# 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_® is an advanced autopilot designed and made in collaboration with Holybro® 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. :::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-Autopilot/blob/main/docs/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 | | ------ | ---------- | ------------------------------ | | UART | UART | GPS | | USART2 | /dev/ttyS1 | TELEM1 (流控) | | USART3 | /dev/ttyS2 | TELEM2 (流控) | | UART4 | /dev/ttyS3 | TELEM4 | | USART6 | /dev/ttyS4 | RC SBUS | | UART7 | /dev/ttyS5 | 调试控制台 | | 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 ``` ## 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-Autopilot/raw/main/docs/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)