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PX4 Build Bot
224 lines
9.6 KiB
Markdown
224 lines
9.6 KiB
Markdown
# CUAV Pixhawk V6X
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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.cuav.net/) for hardware support or compliance issues.
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:::
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_Pixhawk V6X_<sup>®</sup> is the latest update to the successful family of Pixhawk® flight controllers designed and made in collaboration with CUAV<sup>®</sup> and the PX4 team.
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It is based on the [Pixhawk® Autopilot FMUv6X Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-012%20Pixhawk%20Autopilot%20v6X%20Standard.pdf), [Autopilot Bus Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-010%20Pixhawk%20Autopilot%20Bus%20Standard.pdf), and [Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf).
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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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Pixhawk<sup>®</sup> V6X brings you the ultimate in performance, stability and reliability in all aspects.
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- Arm® Cortex®-M7 processor (STM32H753) with Floating Point Unit (FPU), 480MHz high-speed operations and 2MB flash.
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Developers can be more productive and efficient, allowing for more complex algorithms and models.
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- High-performance on-board, low-noise IMU and automotive-grade magnetic compass based on FMUv6X open standard.
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It aims to achieve better stability and anti-interference ability.
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- Triple redundant IMU & double redundant barometer on separate buses.
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When the PX4 Autopilot detects a sensor failure, the system seamlessly switches to another to maintain flight control reliability.
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- An independent LDO powers every sensor set with independent power control.
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A vibration isolation System to filter out high-frequency vibration and reduce noise to ensure accurate readings, allowing vehicles to reach better overall flight performances.
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- External sensor bus (SPI5) has two chip select lines and data-ready signals for additional sensors and payload with SPI-interface.
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- Integrated Microchip Ethernet PHY for high-speed communication over Ethernet with onboard devices such as mission computers.
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- Newly designed vibration isolation system to filter out high frequency vibration and reduce noise to ensure accurate readings.
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- IMUs are temperature-controlled by onboard heating resistors, allowing optimum working temperature of IMUs 
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- Modular flight controller: separated IMU, FMU, and Base system connected by a 100-pin & a 50-pin Pixhawk® Autopilot Bus connector.
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The Pixhawk® V6X is ideal for corporate research labs, academic research and commercial applications.
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### Processors & Sensors
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- FMU Processor: STM32H753
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- 32 Bit Arm® Cortex®-M7, 480MHz, 2MB flash memory, 1MB RAM
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- IO Processor: STM32F103
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- 32 Bit Arm® Cortex®-M3, 72MHz, 20KB SRAM
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- 내장 센서 :
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- Accel/Gyro: BMI088
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- Accel/Gyro: ICM-42688-P
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- Accel/Gyro: ICM-20649
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- Mag: RM3100
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- Barometer: 2x ICP-20100
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### Electrical data
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- Voltage Ratings:
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- Max input voltage: 5.7V
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- USB Power Input: 4.75\~5.25V
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- Servo Rail Input: 0\~9.9V
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- Current Ratings:
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- TELEM1 and GPS2 combined output current limiter: 1.5A
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- All other port combined output current limiter: 1.5A
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### 인터페이스
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- 16- PWM servo outputs
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- 1 Dedicated R/C input for Spektrum / DSM and S.Bus with analog / PWM RSSI input
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- 3 TELEM Ports（with full flow control）
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- 1 UART4(Seial and I2C)
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- 2 GPS ports
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- 1 full GPS plus Safety Switch Port(GPS1)
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- 1 basic GPS port(with I2C,GPS2)
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- 2 USB Ports
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- 1 TYPE-C
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- JST GH1.25
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- 1 Ethernet port
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- Transformerless Applications
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- 100Mbps
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- 1 SPI bus
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- 2 chip select lines
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- 2 data-ready lines
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- 1 SPI SYNC line
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- 1 SPI reset line
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- 2 CAN Buses for CAN peripheral
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- CAN Bus has individual silent controls or ESC RX-MUX control
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- 4 power input ports
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- 2 Dronecan/UAVCAN power inputs
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- 2 SMBUS/I2C power inputs
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- 1 AD & IO port
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- 2 additional analog input(3.3 and 6.6v）
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- 1 PWM/Capture input
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- 2 Dedicated debug
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- FMU debug
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- IO 디버그
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### Mechanical data
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- 중량
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- Flight Controller Module: 99g
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- Core module: 43g
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- Baseboard: 56g
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- Operating & storage temperature: -20 ~ 85°c
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- Size
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- Flight controller
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- Core module
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## 구매처
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Order from [CUAV](https://store.cuav.net/).
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## 조립 및 설정
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The [Pixhawk V6X Wiring Quick Start](../assembly/quick_start_cuav_pixhawk_v6x.md) provides instructions on how to assemble required/important peripherals including GPS, Power Module etc.
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## 핀배열
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참고:
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- The [camera capture pin](../camera/fc_connected_camera.md#camera-capture-configuration) (`PI0`) is pin 2 on the AD&IO port, marked above as `FMU_CAP1`.
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## 시리얼 포트 매핑
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| UART | 장치 | 포트 |
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| ------ | ---------- | -------- |
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| USART1 | /dev/ttyS0 | GPS |
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| USART2 | /dev/ttyS1 | TELEM3 |
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| USART3 | /dev/ttyS2 | 디버그 콘솔 |
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| UART4 | /dev/ttyS3 | UART4 |
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| UART5 | /dev/ttyS4 | TELEM2 |
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| USART6 | /dev/ttyS5 | PX4IO/RC |
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| UART7 | /dev/ttyS6 | TELEM1 |
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| UART8 | /dev/ttyS7 | GPS2 |
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## 정격 전압
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_Pixhawk V6X_ can be triple-redundant on the power supply if three power sources are supplied.
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The three power rails are: **POWERC1/POWER1**, **POWERC2/POWER2** and **USB**.
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- **POWER C1** and **POWER C2** are DroneCAN/UAVCAN battery interfaces (recommended)；**POWER1** and **POWER2** are SMbus/I2C battery interfaces (backup).
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- **POWER C1** and **POWER1** use the same power switch, **POWER C2** and **POWER2** use the same power switch.
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**Normal Operation Maximum Ratings**
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이러한 조건에서 전원은 아래의 순서대로 시스템에 전원을 공급하여야합니다.
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1. **POWER C1**, **POWER C2**, **POWER1** and **POWER2** inputs (4.75V to 5.7V)
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2. **USB** input (4.75V to 5.25V)
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**Absolute Maximum Ratings**
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아래의 조건에서 시스템은 전원을 사용하지 않지만(작동하지 않음), 그대로 유지됩니다.
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1. **POWER1** and **POWER2** inputs (operational range 4.7V to 5.7V, 0V to 10V undamaged)
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2. **USB input** (operational range 4.7V to 5.7V, 0V to 6V undamaged)
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3. **Servo input:** `VDD_SERVO` pin of **FMU PWM OUT** and **I/O PWM OUT** (0V to 42V undamaged)
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**Voltage monitoring**
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Digital DroneCAN/UAVCAN battery monitoring is enabled by default (see [Quickstart > Power](../assembly/quick_start_cuav_pixhawk_v6x.md#power)).
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:::info
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Analog battery monitoring via an ADC is not supported on this particular board, but may be supported in variations of this flight controller with a different baseboard.
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:::
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## 펌웨어 빌드
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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-v6x_default
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```
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<a id="debug_port"></a>
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## 디버그 포트
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The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) run on the **FMU Debug** port.
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The pinouts and connector comply with the [Pixhawk Debug Full](../debug/swd_debug.md#pixhawk-debug-full) interface defined in the [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf) interface (JST SM10B connector).
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| 핀 | 신호 | 전압 |
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| --------------------------- | ----------------------------------- | --------------------- |
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| 1(red) | `Vtref` | +3.3V |
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| 2 (흑) | Console TX (OUT) | +3.3V |
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| 3 (흑) | Console RX (IN) | +3.3V |
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| 4 (흑) | `SWDIO` | +3.3V |
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| 5 (흑) | `SWCLK` | +3.3V |
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| 6 (흑) | `SWO` | +3.3V |
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| 7 (흑) | NFC GPIO | +3.3V |
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| 8 (blk) | PH11 | +3.3V |
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| 9 (blk) | nRST | +3.3V |
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| 10 (blk) | `GND` | GND |
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이 포트의 배선과 사용 정보는 다음을 참조하십시오.
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- [PX4 System Console](../debug/system_console.md#pixhawk_debug_port) (Note, the FMU console maps to USART3).
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- [SWD Debug Port](../debug/swd_debug.md)
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## 주변 장치
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- [Digital Airspeed Sensor](https://holybro.com/products/digital-air-speed-sensor-ms4525do)
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- [Telemetry Radio Modules](https://holybro.com/collections/telemetry-radios?orderby=date)
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- [Rangefinders/Distance sensors](../sensor/rangefinders.md)
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## 지원 플랫폼 및 기체
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일반 RC 서보 또는 Futaba S-Bus 서보로 제어 가능한 모든 멀티콥터/비행기/로버 또는 보트.
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The complete set of supported configurations can be seen in the [Airframes Reference](../airframes/airframe_reference.md).
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## 추가 정보
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- [CUAV Docs](https://doc.cuav.net/) (CUAV)
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- [Pixhawk V6X Wiring QuickStart](../assembly/quick_start_cuav_pixhawk_v6x.md)
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- [Pixhawk Autopilot FMUv6X Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-012%20Pixhawk%20Autopilot%20v6X%20Standard.pdf)
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- [Pixhawk Autopilot Bus Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-010%20Pixhawk%20Autopilot%20Bus%20Standard.pdf)
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- [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf)
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