Integrated safety switch and optional external safety button for easy motor activation
- Multicolor LED indicator
- Integrated multi-tone piezo audio indicator
- microSD card for long-time high-rate logging
- Easy-to-use Micro JST connectors
The Pixhawk Mini is shipped with new **GPS module**:
- Based on the u-blox M8N
- Concurrent reception of up to 3 GNSS (GPS, Galileo, GLONASS, BeiDou)
- Industry leading -167 dBm navigation sensitivity
- Security and integrity protection
- Supports all satellite augmentation systems
- Advanced jamming and spoofing detection
- Product variants to meet performance and cost requirements
## Kit package
The _Pixhawk Mini_ is shipped with the following contents:
| Component | Image |
| -------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------ |
| Pixhawk Mini Autopilot | ![Pixhawk Mini](../../assets/flight_controller/pixhawk_mini/pixhawk_mini_drawing.png) |
| GPS module | ![Compass+GPS module](../../assets/flight_controller/pixhawk_mini/pixhawk_mini_compass_drawing.png) |
| Quad Power Distribution Board | ![Quad Power Distribution Board](../../assets/flight_controller/pixhawk_mini/pixhawk_mini_quad_power_distribution_board_drawing.png) |
| 8 Channel PWM Breakout board | ![8 Channel PWM Breakout board](../../assets/flight_controller/pixhawk_mini/pixhawk_mini_8_channel_pwm_breakout_board_drawing.png) |
| 4-pin cable (for I2C) | ![4-pin cable (for I2C)](../../assets/flight_controller/pixhawk_mini/pixhawk_mini_4_pin_cable_drawing.png) |
| RC-in cable for PPM/SBUS | ![RC-in cable for PPM/SBUS](../../assets/flight_controller/pixhawk_mini/pixhawk_mini_rc_in_cable_drawing.png) |
| 6 to 6/4 ‘Y’ adapter for GPS and additional I2C devices | ![6 to 6/4 ‘Y’ adapter](../../assets/flight_controller/pixhawk_mini/pixhawk_mini_6_to_6_and_4_pin_Y_cable_drawing.png) |
| 6 pin cable (2) (for power distribution board and for compass/gps) | ![6 pin cable](../../assets/flight_controller/pixhawk_mini/pixhawk_mini_6_pin_cable_drawing.png) |
| 6 pin JST to DF13 for legacy telemetry radio | ![6 pin JST to DF13](../../assets/flight_controller/pixhawk_mini/pixhawk_mini_6pin_JST_to_DF13_cable_drawing.png) |
| Safety switch | ![Safety switch](../../assets/flight_controller/pixhawk_mini/pixhawk_mini_safety_switch_drawing.png) |
| 8 Channel PWM Breakout cable | ![8 Channel PWM Breakout cable](../../assets/flight_controller/pixhawk_mini/pixhawk_mini_8channel_pwm_breakout_cable_drawing.png) |
| Mounting foam | ![Mounting foam](../../assets/hardware/mounting/3dr_anti_vibration_mounting_foam.png) |
| I2C breakout board ? - not listed parts on handout | - |
## Optional accessories
- Telemetry Radio Sets: 915 MHz (USA), 433 MHz (European)
::: info
When installing the 3DR telemetry radios, use the connectors that come with Pixhawk Mini, rather than those that come with the radios.
:::
- 3DR 10S Power Module
- WiFi 数传电台
- 数字空速传感器
## Compatibility
### RC radio
- PPM output RC receivers
- Spektrum DSM RC receivers
- Futaba S BUS RC receivers
### ESCs
- All standard PWM input ESCs
## Connector pin assignments (pin outs)
![Pixhawk Mini - Connector Pinouts](../../assets/flight_controller/pixhawk_mini/pixhawk_mini_pinout.png)
## Product comparisons
### Pixhawk Mini vs Pixhawk (original)
- One-third the size - from 50x81.5x15.5mm to 38x43x12mm.
- Rev 3 processor for full utilization of 2MB flash memory.
- Improved sensors, both primary and secondary IMU MPU9250 and ICM20608 respectively.
The result is more stable, more reliable flight and navigation.
- GPS+Compass module included. Features the Neo M8N with GLONASS support; compass HMC5983.
Expect faster and stronger GPS lock.
- Micro JST connectors instead of DF-13.
These are much easier to work with.
- Integrated piezo speaker and safety switch.
- Natively supports 4S batteries with the included PDB.
### Pixhawk Mini vs Pixfalcon
- Improved sensors, both primary and secondary IMU MPU9250 and ICM20608 respectively.
Expect better vibration handling and reliability.
- CAN interface for UAVCAN support.
- Includes 8-channel breakout servo rail for planes and other vehicles requiring powered PWM output.
- Includes I2C breakout board for a total of 5 I2C connections.
- Similar size.
Pixhawk Mini features an advanced processor and sensor technology from ST Microelectronics® and a NuttX real-time operating system, delivering excellent performance, flexibility, and reliability for controlling any autonomous vehicle.
## Known issues
- Some Pixhawk Minis have a [hardware defect](https://github.com/PX4/PX4-Autopilot/issues/7327#issuecomment-317132917) that makes the internal MPU9250 IMU unreliable.
- The problem is only present in older hardware revisions, because [it was fixed at some point by the manufacturer](https://github.com/PX4/PX4-Autopilot/issues/7327#issuecomment-372393609).
- To check whether a specific board is affected or not, leave the board disconnected for some time, then power it on and try to start the mpu9250 driver from the PX4 command line. If the board is affected, the driver will not start.
- The MPU9250 is [disabled by default](https://github.com/PX4/PX4-Autopilot/pull/7618) on the PX4 firmware.
- The defective Pixhawk Minis will not calibrate without an external magnetometer or an attached GPS, even indoor.
- When using an external GPS, [this is not a problem](https://github.com/PX4/PX4-Autopilot/pull/7618#issuecomment-320270082) because the secondary ICM20608 provides the accelerometer and the gyro, while the external GPS provides the magnetometer.
<a id="wiring"></a>
## Wiring Quick Start
:::warning
The _Pixhawk Mini_ is no longer manufactured or available from 3DR.
:::
This quick start guide shows how power the [Pixhawk Mini](../flight_controller/pixhawk_mini.md) and connect its most important peripherals.
### Standard Wiring Chart
The image below shows standard _quadcopter_ wiring using the _Pixhawk Mini Kit_ and 3DR Telemetry Radios (along with ESC, motor, battery and a ground control station running on a phone).
We'll go through each main part in the following sections.
![Pixhawk Mini Electronics Wiring for QAV250 (off frame)](../../assets/airframes/multicopter/lumenier_qav250_pixhawk_mini/qav250_wiring_image_pixhawk_mini.jpg)
:::info
The output wiring/powering is slightly different for other types of vehicles. This is covered in more detail below for VTOL, Plane, Copter.
:::
### 飞控的安装和方向
The _Pixhawk Mini_ 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.
![Pixhawk Mini recommended orientation](../../assets/flight_controller/pixhawk_mini/pixhawk_mini_mounting_arrow.jpg)
![Mounting foam](../../assets/hardware/mounting/3dr_anti_vibration_mounting_foam.png)
:::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 + Compass
Attach the 3DR GPS + Compass to the Pixhawk Mini's **GPS&I2C** port (top right) using the supplied 6 pin cable.
The GPS/Compass should be mounted on the frame as far away from other electronics as possible, facing the front of the vehicle (separating the compass from other electronics will reduce interference).
![Connecting compass/GPS to Pixhawk Mini](../../assets/flight_controller/pixhawk_mini/pixhawk_mini_with_compass.jpg)
NOTE - INSERT IMAGE SHOWING BOTH PORTS? OR FRONT-FACING image of GPS&I2C
The compass must be calibrated before it is first used: [Compass Calibration](../config/compass.md)
### 电源
The image below shows typical power-supply wiring when using _Pixhawk Mini_ in a Quadcopter.
This uses the _Quad Power Distribution Board_ that comes in the kit to supply both the Pixhawk Mini and the ESC/Motor from the battery (and can also power other accessories).
:::info
The _Quad Power Distribution Board_ includes a power module (PM) that is suitable for batteries <= 4S.
The _3DR 10S Power Module_ (Discontinued) is recommended if you need more power.
:::
![Pixhawk Mini - Powering](../../assets/flight_controller/pixhawk_mini/pixhawk_mini_powering_quad_board.jpg)
The _Pixhawk Mini_ is powered through the **PM** port.
When using a power module (as in this case) the port will also read analog voltage and current measurements.
Up to 4 ESCs can be separately powered from the power distribution board (though in this case we only have one connected).
The control signals come from MAIN OUT. In this case there is only one control channel, which is connected to the ESC via the _8 Channel PWM Breakout Board_.
The Pixhawk Mini output rail (MAIN OUT) cannot power attached devices (and does not need to in the circuit as shown).
For vehicles where MAIN OUT is attached to devices that draw power (e.g. a servo used in a plane) then you will need to power the rail using a BEC (battery elimination circuit).
The included breakout board allows one channel to provide power on the other outputs.
### 遥控器
Pixhawk Mini supports many different radio receiver models:
- Spektrum and DSM receivers connect to the **SPKT/DSM** input.
<img src="../../assets/flight_controller/pixhawk_mini/pixhawk_mini_port_spkt_dsm.png" width="350px" title="Pixhawk Mini - Radio port for Spektrum receivers" />
- PPM-SUM and S.BUS receivers connect to the **RCIN** port.
<img src="../../assets/flight_controller/pixhawk_mini/pixhawk_mini_port_rcin.png" width="350px" title="Pixhawk Mini - Radio port for PPM receivers" />
- 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).
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).
### Safety switch (optional)
The controller has an integrated safety switch that you can use for motor activation once the autopilot is ready to take off.
If this switch is hard to access on a particular vehicle you can attach the (optional) external safety button, as shown below.
![Pixhawk Mini - Optional Switch](../../assets/flight_controller/pixhawk_mini/pixhawk_mini_safety_switch_wiring.jpg)
### 数传电台
### 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.
::: infos:
- The output rail must be separately powered, as discussed in the [Power](#power) section above.
- Pixhawk Mini cannot be used for QuadPlane VTOL airframes. This is because QuadPlane requires 9 outputs (4 Main, 5 AUX) and the Pixhawk Mini only has 8 outputs (8 Main).
<img src="../../assets/flight_controller/pixhawk_mini/pixhawk_mini_port_main_out.png" width="350px" title="Pixhawk Mini - port for motors/servos" />
### 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)
## 编译固件
:::tip
Most users will not need to build this firmware!
It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected.
:::
To [build PX4](../dev_setup/building_px4.md) for this target:
```
make px4_fmu-v3_default
```
## 调试接口
This board does not have a debug port (i.e it does not have a port for accessing the [System Console](../debug/system_console.md) or [SWD interface](../debug/swd_debug.md)).
Developers will need to solder wires to the board test pads for SWD, and to the STM32F4 (IC) TX and RX to get a console.
docs/zh/flight_controller/pixhawk_series.md
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# Pixhawk 系列
[Pixhawk<sup>&reg;</sup>](https://pixhawk.org/) is an independent open-hardware project providing readily-available, low-cost, and high-end, _autopilot hardware designs_ to the academic, hobby and industrial communities.
Pixhawk is the reference hardware platform for PX4, and runs PX4 on the [NuttX](https://nuttx.apache.org/) OS.
Manufacturers have created many different boards based on the open designs, with form factors that are optimised for applications from cargo carrying though to first person view (FPV) racers.
:::tip
For computationally intensive tasks (e.g. computer vision) you will need a separate companion computer (e.g. [Raspberry Pi 2/3 Navio2](../flight_controller/raspberry_pi_navio2.md)) or a platform with an integrated companion solution.
:::
## Key Benefits
Key benefits of using a _Pixhawk series_ controller include:
- Software support - as PX4 reference hardware these are our best-maintained boards.
- Flexibility in terms of hardware peripherals that can be attached.
- High quality.
- Highly customizable in terms of form factor.
- Widely-used and thus well-tested/stable.
- Automated update of latest firmware via _QGroundControl_ (end-user friendly).
## 支持的飞控板
The PX4 Project uses [Pixhawk Standard Autopilots](../flight_controller/autopilot_pixhawk_standard.md) as reference hardware.
These are the controllers that are fully compatible with the Pixhawk standard (including use of trademarks) and that are still being manufactured.
:::info
The PX4 maintenance and test teams maintain and support these standard boards.
:::
Pixhawk-like boards that are not fully compliant with the specification may be [manufacturer-supported](../flight_controller/autopilot_manufacturer_supported.md), [experimental/discontinued](../flight_controller/autopilot_experimental.md), or unsupported.
The rest of this topic explains a bit more about the Pixhawk series, but is not required reading.
## Background
The [Pixhawk project](https://pixhawk.org/) creates open hardware designs in the form of schematics, which define a set of components (CPU, sensors, etc.) and their connections/pin mappings.
Manufacturers are encouraged to take the [open designs](https://github.com/pixhawk/Hardware) and create products that are best suited to a particular market or use case (the physical layout/form factor not part of the open specification). Boards based on the same design are binary compatible.
:::info
While a physical connector standard is not mandated, newer products generally follow the [Pixhawk Connector Standard](https://pixhawk.org/pixhawk-connector-standard/).
:::
The project also creates reference autopilot boards based on the open designs, and shares them under the same [licence](#licensing-and-trademarks).
<a id="fmu_versions"></a>
### FMU Versions
The Pixhawk project has created a number of different open designs/schematics.
All boards based on a design should be binary compatible (run the same firmware).
Each design is named using the designation: FMUvX (e.g.: FMUv1, FMUv2, FMUv3, FMUv4, etc.).
Higher FMU numbers indicate that the board is more recent, but may not indicate increased capability (versions can be almost identical - differing only in connector wiring).
PX4 _users_ generally do not need to know very much about FMU versions:
- _QGroundControl_ automatically downloads the correct firmware for a connected autopilot (based on its FMU version "under the hood").
- Choosing a controller is usually based on physical constraints/form factor rather than FMU version.
:::info
The exception is that if you're using FMUv2 firmware it is [limited to 1MB of flash](../flight_controller/silicon_errata.md#fmuv2-pixhawk-silicon-errata).
In order to fit PX4 into this limited space, many modules are disabled by default.
You may find that some [parameters are missing](../advanced_config/parameters.md#missing) and that some hardware does not work "out of the box".
:::
PX4 _developers_ need to know the FMU version of their board, as this is required to build custom hardware.
At very high level, the main differences are:
- **FMUv2:** Single board with STM32427VI processor ([Pixhawk 1 (Discontinued)](../flight_controller/pixhawk.md), [pix32](../flight_controller/holybro_pix32.md), [Pixfalcon](../flight_controller/pixfalcon.md), [Drotek DroPix](../flight_controller/dropix.md))
- **FMUv3:** Identical to FMUv2, but usable flash doubled to 2MB ([Hex Cube Black](../flight_controller/pixhawk-2.md),[CUAV Pixhack v3](../flight_controller/pixhack_v3.md),[mRo Pixhawk](../flight_controller/mro_pixhawk.md), [Pixhawk Mini (Discontinued)](../flight_controller/pixhawk_mini.md))
- **FMUv4:** Increased RAM. Faster CPU. More serial ports. No IO processor ([Pixracer](../flight_controller/pixracer.md))
- **FMUv4-PRO:** Slightly increased RAM. More serial ports. IO processor ([Pixhawk 3 Pro](../flight_controller/pixhawk3_pro.md))
- **FMUv5:** New processor (F7).
Much faster.
More RAM.
More CAN buses.
Much more configurable.
([Pixhawk 4](../flight_controller/pixhawk4.md),[CUAV v5](../flight_controller/cuav_v5.md),[CUAV V5+](../flight_controller/cuav_v5_plus.md),[CUAV V5 nano](../flight_controller/cuav_v5_nano.md))
- **FMUv5X:** New processor (F7).
Much faster, Modular design.
More reliable.
More Redundancy.
More RAM (1MB).
More CAN buses.
Much more configurable & customizable.
([Pixhawk 5X](../flight_controller/pixhawk5x.md), Skynode)
- **FMUv6C:**
([Holybro Pixhawk 6C Mini](../flight_controller/pixhawk6c_mini.md), [Holybro Pixhawk 6C](../flight_controller/pixhawk6c.md))
- **FMUv6X:**
([CUAV Pixhawk V6X](../flight_controller/cuav_pixhawk_v6x.md),[Holybro Pixhawk 6X](../flight_controller/pixhawk6x.md))
- **FMUv6X-RT:** Faster MCU core (1GHz) (vs 480Mhz on 6X).
More RAM (2Mb).
More flash (64Mb) (2Mb on v6X/v5X).
([Holybro Pixhawk 6X-RT](../flight_controller/pixhawk6x-rt.md))
<a id="licensing-and-trademarks"></a>
### Licensing and Trademarks
Pixhawk project schematics and reference designs are licensed under [CC BY-SA 3](https://creativecommons.org/licenses/by-sa/3.0/legalcode).
The license allows you to use, sell, share, modify and build on the files in almost any way you like - provided that you give credit/attribution, and that you share any changes that you make under the same open source license (see the [human readable version of the license](https://creativecommons.org/licenses/by-sa/3.0/) for a concise summary of the rights and obligations).
:::info
Boards that are _derived directly_ from Pixhawk project schematic files (or reference boards) must be open sourced.
They can't be commercially licensed as proprietary products.
:::
Manufacturers can create (compatible) _fully independent products_ by first generating fresh schematic files that have the same pin mapping/components as the FMU designs.
Products that are based on independently created schematics are considered original works, and can be licensed as required.
Product names/brands can also be trademarked.
Trademarked names may not be used without the permission of the owner.
:::tip
_Pixhawk_ is a trademark, and cannot be used in product names without permission.
:::
## 附加信息
### LEDs
All _Pixhawk-series_ flight controllers support:
- A user facing RGB _UI LED_ to indicate the current _readiness to fly_ status of the vehicle. This is typically a superbright I2C peripheral, which may or may not be mounted on the board (i.e. FMUv4 does not have one on board and typically uses an LED mounted on the GPS).
- Three _Status LED_s that provide lower level power status, bootloader mode and activity, and error information.
To interpret the LEDs see: [LED Meanings](../getting_started/led_meanings.md).
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# mRo Pixracer
:::warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://store.mrobotics.io/) for hardware support or compliance issues.
:::
The Pixhawk<sup>&reg;</sup> XRacer board family is optimized for small racing quads and planes.
In contrast to [Pixfalcon](../flight_controller/pixfalcon.md) and [Pixhawk](../flight_controller/pixhawk.md) it has in-built WiFi, new sensors, convenient full servo headers, CAN and supports 2M flash.
<img src="../../assets/flight_controller/pixracer/pixracer_hero_grey.jpg" width="300px" title="pixracer + 8266 grey" />
:::tip
This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md) by the PX4 maintenance and test teams.
:::
## 主要特性
- Main System-on-Chip: [STM32F427VIT6 rev.3](http://www.st.com/web/en/catalog/mmc/FM141/SC1169/SS1577/LN1789)
- CPU: 180 MHz ARM Cortex<sup>&reg;</sup> M4 with single-precision FPU
- RAM: 256 KB SRAM (L1)
- Standard FPV form factor: 36x36 mm with standard 30.5 mm hole pattern
- Invensense<sup>&reg;</sup> ICM-20608 Accel / Gyro (4 KHz) / MPU9250 Accel / Gyro / Mag (4 KHz)
- HMC5983 magnetometer with temperature compensation
- Measurement Specialties MS5611 barometer
- JST GH connectors
- microSD (logging)
- Futaba S.BUS and S.BUS2 / Spektrum DSM2 and DSMX / Graupner SUMD / PPM input / Yuneec ST24
- FrSky<sup>&reg;</sup> telemetry port
- OneShot PWM out (configurable)
- Optional: Safety switch and buzzer
## 购买渠道
Pixracer is available from the [mRobotics.io](https://store.mrobotics.io/mRo-PixRacer-R15-Official-p/m10023a.htm).
Accessories include:
- [Digital airspeed sensor](https://hobbyking.com/en_us/hkpilot-32-digital-air-speed-sensor-and-pitot-tube-set.html)
- [Hobbyking<sup>&reg;</sup> OSD + EU Telemetry (433 MHz)](https://hobbyking.com/en_us/micro-hkpilot-telemetry-radio-module-with-on-screen-display-osd-unit-433mhz.html)
## Kit
The Pixracer is designed to use a separate avionics power supply. This is necessary to avoid current surges from motors or ESCs to flow back to the flight controller and disturb its delicate sensors.
- Power module (with voltage and current sensing)
- I2C splitter (supporting AUAV, Hobbyking and 3DR<sup>&reg;</sup> peripherals)
- Cable kit for all common peripherals
## Wifi (no USB required)
One of the main features of the board is its ability to use Wifi for flashing new firmware, system setup and in-flight telemetry.
This frees it of the need of any desktop system.
- [ESP8266 Wifi](../telemetry/esp8266_wifi_module.md)
- [Custom ESP8266 MAVLink firmware](https://github.com/dogmaphobic/mavesp8266)
:::info
Firmware upgrade is not yet enabled over WiFi (it is supported by the default bootloader but not yet enabled).
Setup and telemetry are supported.
:::
## 组装
See the [Pixracer Wiring Quickstart](../assembly/quick_start_pixracer.md)
## Wiring Diagrams
![Grau setup pixracer top](../../assets/flight_controller/pixracer/grau_setup_pixracer_top.jpg)
:::info
If using `TELEM2` for an external telemetry module you will need to configure it as a MAVLink serial port.
For more information see: [Pixracer Wiring Quickstart > External Telemetry](../assembly/quick_start_pixracer.md#external-telemetry)
:::
![Grau setup pixracer bottom](../../assets/flight_controller/pixracer/grau_setup_pixracer_bottom.jpg)
![setup pixracer GPS](../../assets/flight_controller/pixracer/grau_setup_pixracer_gps.jpg)
![Grau b Pixracer FrSkyS.Port Connection](../../assets/flight_controller/pixracer/grau_b_pixracer_frskys.port_connection.jpg)
![Grau ACSP4 2 roh](../../assets/flight_controller/pixracer/grau_acsp4_2_roh.jpg)
![Grau ACSP5 roh](../../assets/flight_controller/pixracer/grau_acsp5_roh.jpg)
## 连接器
All connectors follow the [Pixhawk connector standard](https://pixhawk.org/pixhawk-connector-standard/).
Unless noted otherwise all connectors are JST GH.
## 针脚定义
![Pixracer top pinouts](../../assets/flight_controller/pixracer/pixracer_r09_top_pinouts.jpg)
![Pixracer bottom pinouts](../../assets/flight_controller/pixracer/pixracer_r09_bot_pinouts.jpg)
![Pixracer esp](../../assets/flight_controller/pixracer/pixracer_r09_esp_01.jpg)
#### TELEM1, TELEM2+OSD ports
| 针脚 | 信号 | 电压 |
| ---- | ---------------------------- | --------------------- |
| 1（红） | VCC | +5V |
| 2 | TX (OUT) | +3.3V |
| 3 | RX (IN) | +3.3V |
| 4（黑） | CTS (IN) | +3.3V |
| 6 | RTS (OUT) | +3.3V |
| 6 | GND | GND |
#### GPS 接口
| 针脚 | 信号 | 电压 |
| ---- | --------------------------- | --------------------- |
| 1（红） | VCC | +5V |
| 2 | TX (OUT) | +3.3V |
| 3 | RX (IN) | +3.3V |
| 4（黑） | I2C1 SCL | +3.3V |
| 6 | I2C1 SDA | +3.3V |
| 6 | GND | GND |
#### FrSky Telemetry / SERIAL4
| 针脚 | 信号 | 电压 |
| ---- | --------------------------- | --------------------- |
| 1（红） | VCC | +5V |
| 2 | TX (OUT) | +3.3V |
| 3 | RX (IN) | +3.3V |
| 4（黑） | GND | GND |
#### RC Input (accepts PPM / S.BUS / Spektrum / SUMD / ST24)
| 针脚 | 信号 | 电压 |
| ---- | ------- | --------------------- |
| 1（红） | VCC | +5V |
| 2 | RC IN | +3.3V |
| 3 | RSSI IN | +3.3V |
| 4（黑） | VDD 3V3 | +3.3V |
| 6 | GND | GND |
#### CAN
| 针脚 | 信号 | 电压 |
| ---- | -------------------------- | ---- |
| 1（红） | VCC | +5V |
| 2 | CAN_H | +12V |
| 3 | CAN_L | +12V |
| 4（黑） | GND | GND |
#### POWER
| 针脚 | 信号 | 电压 |
| ---- | --- | --------------------- |
| 1（红） | VCC | +5V |
| 2 | VCC | +5V |
| 3 | 电流 | +3.3V |
| 4（黑） | 电压 | +3.3V |
| 6 | GND | GND |
| 6 | GND | GND |
#### SWITCH
| 针脚 | 信号 | 电压 |
| ---- | -------------------------------------------------------- | --------------------- |
| 1（红） | SAFETY | GND |
| 2 | !IO_LED_SAFETY | GND |
| 3 | VCC | +3.3V |
| 4（黑） | BUZZER- | - |
| 6 | BUZZER+ | - |
#### 调试接口
The pinouts and connector comply with the [Pixhawk Debug Mini](../debug/swd_debug.md#pixhawk-debug-mini) interface defined in the [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf) (JST SM06B connector).
| 针脚 | 信号 | 电压 |
| ---- | ---------------- | --------------------- |
| 1（红） | VCC TARGET SHIFT | +3.3V |
| 2 | UART7 Tx | +3.3V |
| 3 | UART7 Rx | +3.3V |
| 4（黑） | SWDIO | +3.3V |
| 6 | SWCLK | +3.3V |
| 6 | GND | GND |
For information about using this port see:
- [SWD Debug Port](../debug/swd_debug.md)
- [PX4 System Console](../debug/system_console.md) (Note, the FMU console maps to UART7).
## 串口映射
| UART | 设备 | Port |
| ------ | ---------- | ---------------------------------------- |
| UART1 | /dev/ttyS0 | WiFi (ESP8266) |
| USART2 | /dev/ttyS1 | TELEM1 (flow control) |
| USART3 | /dev/ttyS2 | TELEM2 (flow control) |
| UART4 | | |
| UART7 | CONSOLE | |
| UART8 | SERIAL4 | |
<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
## 原理图
The reference is provided as: [Altium Design Files](https://github.com/AUAV-OpenSource/FMUv4-PixRacer)
The following PDF files are provided for _convenience only_:
- [pixracer-rc12-12-06-2015-1330.pdf](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/pixracer/pixracer-rc12-12-06-2015-1330.pdf)
- [pixracer-r14.pdf](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/pixracer/pixracer-r14.pdf) - R14 or RC14 is printed next to the SDCard socket
## 编译固件
:::tip
Most users will not need to build this firmware!
It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected.
:::
To [build PX4](../dev_setup/building_px4.md) for this target:
```
make px4_fmu-v4_default
```
## 配置
[Compass calibration](../config/compass.md) should be done with USB disconnected.
This is always recommended, but is necessary on Pixracer because the USB connection produces particularly large levels of magnetic interference.
Configuration is otherwise the same as for other boards.
## Credits
This design was created by Nick Arsov and Phillip Kocmoud and architected by Lorenz Meier, David Sidrane and Leonard Hall.
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# RaccoonLab FMUv6X Autopilot
:::warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://raccoonlab.co) for hardware support or compliance issues.
:::
The [RaccoonLab FMUv6X](https://docs.raccoonlab.co/guide/autopilot/RCLv6X.html) flight controller is based on the following Pixhawk​® standards: [Pixhawk Autopilot FMUv6X Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-012%20Pixhawk%20Autopilot%20v6X%20Standard.pdf), [Autopilot Bus Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-010%20Pixhawk%20Autopilot%20Bus%20Standard.pdf), and [Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf).
Equipped with a high-performance H7 Processor, modular design, triple redundancy, temperature-controlled IMU board, and isolated sensor domains, it delivers exceptional performance, reliability, and flexibility.
At RaccoonLab, we focus on DroneCAN and Cyphal-based onboard control system buses.
Our autopilot is part of a larger DroneCAN and Cyphal ecosystem, making it an ideal choice for next-generation intelligent vehicles.
![RaccoonLab FMUv6X](../../assets/flight_controller/raccoonlab/fmuv6x.png)
RaccoonLab offers versatile HATs for both Raspberry Pi and NVIDIA Jetson Xavier NX, enhancing connectivity and functionality.
The [Jetson Xavier NX HAT](https://docs.raccoonlab.co/guide/nx_hat/) is designed to integrate the CAN bus with the Jetson Xavier NX, enabling access to Cyphal and DroneCAN protocols.
The [Raspberry Pi CM4 HAT](https://docs.raccoonlab.co/guide/rpi_hat/) provides robust features, including CAN bus connectivity, an LTE modem, internal voltage measurement, SWD debugging for other MCUs, and UART communication with PX4 over MAVLINK.
These HATs expand the capabilities of devices, making them ideal for advanced robotics and UAV applications.
:::tip
This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md) by the PX4 maintenance and test teams.
:::
## Key Design Points
- High performance STM32H753 Processor
- Modular flight controller: separated IMU, FMU, and Base system connected by a 100-pin & a 50-pin Pixhawk Autopilot Bus connector.
- Redundancy: 3x IMU sensors & 2x Barometer sensors on separate buses
- Triple redundancy domains: Completely isolated sensor domains with separate buses and separate power control
- Newly designed vibration isolation system to filter out high frequency vibration and reduce noise to ensure accurate readings
- Ethernet interface for high-speed mission computer integration
## Processors & Sensors
- FMU Processor: STM32H753
- 32 Bit Arm Cortex-M7, 480MHz, 2MB flash memory, 1MB RAM
- IO 处理器：STM32F100
- 32 Bit Arm Cortex-M3, 24MHz, 8KB SRAM
- On-board sensors
- Accel/Gyro: ICM-20649 or BMI088
- Accel/Gyro: ICM-42688-P
- Accel/Gyro: ICM-42670-P
- Mag: BMM150
- Barometer: 2x BMP388
## Electrical data
- Voltage Ratings:
- Max input voltage: 36V
- USB Power Input: 4.75\~5.25V
- Servo Rail Input: 0\~36V
- Current Ratings:
- `TELEM1` output current limiter: 1.5A
- All other port combined output current limiter: 1.5A
## Mechanical data
- 尺寸
- Flight Controller Module: 38.8 x 31.8 x 14.6mm
- Standard Baseboard: 52.4 x 103.4 x 16.7mm
- Mini Baseboard: 43.4 x 72.8 x 14.2 mm
- 重量
- Flight Controller Module: 23g
- Standard Baseboard: 51g
- Mini Baseboard: 26.5g
3D model can be downloaded on [GrabCAD](https://grabcad.com/library/raccoonlab-autopilot-1).
![RaccoonLab FMUv6X drawings](../../assets/flight_controller/raccoonlab/fmuv6x-drw.png)
## 接口
- 16- PWM servo outputs
- R/C input for Spektrum / DSM
- Dedicated R/C input for PPM and S.Bus input
- Dedicated analog / PWM RSSI input and S.Bus output
- 4个通用串行口
- 3 with full flow control
- 1 with separate 1.5A current limit (`TELEM1`)
- 1 with I2C and additional GPIO line for external NFC reader
- 2 GPS ports
- 1 full GPS plus Safety Switch Port
- 1 basic GPS port
- 1 I2C port
- 1 Ethernet port
- Transformerless Applications
- 100Mbps
- 1 SPI bus
- 2 chip select lines
- 2 data-ready lines
- 1 SPI SYNC line
- 1 SPI reset line
- 2 CAN Buses for CAN peripheral
- CAN Bus has individual silent controls or ESC RX-MUX control
- 2 Power input ports with SMBus
- 1 AD & IO port
- 2 个模拟输入接口
- 1 PWM/Capture input
- 2 Dedicated debug and GPIO lines
## 串口映射
| UART | 设备 | Port |
| ------ | ---------- | ------------------------------- |
| USART1 | /dev/ttyS0 | GPS |
| USART2 | /dev/ttyS1 | TELEM3 |
| USART3 | /dev/ttyS2 | Debug Console |
| UART4 | /dev/ttyS3 | UART4 & I2C |
| UART5 | /dev/ttyS4 | TELEM2 |
| USART6 | /dev/ttyS5 | PX4IO/RC |
| UART7 | /dev/ttyS6 | TELEM1 |
| UART8 | /dev/ttyS7 | GPS2 |
## 额定电压
_RaccoonLab FMUv6X_ can be triple-redundant on the power supply if three power sources are supplied.
The three power rails are: **POWER1**, **POWER2** and **USB**.
The **POWER1** & **POWER2** ports on the RaccoonLab FMUv6X 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).
**Normal Operation Maximum Ratings**
Under these conditions all power sources will be used in this order to power the system:
1. **POWER1** and **POWER2** inputs (4.9V to 5.5V)
2. **USB** input (4.75V to 5.25V)
:::tip
The manufacturer [RaccoonLab Docs](https://docs.raccoonlab.co/guide/autopilot/RCLv6X.html) are the canonical reference for the RaccoonLab FMUv6X Autopilot.
They should be used by preference as they contain the most complete and up to date information.
:::
## 购买渠道
[RaccoonLab Store](https://raccoonlab.co/store)
[Cyphal store](https://cyphal.store)
## 编译固件
:::tip
Most users will not need to build this firmware!
It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected.
:::
To [build PX4](../dev_setup/building_px4.md) for this target:
```sh
make px4_fmu-v6x_default
```
## 支持的平台/机身
Any multicopter / airplane / rover or boat that can be controlled with normal RC servos or Futaba S-Bus servos.
The complete set of supported configurations can be seen in the [Airframes Reference](../airframes/airframe_reference.md).
## 更多信息
- [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)
- [RaccoonLab docs](http://docs.raccoonlab.co)
docs/zh/flight_controller/raspberry_pi_navio2.md
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# Raspberry Pi 2/3/4 Navio2 Autopilot
<LinkedBadge type="warning" text="Experimental" url="../flight_controller/autopilot_experimental.html"/>
:::warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://emlid.com/) for hardware support or compliance issues.
:::
This is the developer "quickstart" for Raspberry Pi 2/3/4 Navio2 autopilots.
It allows you to build PX4 and transfer to the RPi, or build natively.
![Ra Pi Image](../../assets/hardware/hardware-rpi2.jpg)
## 操作系统映像
Use the preconfigured [Emlid Raspberry Pi OS image for Navio 2](https://docs.emlid.com/navio2/configuring-raspberry-pi).
The default image will have most of the setup procedures shown below already done.
:::warning
Make sure not to upgrade the system (more specifically the kernel).
By upgrading, a new kernel can get installed which lacks the necessary HW support (you can check with `ls /sys/class/pwm`, the directory should not be empty).
:::
## Setting up Access
The Raspberry Pi OS image has SSH setup already.
Username is "pi" and password is "raspberry".
We assume that the username and password remain at their defaults for the purpose of this guide.
To setup the Pi to join your local wifi, follow [this guide](https://www.raspberrypi.org/documentation/configuration/wireless/wireless-cli.md), or connect it via an ethernet cable.
To connect to your Pi via SSH, use the default username (`pi`) and hostname (`navio`).
Alternatively (if this doesn't work), you can find the IP address of your RPi and specify it.
```sh
ssh pi@navio.local
```
或
```sh
ssh pi@<IP-ADDRESS>
```
## Expand the Filesystem
Expand the file system to take advantage of the entire SD card by running:
```sh
sudo raspi-config --expand-rootfs
```
## Disable Navio RGB Overlay
The existing Navio RGB overlay claims GPIOs used by PX4 for RGB Led.
Edit `/boot/config.txt` by commenting the line enabling the `navio-rgb` overlay.
```
#dtoverlay=navio-rgb
```
## Testing file transfer
We use SCP to transfer files from the development computer to the target board over a network (WiFi or Ethernet).
To test your setup, try pushing a file from the development PC to the Pi over the network now.
Make sure the Pi has network access, and you can SSH into it.
```sh
echo "Hello" > hello.txt
scp hello.txt pi@navio.local:/home/pi/
rm hello.txt
```
This should copy over a "hello.txt" file into the home folder of your Pi.
Validate that the file was indeed copied, and you can proceed to the next step.
## PX4 Development Environment
These instructions explain how to install a PX4 development environment for building RPi on Ubuntu 18.04.
:::warning
PX4 binaries for Navio 2 can only be run on Ubuntu 18.04.
You can build PX4 using the GCC toolchain on Ubuntu 20.04, but the generated binary files are too new to run on actual Pi (as of September 2023).
For more information see [PilotPi with Raspberry Pi OS Developer Quick Start > Alternative build method using docker](../flight_controller/raspberry_pi_pilotpi_rpios.md#alternative-build-method-using-docker).
:::
### Install the Common Dependencies
To get the common dependencies for Raspberry Pi:
1. Download [ubuntu.sh](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/setup/ubuntu.sh) <!-- NEED px4_version --> and [requirements.txt](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/setup/requirements.txt) from the PX4 source repository (**/Tools/setup/**): <!-- NEED px4_version -->
```sh
wget https://raw.githubusercontent.com/PX4/PX4-Autopilot/main/Tools/setup/ubuntu.sh
wget https://raw.githubusercontent.com/PX4/PX4-Autopilot/main/Tools/setup/requirements.txt
```
2. Run **ubuntu.sh** in a terminal to get just the common dependencies:
```sh
bash ubuntu.sh --no-nuttx --no-sim-tools
```
3. Then setup a cross-compiler (either GCC or clang) as described in the following sections.
### GCC (armhf)
Ubuntu software repository provides a set of pre-compiled toolchains. Note that Ubuntu Focal comes up with `gcc-9-arm-linux-gnueabihf` as its default installation which is not fully supported, so we must manually install `gcc-8-arm-linux-gnueabihf` and set it as the default toolchain. This guide also applies to earlier Ubuntu releases (Bionic).
The following instruction assumes you haven't installed any version of arm-linux-gnueabihf, and will set up the default executable with `update-alternatives`.
Install them with the terminal command:
```sh
sudo apt-get install -y gcc-8-arm-linux-gnueabihf g++-8-arm-linux-gnueabihf
```
Set them as default:
```sh
sudo update-alternatives --install /usr/bin/arm-linux-gnueabihf-gcc arm-linux-gnueabihf-gcc /usr/bin/arm-linux-gnueabihf-gcc-8 100 --slave /usr/bin/arm-linux-gnueabihf-g++ arm-linux-gnueabihf-g++ /usr/bin/arm-linux-gnueabihf-g++-8
sudo update-alternatives --config arm-linux-gnueabihf-gcc
```
### GCC (aarch64)
If you want to build PX4 for ARM64 devices, this section is required.
```sh
sudo apt-get install -y gcc-8-aarch64-linux-gnu g++-8-aarch64-linux-gnu
sudo update-alternatives --install /usr/bin/aarch64-linux-gnu-gcc aarch64-linux-gnu-gcc /usr/bin/aarch64-linux-gnu-gcc-8 100 --slave /usr/bin/aarch64-linux-gnu-g++ aarch64-linux-gnu-g++ /usr/bin/aarch64-linux-gnu-g++-8
sudo update-alternatives --config aarch64-linux-gnu-gcc
```
### Clang (optional)
First install GCC (needed to use clang).
We recommend you to get clang from the Ubuntu software repository, as shown below:
```sh
sudo apt-get install clang
```
Example below for building PX4 firmware out of tree, using _CMake_.
```sh
cd <PATH-TO-PX4-SRC>
mkdir build/px4_raspberrypi_default_clang
cd build/px4_raspberrypi_default_clang
cmake \
-G"Unix Makefiles" \
-DCONFIG=px4_raspberrypi_default \
-UCMAKE_C_COMPILER \
-DCMAKE_C_COMPILER=clang \
-UCMAKE_CXX_COMPILER \
-DCMAKE_CXX_COMPILER=clang++ \
../..
make
```
## 构建代码
Specify the IP (or hostname) of your Pi using:
```sh
export AUTOPILOT_HOST=navio.local
```
或
```sh
export AUTOPILOT_HOST=192.168.X.X
```
:::info
The value of the environment variable should be set before the build, or `make upload` will fail to find your Pi.
:::
Build the executable file on your development machine:
```sh
cd PX4-Autopilot
make emlid_navio2
```
The "px4" executable file is in the directory **build/emlid_navio2_default/**.
Make sure you can connect to your Pi over SSH, see [instructions how to access your Pi](#setting-up-access) following the instructions for armhf under Raspberry Pi.
Then upload it with:
```sh
cd PX4-Autopilot
make emlid_navio2 upload
```
Then, connect over ssh and run it on the Pi (as root):
```sh
cd ~/px4
sudo ./bin/px4 -s px4.config
```
A successful build followed by executing PX4 will give you something like this:
```sh
______ __ __ ___
| ___ \ \ \ / / / |
| |_/ / \ V / / /| |
| __/ / \ / /_| |
| | / /^\ \ \___ |
\_| \/ \/ |_/
px4 starting.
pxh>
```
## Autostart
To autostart px4, add the following to the file **/etc/rc.local** (adjust it accordingly if you use native build), right before the `exit 0` line:
```sh
cd /home/pi && ./bin/px4 -d -s px4.config > px4.log
```
docs/zh/flight_controller/raspberry_pi_pilotpi.md
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# 树莓派 PilotPi 拓展板
<LinkedBadge type="warning" text="Experimental" url="../flight_controller/autopilot_experimental.html"/>
:::warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](mailto:lhf2613@gmail.com) for hardware support or compliance issues.
:::
The _PilotPi_ shield is a fully functional solution to run PX4 autopilot directly on Raspberry Pi.
It is designed to be a low-cost but highly scalability platform with continuous updates from both Linux and PX4 sides.
No proprietary driver is required, as all components have upstream support from RPi and PX4 community.
PCB and schematic are open source as well.
![PilotPi with RPi 4B](../../assets/flight_controller/pilotpi/hardware-pilotpi4b.png)
## 总览
- 支持的树莓派：
- 树莓派 2B/3B/3B+/4B
- 支持的操作系统：
- Raspberry Pi OS
- Ubuntu Server (armhf/arm64)
- 加速度计/角速度计：
- ICM42688P
- 磁力计：
- IST8310
- 气压计：
- MS5611
- PWM：
- PCA9685
- ADC：
- ADS1115
- 电源：
- 3~6S 电池 具有内置电压监测
- 通过USB线启动树莓派
- Availability: _preparing for shipping_
## 连接
Shield provides:
- 16 x PWM 输出通道
- GPS 连接器
- 数传连接器
- External I2C bus connector (**Note:** conflicts with CSI camera)
- 遥控输入口（SBUS 协议）
- 3 x 0~5V ADC 通道
- 2\*8 2.54mm 排插，引出未使用的 GPIO
Direct accessible from RPi:
- 4x USB 连接器
- CSI connector(**Note:** conflict with external I2C bus)
- 其它
## 推荐接线
![PilotPi PowerPart wiring](../../assets/flight_controller/pilotpi/pilotpi_pwr_wiring.png)
![PilotPi SensorPart wiring](../../assets/flight_controller/pilotpi/pilotpi_sens_wiring.png)
## 针脚定义
:::warning
It still uses old GH1.25 connectors.
Wiring is compatible with Pixhawk 2.4.8
:::
### 连接器
#### GPS 连接器
Mapped to `/dev/ttySC0`
| 针脚 | 信号 | 电压 |
| -- | --- | ---- |
| 1 | VCC | +5V |
| 2 | TX | +3v3 |
| 3 | RX | +3v3 |
| 4 | NC | +3v3 |
| 5 | NC | +3v3 |
| 6 | GND | GND |
#### 数传连接器
Mapped to `/dev/ttySC1`
| 针脚 | 信号 | 电压 |
| -- | -------------------- | ---- |
| 1 | VCC | +5V |
| 2 | TX | +3v3 |
| 3 | RX | +3v3 |
| 4 | CTS | +3v3 |
| 5 | RTS: | +3v3 |
| 6 | GND | GND |
#### 外部 I2C 总线连接器
Mapped to `/dev/i2c-0`
| 针脚 | 信号 | 电压 |
| -- | --- | --------------------------- |
| 1 | VCC | +5V |
| 2 | SCL | +3v3(上拉) |
| 3 | SDA | +3v3(上拉) |
| 4 | GND | GND |
#### RC & ADC2/3/4
RC is mapped to `/dev/ttyAMA0` with signal inverter switch on RX line.
| 针脚 | 信号 | 电压 |
| -- | --- | ------------------------ |
| 1 | RC | +3V3~+5V |
| 2 | VCC | +5V |
| 3 | GND | GND |
- ADC1 内部连接到分压电路以监测电池电压。
- ADC2 空闲。
- ADC3 可以连接模拟量空速计。
- ADC4 在 ADC 和 VCC 之间有一个跳线帽，监测系统电压。
| 针脚 | 信号 | 电压 |
| -- | ---- | ---------------------- |
| 1 | ADCx | 0V~+5V |
| 2 | VCC | +5V |
| 3 | GND | GND |
:::info
ADC3 & 4 have an alternative VCC source
When 'Vref' switch is on, 'VCC' pin is driven by REF5050.
:::
#### 拓展板顶部引出的未使用的GPIO
| 拓展板Pin | BCM号 | WiringPi号 | 树莓派Pin |
| ------ | ---- | --------- | ------ |
| 1 | 3V3 | 3v3 | 3V3 |
| 2 | 5V | 5V | 5V |
| 3 | 4 | 7 | 7 |
| 4 | 14 | 15 | 8 |
| 5 | 17 | 0 | 11 |
| 6 | 27 | 2 | 13 |
| 7 | 22 | 3 | 15 |
| 8 | 23 | 4 | 16 |
| 9 | 7 | 11 | 26 |
| 10 | 5 | 21 | 29 |
| 11 | 6 | 22 | 31 |
| 12 | 12 | 26 | 32 |
| 13 | 13 | 23 | 33 |
| 14 | 16 | 27 | 36 |
| 15 | 26 | 25 | 37 |
| 16 | GND | GND | GND |
### 开关
#### 遥控信号反相器
This switch will decide the signal polarity of RX line: `UART_RX = SW xor RC_INPUT`
- 开启：适合SBUS(反转信号)
- 关闭：保留
#### 参考压
ADC 3 & 4 will have VCC driven by:
- 开启开关时：由REF5050驱动
- 关闭开关时：从树莓派5V取电
#### 启动模式
This switch is connected to Pin22(BCM25).
System rc script will check its value and decide whether PX4 should start alongside with system booting or not.
- 开启：开机自启 PX4
- 关闭：不启动 PX4
## 开发者快速指南
Refer to specific instructions for the OS running on your RPi:
- [Raspberry Pi OS Lite (armhf)](raspberry_pi_pilotpi_rpios.md)
- [Ubuntu Server (arm64 & armhf)](raspberry_pi_pilotpi_ubuntu_server.md)
docs/zh/flight_controller/raspberry_pi_pilotpi_rpios.md
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# 在 Raspberry Pi OS 上使用 PilotPi
## 开发者快速指南
### 操作系统映像
The latest official [Raspberry Pi OS Lite](https://downloads.raspberrypi.org/raspios_lite_armhf_latest) image is always recommended.
默认你已经通过ssh连接到了树莓派。
### 设置快速访问(可选)
#### 主机名和 mDNS
mDNS helps you connect to your RPi with hostname instead of IP address.
```sh
sudo raspi-config
```
Navigate to **Network Options > Hostname**.
设置并退出。
You may want to setup [passwordless auth](https://www.raspberrypi.org/documentation/remote-access/ssh/passwordless.md) as well.
### 配置操作系统
#### config.txt
```sh
sudo nano /boot/config.txt
```
将文件内容替换为：
```sh
# enable sc16is752 overlay
dtoverlay=sc16is752-spi1
# enable I2C-1 and set the frequency to 400KHz
dtparam=i2c_arm=on,i2c_arm_baudrate=400000
# enable spidev0.0
dtparam=spi=on
# enable RC input
enable_uart=1
# enable I2C-0
dtparam=i2c_vc=on
# switch Bluetooth to miniuart
dtoverlay=miniuart-bt
```
#### cmdline.txt
```sh
sudo raspi-config
```
**Interfacing Options > Serial > login shell = No > hardware = Yes**.
启用 UART 但禁用登陆shell。
```sh
sudo nano /boot/cmdline.txt
```
Append `isolcpus=2` after the last word.
整个文件将是：
```sh
console=tty1 root=PARTUUID=xxxxxxxx-xx rootfstype=ext4 elevator=deadline fsck.repair=yes rootwait isolcpus=2
```
这告诉 Linux 内核不要在 CPU 核心2 上调度任何进程。
我们将在稍后手动在该核心运行 PX4。
Reboot and SSH onto your RPi.
检查串口：
```sh
ls /dev/tty*
```
There should be `/dev/ttyAMA0`, `/dev/ttySC0` and `/dev/ttySC1`.
检查 I2C：
```sh
ls /dev/i2c*
```
There should be `/dev/i2c-0` and `/dev/i2c-1`
检查SPI：
```sh
ls /dev/spidev*
```
There should be `/dev/spidev0.0`.
#### rc.local
In this section we will configure the auto-start script in **rc.local**.
```sh
sudo nano /etc/rc.local
```
Append below content to the file above `exit 0`:
```sh
echo "25" > /sys/class/gpio/export
echo "in" > /sys/class/gpio/gpio25/direction
if [ $(cat /sys/class/gpio/gpio25/value) -eq 1 ] ; then
echo "Launching PX4"
cd /home/pi/px4 ; nohup taskset -c 2 ./bin/px4 -d -s pilotpi_mc.config 2 &> 1 > /home/pi/px4/px4.log &
fi
echo "25" > /sys/class/gpio/unexport
```
保存并退出。
:::info
Don't forget to turn off the switch when it is not needed.
:::
#### CSI 相机
:::info
Enable CSI camera will stop anything works on I2C-0.
:::
```sh
sudo raspi-config
```
**Interfacing Options > Camera**
### 构建代码
To get the _very latest_ version onto your computer, enter the following command into a terminal:
```sh
git clone https://github.com/PX4/PX4-Autopilot.git --recursive
```
:::info
This is all you need to do just to build the latest code.
:::
#### 为 Raspberry Pi OS 交叉编译
然后上传：
```sh
export AUTOPILOT_HOST=192.168.X.X
```
或
```sh
export AUTOPILOT_HOST=pi_hostname.local
```
PX4 已配置使用多旋翼模型启动。
```sh
cd PX4-Autopilot
make scumaker_pilotpi_default
```
Then upload it with:
```sh
make scumaker_pilotpi_default upload
```
这时应当使用基于 Docker 的编译。
```sh
cd px4
sudo taskset -c 2 ./bin/px4 -s pilotpi_mc.config
```
在执行下一步之前，先清除现有构建目录：
If you encountered the similar problem executing `bin/px4` on your Pi as following:
```
bin/px4: /lib/xxxx/xxxx: version `GLIBC_2.29' not found (required by bin/px4)
```
如果您是首次使用 Docker 进行编译，请参考<a href="https://dev.px4.io/master/en/test_and_ci/docker.html#prerequisites">官方说明</a>。
在 PX4-Autopilot 文件夹下执行：
```sh
rm -rf build/scumaker_pilotpi_default
```
### 备选构建方法 (使用 docker)
只是为了编译代码，则可以执行：
If you are compiling for the first time with docker, please refer to the [official docs](../test_and_ci/docker.md#prerequisites).
混控器在 <code>pilotpi_xx.conf</code> 文件中启用：
```sh
./Tools/docker_run.sh "export AUTOPILOT_HOST=192.168.X.X; export NO_NINJA_BUILD=1; make scumaker_pilotpi_default upload"
```
:::info
mDNS is not supported within docker. 您也可以自己创建一个。
:::
:::info
If your IDE doesn't support ninja build, `NO_NINJA_BUILD=1` option will help.
You can compile without uploading too. Just remove `upload` target.
:::
It is also possible to just compile the code with command:
```sh
./Tools/docker_run.sh "make scumaker_pilotpi_default"
```
### 后期配置
示例输出
#### Actuator Configuration
First set the [CA_AIRFRAME](../advanced_config/parameter_reference.md#CA_AIRFRAME) parameter for your vehicle.
You will then be able to assign outputs using the normal [Actuator Configuration](../config/actuators.md) configuration screen (an output tab will appear for the RPi PWM output driver).
#### External Compass
In the startup script(`*.config`), you will find
```sh
# external GPS & compass
gps start -d /dev/ttySC0 -i uart -p ubx -s
#hmc5883 start -X
#ist8310 start -X
```
Uncomment the correct one for your case.
Not sure which compass comes up with your GPS module? Execute the following commands and see the output:
```sh
sudo apt-get update
sudo apt-get install i2c-tools
i2cdetect -y 0
```
Sample output:
```
0 1 2 3 4 5 6 7 8 9 a b c d e f
00: -- -- -- -- -- -- -- -- -- -- -- 0e --
10: -- -- -- -- -- -- -- -- -- -- -- -- -- -- 1e --
20: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
30: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
40: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
60: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
70: -- -- -- -- -- -- -- --
```
`1e` indicates a HMC5883 based compass is mounted on external I2C bus. Similarly, IST8310 has a value of `0e`.
:::info
Generally you only have one of them.
Other devices will also be displayed here if they are connected to external I2C bus.(`/dev/i2c-0`)
:::
docs/zh/flight_controller/raspberry_pi_pilotpi_ubuntu_server.md
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# PilotPi 使用 Ubuntu Server 操作系统
:::warning
Ubuntu Server on RPi 4B consumes a lot of current and generates a lot of heat.
Design for better heat dissipation and high power consumption when using this hardware.
:::
## 开发者快速指南
### 操作系统映像
请从官方 <a href="https://cdimage.ubuntu.com/releases/">cdimage</a> 页面获取最新更新的操作系统。
#### armhf
- [Ubuntu Server 18.04.5 for RPi2](https://cdimage.ubuntu.com/releases/18.04.5/release/ubuntu-18.04.5-preinstalled-server-armhf+raspi2.img.xz)
- [Ubuntu Server 18.04.5 for RPi3](https://cdimage.ubuntu.com/releases/18.04.5/release/ubuntu-18.04.5-preinstalled-server-armhf+raspi3.img.xz)
- [Ubuntu Server 18.04.5 for RPi4](https://cdimage.ubuntu.com/releases/18.04.5/release/ubuntu-18.04.5-preinstalled-server-armhf+raspi4.img.xz)
- [Ubuntu Server 20.04.1 for RPi 2/3/4](https://cdimage.ubuntu.com/releases/20.04.1/release/ubuntu-20.04.2-preinstalled-server-arm64+raspi.img.xz)
#### arm64
- [Ubuntu Server 18.04.5 for RPi3](https://cdimage.ubuntu.com/releases/18.04.5/release/ubuntu-18.04.5-preinstalled-server-arm64+raspi3.img.xz)
- [Ubuntu Server 18.04.5 for RPi4](https://cdimage.ubuntu.com/releases/18.04.5/release/ubuntu-18.04.5-preinstalled-server-arm64+raspi4.img.xz)
- [Ubuntu Server 20.04.1 for RPi 3/4](https://cdimage.ubuntu.com/releases/20.04.1/release/ubuntu-20.04.2-preinstalled-server-arm64+raspi.img.xz)
#### 最新操作系统
Please refer to official [cdimage](https://cdimage.ubuntu.com/releases/) page for any new updates.
### 首次启动
When setting up RPi's WiFi for the first time we recommended using a wired Ethernet connection between your home router and RPi, and a monitor and keyboard.
#### 启动前
现在将 SD 卡插入您的 Pi 并首次开机。
Please follow the official instruction [here](https://ubuntu.com/tutorials/how-to-install-ubuntu-on-your-raspberry-pi#3-wifi-or-ethernet).
Now plug the SD card onto your Pi and boot for the first time.
Make sure you have shell access to the RPi - either SSH connection over wired Ethernet, or direct accessing with keyboard and monitor.
#### WiFi 区域
First install required package:
```sh
sudo apt-get install crda
```
Edit the file `/etc/default/crda` to change the correct WiFi region. [Reference List](https://www.arubanetworks.com/techdocs/InstantWenger_Mobile/Advanced/Content/Instant%20User%20Guide%20-%20volumes/Country_Codes_List.htm)
```sh
sudo nano /etc/default/crda
```
让我们先设置主机名。
#### 主机名和 mDNS
Let's set up hostname at first.
```sh
sudo nano /etc/hostname
```
Change the hostname to whatever you like.
Then install the package required by mDNS:
```sh
sudo apt-get update
sudo apt-get install avahi-daemon
```
在上述操作后通过无线网络重新连回树莓派。
```sh
sudo reboot
```
您也可能想要设置 <a href="https://www.raspberrypi.org/documentation/remote-access/ssh/passwordless.md">无密码认证</a>。
```sh
ssh ubuntu@pi_hostname.local
```
#### 无密码认证(可选)
You may want to setup [passwordless auth](https://www.raspberrypi.org/documentation/remote-access/ssh/passwordless.md) as well.
### 配置操作系统
#### config.txt
The corresponding file in Ubuntu is `/boot/firmware/usercfg.txt`.
```sh
sudo nano /boot/firmware/usercfg.txt
```
将文件内容替换为：
```sh
# enable sc16is752 overlay
dtoverlay=sc16is752-spi1
# enable I2C-1 and set the frequency to 400KHz
dtparam=i2c_arm=on,i2c_arm_baudrate=400000
# enable spidev0.0
dtparam=spi=on
# enable RC input
enable_uart=1
# enable I2C-0
dtparam=i2c_vc=on
# switch Bluetooth to miniuart
dtoverlay=miniuart-bt
```
#### cmdline.txt
在Ubuntu Server 18.04 或更早版本，<code>nobtcmd.txt</code> 和 <code>btcmd.txt</code> 都需要修改。
```sh
sudo nano /boot/firmware/cmdline.txt
```
On Ubuntu Server 18.04 or earlier, `nobtcmd.txt` and `btcmd.txt` should both be modified.
```sh
sudo nano /boot/firmware/nobtcmd.txt
```
Find `console=/dev/ttyAMA0,115200` and remove that part to disable the login shell on serial interface.
Append `isolcpus=2` after the last word.
我们将在稍后手动在该核心运行PX4。
```sh
net.ifnames=0 dwc_otg.lpm_enable=0 console=tty1 root=LABEL=writable rootfstype=ext4 elevator=deadline rootwait fixrtc isolcpus=2
```
The above line tells the Linux kernel do not schedule any process on CPU core 2.
我们将在稍后手动在该核心运行 PX4。
检查串口：
检查串口：
```sh
ls /dev/tty*
```
There should be `/dev/ttyAMA0`, `/dev/ttySC0` and `/dev/ttySC1`.
检查 I2C：
```sh
ls /dev/i2c*
```
There should be `/dev/i2c-0` and `/dev/i2c-1`
应该有 <code>/dev/spidev0.0</code>。
```sh
ls /dev/spidev*
```
There should be `/dev/spidev0.0`.
#### rc.local
In this section we will configure the auto-start script in **rc.local**.
Note that we need to create this file, as it is not present on a fresh Ubuntu OS.
```sh
sudo nano /etc/rc.local
```
Append the content below to the file:
```sh
#!/bin/sh
echo "25" > /sys/class/gpio/export
echo "in" > /sys/class/gpio/gpio25/direction
if [ $(cat /sys/class/gpio/gpio25/value) -eq 1 ] ; then
echo "Launching PX4"
cd /home/ubuntu/px4 ; nohup taskset -c 2 ./bin/px4 -d -s pilotpi_mc.config 2 &> 1 > /home/ubuntu/px4/px4.log &
fi
echo "25" > /sys/class/gpio/unexport
exit 0
```
保存并退出。
Then set the correct permissions:
```sh
sudo chmod +x /etc/rc.local
```
:::info
Don't forget to turn off the switch when it is not needed!
:::
#### CSI 相机
:::warning
Enable CSI camera will stop anything works on I2C-0.
:::
```sh
sudo nano /boot/firmware/usercfg.txt
```
或
```sh
start_x=1
```
### 构建代码
To get the _very latest_ version onto your computer, enter the following command into a terminal:
```sh
git clone https://github.com/PX4/PX4-Autopilot.git --recursive
```
:::info
This is all you need to do just to build the latest code.
:::
#### 配置上传
然后上传：
```sh
export AUTOPILOT_HOST=192.168.X.X
```
或
```sh
export AUTOPILOT_HOST=pi_hostname.local
```
在 PX4-Autopilot 文件夹下执行：
```sh
export AUTOPILOT_USER=ubuntu
```
#### 为 armhf 目标交叉编译
PX4 已配置使用多旋翼模型启动。
```sh
cd Firmware
make scumaker_pilotpi_default
```
Then upload it with:
```sh
make scumaker_pilotpi_default upload
```
#### 备选armhf构建方法 (使用 docker)
If you are compiling for the first time with docker, please refer to the [official docs](../test_and_ci/docker.md#prerequisites).
如果您是首次使用 Docker 进行编译，请参考<a href="https://dev.px4.io/master/en/test_and_ci/docker.html#prerequisites">官方说明</a>。
```sh
./Tools/docker_run.sh "export AUTOPILOT_HOST=192.168.X.X; export AUTOPILOT_USER=ubuntu; export NO_NINJA_BUILD=1; make scumaker_pilotpi_default upload"
```
:::info
mDNS is not supported within docker. 您也可以自己创建一个。
:::
:::info
If your IDE doesn't support ninja build, `NO_NINJA_BUILD=1` option will help.
You can compile without uploading too. Just remove `upload` target.
:::
It is also possible to just compile the code with command:
```sh
./Tools/docker_run.sh "make scumaker_pilotpi_default"
```
#### 为arm64交叉编译
:::info
This step requires `aarch64-linux-gnu` tool-chain to be installed.
:::
PX4 已配置使用多旋翼模型启动。
```sh
cd PX4-Autopilot
make scumaker_pilotpi_arm64
```
Then upload it with:
```sh
make scumaker_pilotpi_arm64 upload
```
#### 备选 arm64 构建方法 (使用 docker)
If you are compiling for the first time with docker, please refer to the [official docs](../test_and_ci/docker.md#prerequisites).
Execute the command in `PX4-Autopilot` folder:
```sh
./Tools/docker_run.sh "export AUTOPILOT_HOST=192.168.X.X; export AUTOPILOT_USER=ubuntu; export NO_NINJA_BUILD=1; make scumaker_pilotpi_arm64 upload"
```
:::info
mDNS is not supported within docker. 您也可以自己创建一个。
:::
:::info
If your IDE doesn't support ninja build, `NO_NINJA_BUILD=1` option will help.
You can compile without uploading too - just remove the `upload` target.
:::
It is also possible to just compile the code with command:
```sh
./Tools/docker_run.sh "make scumaker_pilotpi_arm64"
```
#### 手动运行 PX4
Connect over SSH and run it with:
```sh
cd px4
sudo taskset -c 2 ./bin/px4 -s pilotpi_mc.config
```
在执行下一步之前，先清除现有构建目录：
If you encountered the similar problem executing `bin/px4` on your Pi as following:
```
bin/px4: /lib/xxxx/xxxx: version `GLIBC_2.29' not found (required by bin/px4)
```
如果您是首次使用 Docker 进行编译，请参考<a href="https://dev.px4.io/master/en/test_and_ci/docker.html#prerequisites">官方说明</a>。
在 PX4-Autopilot 文件夹下执行：
```sh
rm -rf build/scumaker_pilotpi_*
```
Then go back to the corresponding chapter above.
### 后期配置
Please refer to the instructions [here](raspberry_pi_pilotpi_rpios.md)
docs/zh/flight_controller/silicon_errata.md
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# 芯片勘误表
This page lists known issues with silicon (hardware) errata of 3rd-party parts (micro controller, sensors, etc.) used on the Pixhawk board series. Depending on the type of silicon error, these cannot be fixed in software and might impose specific limitations.
## FMUv2 / Pixhawk Silicon Errata
### STM32F427VIT6 (errata)
Flash Bank 2 and full speed USB device exclusive.
Silicon revisions up to rev 2 (revision 3 is the first not affected) can produce errors / data corruption when accessing the 2nd flash bank while there is activity on PA12, which is one of the USB data lines. There is no workaround / software fix for this, except to not use the flash bank #2.
Since USB is needed to program the device, Pixhawk revisions built with silicon revisions < rev 3 can only use up to 1MB of the 2MB flash of the microprocessor.
:::tip
The errata is fixed in later versions, but this may not be detected if you are using an older bootloader.
See [Firmware > FMUv2 Bootloader Update](../config/firmware.md#bootloader) for more information.
:::
## FMUv1 / Pixhawk Silicon Errata
No known issues.
docs/zh/flight_controller/snapdragon_flight.md
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# Snapdragon Flight Autopilot (Discontinued)
<Badge type="info" text="Discontinued" />
:::warning
The Snapdragon Flight Autopilot has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available.
For information about how it is/was used see [PX4 User Guide v1.11](https://docs.px4.io/v1.11/en/flight_controller/snapdragon_flight.html)
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://www.intrinsyc.com/) for hardware support or compliance issues.
:::
The _Qualcomm Snapdragon Flight_ platform is a high-end autopilot / onboard computer which runs the PX4 Flight Stack on the DSP on the QuRT real time operating system using the [DSPAL API](https://github.com/ATLFlight/dspal) for POSIX compatibility.
In comparison to [Pixhawk](../flight_controller/pixhawk.md) it adds a camera and WiFi and high-end processing power, and different IO.
![Snapdragon Hero Doc](../../assets/hardware/snapdragon/hardware-snapdragon.jpg)
docs/zh/flight_controller/spracingh7extreme.md
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# SPRacingH7EXTREME (PX4 Edition)
:::warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://shop.seriouslypro.com) for hardware support or compliance issues.
:::
The [SPRacingH7EXTREME](https://shop.seriouslypro.com/sp-racing-h7-extreme) is a feature packed FC/PDB with DUAL ICM20602 gyros, H7 400/480Mhz(+) CPU, high-precision BMP388 barometer, SD Card socket, current sensor, 8 easily accessible motor outputs, OSD, Microphone, Audio output, and more.
It can be used easily for small to large quads, planes, octocoptors and more advanced frames.
It's best used with separate ESCs as it features a built-in power distribution board (PDB).
Wiring up a 4in1 ESC is easy too.
There is also a 12 pin stacking connector which provides 4 more motor outputs, SPI and a UART connectivity.
![SPRacingH7EXTREME PCB Top](../../assets/flight_controller/spracingh7extreme/spracingh7extreme-top.jpg)
![SPRacingH7EXTREME PCB Bottom](../../assets/flight_controller/spracingh7extreme/spracingh7extreme-bottom.jpg)
:::info
This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
:::
## 主要特性
- Main System-on-Chip: [STM32H750VBT6 rev.y/v](https://www.st.com/en/microcontrollers-microprocessors/stm32h750vb.html)
- CPU: 400/480Mhz(+) ARM Cortex M7 with single-precision FPU. (+ 480Mhz with Rev V CPUs)
- RAM: 1MB
- 16MB External Flash 4-bit QuadSPI in Memory Mapped mode for code _and_ config.
- 内置传感器：
- Dual Gyros (1xSPI each, with separate interrupt signals, 32khz capable, fsync capable)
- High-precision BMP388 Baro (I2C + interrupt)
- 110A Current Sensor
- GPS via External 8 pin IO port.
- Audio/Visual
- On-screen display OSD (dedicated SPI, character based, MAX7456)
- Microphone sensor
- Audio output from CPU DAC.
- Audio mixer for microphone/DAC outputs.
- 接口
- SD Card (4-bit SDIO not 1-bit SPI)
- IR transponder (iLAP compatible)
- Buzzer circuitry
- RSSI (Analog/PWM)
- 12 motor outputs (4 by motor pads, 4 in the middle, and 4 on stacking connector).
- 1x SPI breakout onto stacking connector
- 6 Serial Ports (5x TX & RX, 1x TX-only bi-directional for telemetry)
- Boot Button (Side press)
- Bind/User Button (Side press)
- Receiver ports (all usual protocols, no inverter needed)
- CAM OSD control and Video IN on CAM socket.
- SWD debugging port.
- Video OUT + Audio OUT on VTX socket.
- USB with OTG capability (ID and VBUS connected to CPU)
- Power System
- Integrated PDB.
- 2-6S BEC
- TVS Protection Diode
- Dedicated 500ma VREG for Gyros, with gyro noise filter capacitors.
- Second 500ma VREG for CPU, Baro, Microphone, etc.
- Other features
- Status Led
- LED strip support (with well-placed connection pads).
- Bootable from SD Card or External flash.
- Flashable from SD Card.
- Solder-from-top design.
- PCB Cutouts for battery wires.
- No Compass, use an external GPS with a magnometer/compass sensor connected to the GPS IO port.
- Also runs Betaflight 4.x+, Cleanflight 4.x+.
- Designed by Dominic Clifton, the guy that created Cleanflight
- 尺寸
- 36x36mm with 30.5\*30.5 mouting pattern, M4 holes.
- Soft-mount M4 to M3 grommets supplied.
## 购买渠道
The SPRacingH7EXTREME is available from the [Seriously Pro shop](https://shop.seriouslypro.com/sp-racing-h7-extreme).
:::info
Select the PX4 edition when purchasing!
:::
## Manual, Pinouts and Connection Diagrams
The manual with pinouts can be downloaded from [here](http://seriouslypro.com/files/SPRacingH7EXTREME-Manual-latest.pdf).
See the [SPRacingH7EXTREME website](http://seriouslypro.com/spracingh7extreme) for other diagrams.
## Credits
This design was created by [Dominic Clifton](https://github.com/hydra)
Initial PX4 support by [Igor-Misic](https://github.com/Igor-Misic)
docs/zh/flight_controller/thepeach_k1.md
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# ThePeach FCC-K1
:::warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://thepeach.kr/) for hardware support or compliance issues.
:::
**ThePeach FCC-K1** is an advanced autopilot designed and manufactured in **ThePeach**.
It is based on the **Pixhawk-project FMUv3** open hardware design and runs **PX4** on **Nuttx OS**.
![ThePeach FCC-K1](../../assets/flight_controller/thepeach_k1/main.png)
## 产品规格
- Main Processor: STM32F427VIT6
- 32bit ARM Cortex-M4, 168 MHz 256 KB RAM 2 MB Flash memory
- IO Processor: STM32F100C8T6
- ARM Cortex-M3, 32bit ARM Cortex-M3, 24 MHz, 8KB SRAM
- On-board sensors
- 加速度计 / 陀螺仪：ICM-20602
- Accel/Gyro/Mag: MPU-9250
- 气压计：MS5611
- 接口
- 8+5 PWM output (8 from IO, 5 from FMU)
- Spektrum DSM / DSM2 / DSM-X Satellite compatible input
- Futaba S.BUS compatible input and output
- PPM sum signal input
- Analogue / PWM RSSI input
- S.BUS伺服输出
- Safety switch/LED
- 4x UART Ports: TELEM1, TELEM2, GPS, SERIAL4
- 2x I2C Ports
- 1x CAN bus
- 1x ADC
- Analog inputs for voltage / Current of 1 battery
- Mechanical
- Dimensions: 40.2 x 61.1 x 24.8 mm
- Weight: 65g
## 连接器
![pinmap\_top](../../assets/flight_controller/thepeach_k1/pinmap_top.png)
![pinmap\_bottom](../../assets/flight_controller/thepeach_k1/pinmap_bottom.png)
## 串口映射
| UART | 设备 | Port |
| ------ | ---------- | ---------------------------------------- |
| USART1 | /dev/ttyS0 | IO Processor Debug |
| USART2 | /dev/ttyS1 | TELEM1 (flow control) |
| USART3 | /dev/ttyS2 | TELEM2 (flow control) |
| UART4 | /dev/ttyS3 | GPS1 |
| USART6 | /dev/ttyS4 | PX4IO |
| UART7 | /dev/ttyS5 | Debug Console |
| UART8 | /dev/ttyS6 | TELEM4 |
## 额定电压
**ThePeach FCC-K1** can be double-redundant on the power supply if two power sources are supplied.
The two power rails are: **POWER** and **USB**.
:::info
The output power rails **FMU PWM OUT** and **I/O PWM OUT** do not power the flight controller board (and are not powered by it).
You must supply power to one of **POWER** or **USB** or the board will be unpowered.
:::
**Normal Operation Maximum Ratings**
Under these conditions all power sources will be used in this order to power the system:
1. POWER input (5V to 5.5V)
2. USB input (4.75V to 5.25V)
**Absolute Maximum Ratings**
Under these conditions, all power sources cause permanent damage to the flight controller.
1. POWER input (5.5V Over)
2. USB input (5.5V Over)
## 编译固件
To build PX4 for this target:
```jsx
make thepeach_k1_default
```
## Where to buy
Order from [ThePeach](http://thepeach.shop/)
docs/zh/flight_controller/thepeach_r1.md
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# ThePeach FCC-R1
:::warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://thepeach.kr/) for hardware support or compliance issues.
:::
**ThePeach FCC-R1** is an advanced autopilot designed and made in **ThePeach**.
It is based on the **Pixhawk-project FMUv3** open hardware design and runs **PX4** on **Nuttx OS**.
![ThePeach\_R1](../../assets/flight_controller/thepeach_r1/main.png)
## 产品规格
- Main Processor: STM32F427VIT6
- 32bit ARM Cortex-M4, 168 MHz 256 KB RAM 2 MB Flash memory
- IO Processor: STM32F100C8T6
- ARM Cortex-M3, 32bit ARM Cortex-M3, 24 MHz, 8KB SRAM
- On-board sensors
- 加速度计 / 陀螺仪：ICM-20602
- Accel/Gyro/Mag: MPU-9250
- 气压计：MS5611
- 接口
- 8+6 PWM output (8 from IO, 6 from FMU)
- Spektrum DSM / DSM2 / DSM-X Satellite compatible input
- Futaba S.BUS compatible input and output
- PPM sum signal input
- Analogue / PWM RSSI input
- S.BUS伺服输出
- Safety switch/LED
- 4x UART: TELEM1, TELEM2(Raspberry Pi CM3+), GPS, SERIAL4
- 1x I2C Ports
- 1x CAN bus
- Analog inputs for voltage / Current of 1 battery
- Interfaces For Raspberry Pi CM3+
- VBUS
- DDR2 Connector: Raspberry Pi CM3+
- 1x UART
- 2x USB
- 1x Raspberry Pi Camera
- Mechanical
- Dimensions: 49.2 x 101 x 18.2mm
- Weight: 100g
## 连接器
![pinmap\_top](../../assets/flight_controller/thepeach_r1/pinmap.png)
## 串口映射
| UART | 设备 | Port |
| ------ | ---------- | --------------------------------------------- |
| USART1 | /dev/ttyS0 | IO Processor Debug |
| USART2 | /dev/ttyS1 | TELEM1 (flow control) |
| USART3 | /dev/ttyS2 | TELEM2 (Raspberry pi cm3+) |
| UART4 | /dev/ttyS3 | GPS1 |
| USART6 | /dev/ttyS4 | PX4IO |
| UART7 | /dev/ttys5 | Debug console |
| UART8 | /dev/ttyS6 | TELEM4 |
## 额定电压
**ThePeach FCC-R1** can be double-redundant on the power supply if two power sources are supplied. The two power rails are: **POWER** and **USB**.
注意：
1. The output power rails **FMU PWM OUT** and **I/O PWM OUT** do not power the flight controller board (and are not powered by it). You must supply power to one of **POWER** or **USB** or the board will be unpowered.
2. The USB do not power the **Raspberry Pi CM3+**. You must supply power to **POWER** or the Raspberry Pi CM3+ will be unpowered.
**Normal Operation Maximum Ratings**
Under these conditions, all power sources will be used in this order to power the system:
1. POWER input (5V to 5.5V)
2. USB input (4.75V to 5.25V)
**Absolute Maximum Ratings**
Under these conditions, all power sources cause permanent damage to the flight controller.
1. POWER input (5.5V Over)
2. USB input (5.5V Over)
## 编译固件
To build PX4 for this target:
```jsx
make thepeach_r1_default
```
## Where to buy
Order from [ThePeach](http://thepeach.shop/)