# 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. PX4 v1.7 이상의 버전 실행에 최적화되어 있으며, 학계와 업계 개발자에게 적합합니다. 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. ::: ## 요약 - 메인 FMU 프로세서: STM32F765 - 32 비트 Arm® Cortex®-M7, 216MHz, 2MB 메모리, 512KB RAM - IO 프로세서: STM32F100 - 32 비트 Arm® Cortex®-M3, 24MHz, 8KB SRAM - 내장 센서 : - 가속도/자이로: ICM-20689 - Accel/Gyro: BMI055 or ICM20602 - 자력계 : IST8310 - 기압계: MS5611 - GPS: u-blox Neo-M8N GPS/GLONASS 수신기; 통합 자력계 IST8310 - 인터페이스: - PWM 출력 8-16개(IO에서 8개, FMU에서 8개) - FMU의 전용 PWM/캡처 입력 3 개 - CPPM 전용 RC 입력 - 아날로그/PWM RSSI 입력이있는 Spektrum/DSM 및 S.Bus 전용 RC 입력 - Dedicated S.Bus servo output - 범용 시리얼 포트 5개 - I2C 포트 3개 - SPI 버스 4개 - 직렬 ESC를 사용하는 듀얼 CAN에 최대 2 개의 CAN 버스 - 배터리 2 개의 전압 및 전류에 대한 아날로그 입력 - 전원시스템 - 전원 모듈 출력: 4.9~5.5V - USB 전원 입력: 4.75~5.25V - 서보 레일 입력: 0~36V - 중량과 크기 - 무게: 15.8g - 크기: 44x84x12mm - 기타 특성: - 작동 온도: -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). ## 구매처 Order from [Holybro](https://holybro.com/products/pixhawk-4). ## 커넥터 ![Pixhawk 4 connectors](../../assets/flight_controller/pixhawk4/pixhawk4-connectors.jpg) :::warning The **DSM/SBUS RC** and **PPM RC** ports are for RC receivers only. 이 포트들에는 전원이 공급됩니다. 서보를 전원공급장치나 배터리(또는 연결된 수신기)에 절대 연결하지 마십시오. ::: ## 핀배열 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). ::: ## 시리얼 포트 매핑 | UART | 장치 | 포트 | | ------ | ---------- | --------------------------------- | | UART1 | /dev/ttyS0 | GPS | | USART2 | /dev/ttyS1 | TELEM1 (흐름 제어) | | USART3 | /dev/ttyS2 | TELEM2 (흐름 제어) | | UART4 | /dev/ttyS3 | TELEM4 | | USART6 | /dev/ttyS4 | RC SBUS | | UART7 | /dev/ttyS5 | 디버그 콘솔 | | UART8 | /dev/ttyS6 | PX4IO | ## 크기 ![Pixhawk 4 Dimensions](../../assets/flight_controller/pixhawk4/pixhawk4_dimensions.jpg) ## 정격 전압 _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** 이러한 조건에서 전원은 아래의 순서대로 시스템에 전원을 공급하여야합니다. 1. **POWER1** and **POWER2** inputs (4.9V to 5.5V) 2. **USB** input (4.75V to 5.25V) **Absolute Maximum Ratings** 아래의 조건에서 시스템은 전원을 사용하지 않지만(작동하지 않음), 그대로 유지됩니다. 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) ## 조립 및 설정 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. ## 펌웨어 빌드 :::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 ``` ## 디버그 포트 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). 배선 정보는 다음을 참조하십시오. - [System Console > Pixhawk Debug Port](../debug/system_console.md#pixhawk_debug_port) ## 주변 장치 - [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) ## 지원 플랫폼 및 기체 일반 RC 서보 또는 Futaba S-Bus 서보로 제어 가능한 모든 멀티콥터/비행기/로버 또는 보트. The complete set of supported configurations can be seen in the [Airframes Reference](../airframes/airframe_reference.md). ## 추가 정보 - [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)