PX4-Autopilot/docs/zh/flight_controller/pixhawk3_pro.md

# Pixhawk 3 Pro (Discontinued)

:::warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://store-drotek.com/) for hardware support or compliance issues.
:::

The Pixhawk<sup>&reg;</sup> 3 Pro is based on the FMUv4 hardware design (Pixracer) with some upgrades and additional features.
The board was designed by [Drotek<sup>&reg;</sup>](https://drotek.com) and PX4.

![Pixhawk 3 Pro hero image](../../assets/hardware/hardware-pixhawk3_pro.jpg)

:::info
The main hardware documentation is here: https://drotek.gitbook.io/pixhawk-3-pro/hardware
:::

:::tip
This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md) by the PX4 maintenance and test teams.
:::

## 总览

- Microcontroller: **STM32F469**; Flash size is **2MiB**, RAM size is **384KiB**
- **ICM-20608-G** gyro / accelerometer
- **MPU-9250** gyro / accelerometer / magnetometer
- **LIS3MDL** compass
- Sensors connected via two SPI buses (one high rate and one low-noise bus)
- Two I2C buses
- Two CAN buses
- Voltage / battery readings from two power modules
- FrSky<sup>&reg;</sup> Inverter
- 8 Main + 6 AUX PWM outputs (Separate IO chip, PX4IO)
- microSD (logging)
- S.BUS / Spektrum / SUMD / PPM input
- JST GH user-friendly connectors: same connectors and pinouts as Pixracer

## Where to buy

No longer available.

## 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-v4pro_default
```

## 调试接口

The board has FMU and IO debug ports as shown below.

![Debug Ports](../../assets/flight_controller/pixhawk3pro/pixhawk3_pro_debug_ports.jpg)

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).

| 针脚   | 信号               | 电压                    |
| ---- | ---------------- | --------------------- |
| 1（红） | VCC TARGET SHIFT | +3.3V |
| 2    | UART7 Tx         | +3.3V |
| 3    | UART7 Rx         | +3.3V |
| 4（黑） | SWDIO            | +3.3V |
| 6    | SWCLK            | +3.3V |
| 6    | GND              | GND                   |

For information about wiring and using this port see:

- [SWD Debug Port](../debug/swd_debug.md)
- [PX4 System Console](../debug/system_console.md#pixhawk_debug_port) (Note, the FMU console maps to UART7).

## 串口映射

| UART   | 设备         | Port                           |
| ------ | ---------- | ------------------------------ |
| UART1  | /dev/ttyS0 | WiFi                           |
| USART2 | /dev/ttyS1 | TELEM1 (流控) |
| USART3 | /dev/ttyS2 | TELEM2 (流控) |
| UART4  |            |                                |
| UART7  | CONSOLE    |                                |
| UART8  | SERIAL4    |                                |

<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->