# Pixfalcon Flight Controller (Discontinued)

<Badge type="info" text="Discontinued" px4_current="v1.15" year="2024"/>

:::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](https://www.st.com/en/microcontrollers-microprocessors/stm32f427-437.html)
  - 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:

No longer available.

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-ms4525do)
- On screen display with integrated Telemetry:
  - Micro HKPilot Telemetry Radio Module with On Screen Display (OSD) unit - 433MHz. (Discontinued)
- Pure Telemetry options:
  - [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                                        |
| ------ | ---------- | ------------------------------------------- |
| UART   | UART       | 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 -->