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186 lines
4.7 KiB
Markdown
186 lines
4.7 KiB
Markdown
# RPi PilotPi Shield
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<LinkedBadge type="warning" text="Experimental" url="../flight_controller/autopilot_experimental.html"/>
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::: warning
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PX4 does not manufacture this (or any) autopilot.
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Contact the [manufacturer](mailto:lhf2613@gmail.com) for hardware support or compliance issues.
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:::
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The _PilotPi_ shield is a fully functional solution to run PX4 autopilot directly on Raspberry Pi.
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It is designed to be a low-cost but highly scalability platform with continuous updates from both Linux and PX4 sides.
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No proprietary driver is required, as all components have upstream support from RPi and PX4 community.
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PCB and schematic are open source as well.
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## Quick Summary
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- Supported RPi boards:
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- Raspberry Pi 2B/3B/3B+/4B
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- Supported OS:
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- Raspberry Pi OS
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- Ubuntu Server (armhf/arm64)
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- Accelerometer / Gyro:
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- ICM42688P
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- Magnetometer:
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- IST8310
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- Barometer:
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- MS5611
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- PWM:
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- PCA9685
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- ADC:
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- ADS1115
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- Power:
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- 3~6S battery with built-in voltage sensing.
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- Power the Pi through USB cable
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- Availability: _preparing for shipping_
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## Connectivity
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Shield provides:
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- 16x PWM outputting channels
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- GPS connector
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- Telemetry connector
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- External I2C bus connector (**Note:** conflicts with CSI camera)
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- RC input port (SBUS)
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- 3x ADC channels range 0~5V
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- 2\*8 2.54mm unused GPIO connector
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Direct accessible from RPi:
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- 4x USB connector
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- CSI connector(**Note:** conflict with external I2C bus)
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- etc.
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## Recommended Wiring
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## Pinout
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::: warning
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It still uses old GH1.25 connectors.
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Wiring is compatible with Pixhawk 2.4.8
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:::
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### Connectors
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#### GPS connector
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Mapped to `/dev/ttySC0`
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| Pin | Signal | Volt |
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| --- | ------ | ---- |
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| 1 | VCC | +5V |
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| 2 | TX | +3v3 |
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| 3 | RX | +3v3 |
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| 4 | NC | +3v3 |
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| 5 | NC | +3v3 |
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| 6 | GND | GND |
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#### Telemetry connector
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Mapped to `/dev/ttySC1`
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| Pin | Signal | Volt |
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| --- | ------ | ---- |
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| 1 | VCC | +5V |
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| 2 | TX | +3v3 |
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| 3 | RX | +3v3 |
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| 4 | CTS | +3v3 |
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| 5 | RTS | +3v3 |
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| 6 | GND | GND |
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#### External I2C connector
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Mapped to `/dev/i2c-0`
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| Pin | Signal | Volt |
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| --- | ------ | ------------- |
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| 1 | VCC | +5V |
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| 2 | SCL | +3v3(pullups) |
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| 3 | SDA | +3v3(pullups) |
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| 4 | GND | GND |
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#### RC & ADC2/3/4
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RC is mapped to `/dev/ttyAMA0` with signal inverter switch on RX line.
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| Pin | Signal | Volt |
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| --- | ------ | -------- |
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| 1 | RC | +3V3~+5V |
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| 2 | VCC | +5V |
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| 3 | GND | GND |
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- ADC1 is internally connected to voltage divider for battery voltage monitoring.
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- ADC2 is left unused.
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- ADC3 can be connected to an analog airspeed sensor.
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- ADC4 has a jumper cap between ADC and VCC, to monitor system voltage level.
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| Pin | Signal | Volt |
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| --- | ------ | ------ |
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| 1 | ADCx | 0V~+5V |
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| 2 | VCC | +5V |
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| 3 | GND | GND |
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::: info
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ADC3 & 4 have an alternative VCC source
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When 'Vref' switch is on, 'VCC' pin is driven by REF5050.
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:::
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#### Unused GPIO available on top of the board
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| Shield Pin | BCM | WiringPi | RPi Pin |
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| ---------- | --- | -------- | ------- |
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| 1 | 3V3 | 3v3 | 3V3 |
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| 2 | 5V | 5V | 5V |
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| 3 | 4 | 7 | 7 |
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| 4 | 14 | 15 | 8 |
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| 5 | 17 | 0 | 11 |
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| 6 | 27 | 2 | 13 |
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| 7 | 22 | 3 | 15 |
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| 8 | 23 | 4 | 16 |
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| 9 | 7 | 11 | 26 |
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| 10 | 5 | 21 | 29 |
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| 11 | 6 | 22 | 31 |
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| 12 | 12 | 26 | 32 |
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| 13 | 13 | 23 | 33 |
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| 14 | 16 | 27 | 36 |
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| 15 | 26 | 25 | 37 |
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| 16 | GND | GND | GND |
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### Switches
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#### RC Inverter
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This switch will decide the signal polarity of RX line: `UART_RX = SW xor RC_INPUT`
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- On: suitable with SBUS (signal inverted)
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- Off: preserved
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#### Vref
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ADC 3 & 4 will have VCC driven by:
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- Vref output from REF5050 if on
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- 5V pin directly from RPi if off
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#### Boot Mode
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This switch is connected to Pin22(BCM25).
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System rc script will check its value and decide whether PX4 should start alongside with system booting or not.
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- On: start PX4 automatically
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- Off: don't start PX4
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## Developer Quick Start
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Refer to specific instructions for the OS running on your RPi:
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- [Raspberry Pi OS Lite (armhf)](raspberry_pi_pilotpi_rpios.md)
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- [Ubuntu Server (arm64 & armhf)](raspberry_pi_pilotpi_ubuntu_server.md)
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