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Hamish Willee
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262 lines
9.9 KiB
Markdown
262 lines
9.9 KiB
Markdown
# Omnibus F4 SD
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:::warning
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This flight controller has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available.
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:::
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:::warning
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PX4 does not manufacture this (or any) autopilot.
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Contact the manufacturer for support or compliance issues.
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:::
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The _Omnibus F4 SD_ is a controller board designed for racers.
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In contrast to a typical racer board it has some additional features, such as an SD card and a faster CPU.
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<img src="../../assets/flight_controller/omnibus_f4_sd/board.jpg" width="400px" title="Omnibus F4 SD" />
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These are the main differences compared to a [Pixracer](../flight_controller/pixracer.md):
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- Lower price
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- Fewer IO ports (though it's still possible to attach a GPS or a Flow sensor for example)
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- Requires external pull up resistor on the I2C bus for external GPS, see [I2C](#i2c) below.
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- Less RAM (192 KB vs. 256 KB) and FLASH (1 MB vs. 2 MB)
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- Same board dimensions as a _Pixracer_, but slightly smaller form factor (because it has less connectors)
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- Integrated OSD (not yet implemented in software)
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:::tip
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All the usual PX4 features can still be used for your racer!
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:::
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::: info
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This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
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:::
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## Key Features
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- Main System-on-Chip: [STM32F405RGT6](https://www.st.com/en/microcontrollers/stm32f405rg.html)
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- CPU: 168 MHz ARM Cortex M4 with single-precision FPU
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- RAM: 192 KB SRAM
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- FLASH: 1 MB
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- Standard racer form factor: 36x36 mm with standard 30.5 mm hole pattern
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- MPU6000 Accel / Gyro
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- BMP280 Baro (not all boards have it mounted)
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- microSD (for 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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- OneShot PWM out (configurable)
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- Built-in current sensor
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- Built-in OSD chip (AB7456 via SPI)
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## Where to Buy
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The board is produced by different vendors, with some variations (e.g. with or without a barometer).
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:::tip
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PX4 is compatible with boards that support the Betaflight OMNIBUSF4SD target (if _OMNIBUSF4SD_ is present on the product page the board should work with PX4).
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:::
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:::tip
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Any Omnibus F4 labeled derivative (e.g. clone) should work as well. However, power distribution on these boards is of varying quality.
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:::
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These are the boards tested and known to work:
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- [Hobbywing XRotor Flight Controller F4](https://www.hobbywing.com/en/products/info.html?id=164)
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::: info
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This board fits on top of the [Hobbywing XRotor Micro 40A 4in1 ESC](https://www.hobbywing.com/en/products/info.html?id=116) without soldering. This ESC board also provides power for the Omnibus board.
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:::
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Purchase from:
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- [Hobbywing XRotor F4 Flight Controller w/OSD](https://www.getfpv.com/hobbywing-xrotor-f4-flight-controller-w-osd.html) (getfpv)
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- Original Airbot Omnibus F4 SD
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Purchase from:
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- [Airbot (CN manufacturer)](https://store.myairbot.com/omnibusf4prov3.html)
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- [Ready To Fly Quads (US reseller)](https://quadsrtf.com/product/flip-32-f4-omnibus-rev-2/)
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Accessories include:
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- [ESP8266 WiFi Module](../telemetry/esp8266_wifi_module.md) for MAVLink telemetry.
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You need to connect these pins: GND, RX, TX, VCC and CH-PD (CH-PD to 3.3V). The baud rate is 921600.
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## Connectors
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Boards from different vendors (based on this design) can have significantly different layout.
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Layouts/Silkscreens for various versions are shown below.
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### Airbot Omnibus F4 SD
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Below are silkscreens for the Airbot Omnibus F4 SD (V1), showing both top and bottom.
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### Hobbywing XRotor Flight Controller F4
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Below are silkscreens for the Hobbywing XRotor Flight Controller F4.
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## Pinouts
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### Radio Control
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RC is connected to one of the following ports:
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- UART1
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- SBUS/PPM port (via inverter, internally goes to UART1)
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::: info
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Some Omnibus F4 boards have a jumper connecting either or both the MCU SBUS and PPM to a single pin header. Set your jumper or solder bridge to the appropriate MCU pin before use.
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:::
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### UARTs
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- UART6: GPS port
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- TX: MCU pin PC6
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- RX: MCU pin PC7
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- Airbot Omnibus F4 SD Pinout is on Port J10 (TX6/RX6):
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- UART4
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- TX: MCU pin PA0
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- RX: MCU pin PA1
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- 57600 baud
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- This can be configured as the `TELEM 2` port.
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- Airbot Omnibus F4 SD Pinout:
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- TX: RSSI pin
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- RX: PWM out 5
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### I2C
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There is one I2C port available via:
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- SCL: MCU pin PB10 (might be labeled as TX3)
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- SDA: MCU pin PB11 (might be labeled as RX3)
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::: info
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You will need external pullups on both signals (clock and data).
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You can use 2.2k pullups for example to attach an external mag.
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:::
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- Airbot Omnibus F4 SD Pinout is on Port J10 (SCL [clock] / SCA [data]):
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<img src="../../assets/flight_controller/omnibus_f4_sd/uart6.jpg" title="Omnibus F4 SD UART6" />
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Here is an example implementation. I used a Spektrum plug to get 3.3v from the DSM port, connecting only 3.3v + to each line via 2.2k resistor.
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## Serial Port Mapping
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| UART | Device | Port |
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| ------ | ---------- | -------- |
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| USART1 | /dev/ttyS0 | SerialRX |
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| USART4 | /dev/ttyS1 | TELEM1 |
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| USART6 | /dev/ttyS2 | GPS |
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<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
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## RC Telemetry
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The Omnibus supports telemetry to the RC Transmitter using [FrSky Telemetry](../peripherals/frsky_telemetry.md) or [CRSF Crossfire Telemetry](#crsf_telemetry).
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<a id="crsf_telemetry"></a>
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### CRSF Crossfire Telemetry
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[TBS CRSF Telemetry](../telemetry/crsf_telemetry.md) may be used to send telemetry data from the flight controller (the vehicle's attitude, battery, flight mode and GPS data) to an RC transmitter such as a Taranis.
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Benefits over [FrSky telemetry](../peripherals/frsky_telemetry.md) include:
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- Only a single UART is needed for RC and telemetry.
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- The CRSF protocol is optimized for low latency.
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- 150 Hz RC update rate.
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- The signals are uninverted and thus no (external) inverter logic is required.
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::: info
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If you use CRSF Telemetry you will need to build custom PX4 firmware.
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By contrast, FrSky telemetry can use prebuilt firmware.
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:::
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For Omnibus we recommend the [TBS Crossfire Nano RX](https://www.team-blacksheep.com/products/prod:crossfire_nano_rx), since it is specifically designed for small Quads.
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On the handheld controller (e.g. Taranis) you will also need a [Transmitter Module](https://www.team-blacksheep.com/shop/cat:tbs-crossfire-radio-transmitter#product_listing).
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This can be plugged into the back of the RC controller.
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::: info
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The referenced links above contains the documentation for the TX/RX modules.
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:::
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#### Setup
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Connect the Nano RX and Omnibus pins as shown:
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| Omnibus UART1 | Nano RX |
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| ------------- | ------- |
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| TX | Ch2 |
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| RX | Ch1 |
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Next update the TX/RX modules to use the CRSF protocol and set up telemetry.
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Instructions for this are provided in the [TBS Crossfire Manual](https://www.team-blacksheep.com/media/files/tbs-crossfire-manual.pdf) (search for 'Setting up radio for CRSF').
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#### PX4 CRSF Configuration
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You will need to build custom firmware to use CRSF.
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For more information see [CRSF Telemetry](../telemetry/crsf_telemetry.md#px4-configuration).
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<!-- no longer available 202507 -->
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## PX4 Bootloader Update {#bootloader}
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The board comes pre-installed with [Betaflight](https://github.com/betaflight/betaflight/wiki).
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Before PX4 firmware can be installed, the _PX4 bootloader_ must be flashed.
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Download the [omnibusf4sd_bl.hex](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/flight_controller/omnibus_f4_sd/omnibusf4sd_bl_d52b70cb39.hex) bootloader binary and read [this page](../advanced_config/bootloader_update_from_betaflight.md) for flashing instructions.
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## Building Firmware
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To [build PX4](../dev_setup/building_px4.md) for this target:
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```
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make omnibus_f4sd_default
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```
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## Installing PX4 Firmware
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You can use either pre-built firmware or your own custom firmware.
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:::warning
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If you use [CRSF Telemetry](../telemetry/crsf_telemetry.md#px4-configuration) in your radio system, as describe above, then you must use custom firmware.
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The firmware can be installed in any of the normal ways:
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- Build and upload the source
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```
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make omnibus_f4sd_default upload
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```
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- [Load the firmware](../config/firmware.md) using _QGroundControl_.
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## Configuration
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In addition to the [basic configuration](../config/index.md), the following parameters are important:
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| Parameter | Setting |
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| ---------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------- |
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| [SYS_HAS_MAG](../advanced_config/parameter_reference.md#SYS_HAS_MAG) | This should be disabled since the board does not have an internal mag. You can enable it if you attach an external mag. |
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| [SYS_HAS_BARO](../advanced_config/parameter_reference.md#SYS_HAS_BARO) | Disable this if your board does not have a barometer. |
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## Further Info
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[This page](https://blog.unmanned.tech/omnibus-f4-flight-controller-guide/) provides a good overview with pinouts and setup instructions.
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