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234 lines
9.3 KiB
Markdown
234 lines
9.3 KiB
Markdown
# mRo Pixracer
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:::warning
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PX4 does not manufacture this (or any) autopilot.
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Contact the [manufacturer](https://store.mrobotics.io/) for hardware support or compliance issues.
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:::
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The Pixhawk<sup>®</sup> XRacer board family is optimized for small racing quads and planes.
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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.
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<img src="../../assets/flight_controller/pixracer/pixracer_hero_grey.jpg" width="300px" title="pixracer + 8266 grey" />
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:::tip
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This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md) by the PX4 maintenance and test teams.
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:::
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## 主要特性
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- Main System-on-Chip: [STM32F427VIT6 rev.3](https://www.st.com/en/microcontrollers-microprocessors/stm32f427-437.html)
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- CPU: 180 MHz ARM Cortex<sup>®</sup> M4 with single-precision FPU
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- RAM: 256 KB SRAM (L1)
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- Standard FPV form factor: 36x36 mm with standard 30.5 mm hole pattern
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- Invensense<sup>®</sup> ICM-20608 Accel / Gyro (4 KHz) / MPU9250 Accel / Gyro / Mag (4 KHz)
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- HMC5983 magnetometer with temperature compensation
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- Measurement Specialties MS5611 barometer
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- JST GH connectors
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- microSD (logging)
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- Futaba S.BUS and S.BUS2 / Spektrum DSM2 and DSMX / Graupner SUMD / PPM input / Yuneec ST24
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- FrSky<sup>®</sup> telemetry port
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- OneShot PWM out (configurable)
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- Optional: Safety switch and buzzer
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## 购买渠道
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Pixracer Pro is available from the [store.3dr.com](https://store.3dr.com/pixracer-pro/).
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Accessories include:
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- [Digital airspeed sensor](https://hobbyking.com/en_us/hkpilot-32-digital-air-speed-sensor-and-pitot-tube-set.html)
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- Hobbyking<sup>®</sup> OSD + EU Telemetry (433 MHz) (Discontinued)
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## Kit
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The Pixracer is designed to use a separate avionics power supply.
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This is necessary to avoid current surges from motors or ESCs to flow back to the flight controller and disturb its delicate sensors.
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- Power module (with voltage and current sensing)
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- I2C splitter (supporting AUAV, Hobbyking and 3DR<sup>®</sup> peripherals)
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- Cable kit for all common peripherals
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## Wifi (no USB required)
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One of the main features of the board is its ability to use Wifi for flashing new firmware, system setup and in-flight telemetry.
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This frees it of the need of any desktop system.
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- [ESP8266 Wifi](../telemetry/esp8266_wifi_module.md)
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- [Custom ESP8266 MAVLink firmware](https://github.com/BeyondRobotix/mavesp8266)
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:::info
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Firmware upgrade is not yet enabled over WiFi (it is supported by the default bootloader but not yet enabled).
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Setup and telemetry are supported.
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:::
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## 组装
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See the [Pixracer Wiring Quickstart](../assembly/quick_start_pixracer.md)
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## Wiring Diagrams
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:::info
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If using `TELEM2` for an external telemetry module you will need to configure it as a MAVLink serial port.
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For more information see: [Pixracer Wiring Quickstart > External Telemetry](../assembly/quick_start_pixracer.md#external-telemetry)
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:::
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## 连接器
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All connectors follow the [Pixhawk connector standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf).
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Unless noted otherwise all connectors are JST GH.
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## 针脚定义
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#### TELEM1, TELEM2+OSD ports
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| 针脚 | 信号 | 电压 |
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| ---- | ---------------------------- | --------------------- |
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| 1（红） | VCC | +5V |
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| 2 | TX (OUT) | +3.3V |
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| 3 | RX (IN) | +3.3V |
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| 4（黑） | CTS (IN) | +3.3V |
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| 6 | RTS (OUT) | +3.3V |
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| 6 | GND | GND |
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#### GPS 接口
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| 针脚 | 信号 | 电压 |
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| ---- | --------------------------- | --------------------- |
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| 1（红） | VCC | +5V |
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| 2 | TX (OUT) | +3.3V |
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| 3 | RX (IN) | +3.3V |
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| 4（黑） | I2C1 SCL | +3.3V |
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| 6 | I2C1 SDA | +3.3V |
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| 6 | GND | GND |
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#### FrSky Telemetry / SERIAL4
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| 针脚 | 信号 | 电压 |
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| ---- | --------------------------- | --------------------- |
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| 1（红） | VCC | +5V |
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| 2 | TX (OUT) | +3.3V |
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| 3 | RX (IN) | +3.3V |
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| 4（黑） | GND | GND |
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#### RC Input (accepts PPM / S.BUS / Spektrum / SUMD / ST24)
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| 针脚 | 信号 | 电压 |
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| ---- | ------- | --------------------- |
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| 1（红） | VCC | +5V |
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| 2 | RC IN | +3.3V |
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| 3 | RSSI IN | +3.3V |
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| 4（黑） | VDD 3V3 | +3.3V |
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| 6 | GND | GND |
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#### CAN
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| 针脚 | 信号 | 电压 |
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| ---- | -------------------------- | ---- |
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| 1（红） | VCC | +5V |
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| 2 | CAN_H | +12V |
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| 3 | CAN_L | +12V |
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| 4（黑） | GND | GND |
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#### POWER
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| 针脚 | 信号 | 电压 |
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| ---- | --- | --------------------- |
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| 1（红） | VCC | +5V |
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| 2 | VCC | +5V |
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| 3 | 电流 | +3.3V |
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| 4（黑） | 电压 | +3.3V |
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| 6 | GND | GND |
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| 6 | GND | GND |
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#### SWITCH
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| 针脚 | 信号 | 电压 |
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| ---- | -------------------------------------------------------- | --------------------- |
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| 1（红） | SAFETY | GND |
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| 2 | !IO_LED_SAFETY | GND |
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| 3 | VCC | +3.3V |
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| 4（黑） | BUZZER- | - |
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| 6 | BUZZER+ | - |
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#### 调试接口
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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).
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| 针脚 | 信号 | 电压 |
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| ---- | ---------------- | --------------------- |
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| 1（红） | VCC TARGET SHIFT | +3.3V |
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| 2 | UART7 Tx | +3.3V |
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| 3 | UART7 Rx | +3.3V |
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| 4（黑） | SWDIO | +3.3V |
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| 6 | SWCLK | +3.3V |
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| 6 | GND | GND |
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For information about using this port see:
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- [SWD Debug Port](../debug/swd_debug.md)
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- [PX4 System Console](../debug/system_console.md) (Note, the FMU console maps to UART7).
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## 串口映射
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| UART | 设备 | Port |
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| ------ | ---------- | --------------------------------- |
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| UART | UART | WiFi (ESP8266) |
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| USART2 | /dev/ttyS1 | TELEM1 (流控) |
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| USART3 | /dev/ttyS2 | TELEM2 (流控) |
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| UART4 | | |
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| UART7 | CONSOLE | |
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| UART8 | SERIAL4 | |
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<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
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## 原理图
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The reference is provided as: [Altium Design Files](https://github.com/AUAV-OpenSource/FMUv4-PixRacer)
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The following PDF files are provided for _convenience only_:
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- [pixracer-rc12-12-06-2015-1330.pdf](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/flight_controller/pixracer/pixracer-rc12-12-06-2015-1330.pdf)
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- [pixracer-r14.pdf](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/flight_controller/pixracer/pixracer-r14.pdf) - R14 or RC14 is printed next to the SDCard socket
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## 编译固件
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:::tip
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Most users will not need to build this firmware!
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It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected.
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:::
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To [build PX4](../dev_setup/building_px4.md) for this target:
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```
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make px4_fmu-v4_default
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```
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## 配置
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[Compass calibration](../config/compass.md) should be done with USB disconnected.
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This is always recommended, but is necessary on Pixracer because the USB connection produces particularly large levels of magnetic interference.
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Configuration is otherwise the same as for other boards.
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## Credits
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This design was created by Nick Arsov and Phillip Kocmoud and architected by Lorenz Meier, David Sidrane and Leonard Hall.
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