7.2 KiB
ModalAI Flight Core v1
:::warning This frame has been discontinued and is no longer commercially available. :::
:::warning PX4 does not manufacture this (or any) autopilot. Contact the manufacturer for hardware support or compliance issues. :::
The ModalAI Flight Core v1 (Datasheet) is a flight controller for PX4, made in the USA. The Flight Core can be paired with ModalAI VOXL for obstacle avoidance and GPS-denied navigation, or used independently as a standalone flight controller.
Flight Core is identical to the PX4 Flight Controller portion of VOXL Flight (Datasheet) which integrates the VOXL Companion Computer and Flight Core into a single PCB.
:::info This flight controller is manufacturer supported. :::
사양
| 기능 | 세부 정보 |
|---|---|
| 중량 | 6 g |
| MCU | 216MHz, 32-bit ARM M7 STM32F765II |
| 메모리 | 256Kb FRAM |
| 2Mbit Flash | |
| 512Kbit SRAM | |
| 펌웨어 | PX4 |
| 관성계 | ICM-20602 (SPI1) |
| ICM-42688 (SPI2) | |
| BMI088 (SPI6) | |
| 기압계 | BMP388 (I2C4) |
| 보안 요소 | A71CH (I2C4) |
| microSD 카드 | Information on supported cards |
| 입력 | GPS/자력계 |
| Spektrum | |
| 텔레메트리 | |
| CAN 버스 | |
| PPM | |
| 출력 | LED 6 개 (2xRGB) |
| PWM 채널 8개 | |
| 추가 인터페이스 | 시리얼포트 3개 |
| I2C | |
| GPIO |
:::info More detailed hardware documentation can be found here. :::
크기
PX4 Firmware Compatibility
Flight Core v1 is fully compatible with the official PX4 Firmware from PX4 v1.11.
ModalAI maintains a branched PX4 version for PX4 v1.11. This includes UART ESC support and improvements in VIO and VOA that are planned to be upstreamed.
More information about the firmware can be found here.
QGroundControl 지원
아래 다이어그램은 PX4 v1.11(및 ModalAI가 유지하는 PX4 v1.10 브랜치)부터 ROTATION_NONE 권장 방향을 나타냅니다.
구매처
- No longer available
빠른 시작
방향
The diagram below shows the recommended orientation, which corresponds to ROTATION_NONE starting with PX4 v1.11.
커넥터
Detailed information about the pinouts can be found here.
| 커넥터 | 요약 |
|---|---|
| J1 | VOXL 통신 인터페이스 커넥터 (TELEM2) |
| J2 | 프로그래밍 및 디버그 커넥터 |
| J3 | USB 커넥터 |
| J4 | UART2, UART ESC (TELEM3) |
| J5 | 텔레메트리 커넥터 (TELEM1) |
| J6 | VOXL - 전원 관리 입력/확장 |
| J7 | 8 채널 PWM 출력 커넥터 |
| J8 | CAN 버스 커넥터 |
| J9 | PPM RC 입력 |
| J10 | External GPS & Magnetometer Connector |
| J12 | RC 입력, Spektrum/SBus/UART 커넥터 |
| J13 | I2C 디스플레이(예비 센서 커넥터)/안전 버튼 입력 |
사용자 가이드
The full user guide is available here.
빌드 방법
To build PX4 for this target:
make modalai_fc-v1
시리얼 포트 매핑
| UART | 장치 | 포트 |
|---|---|---|
| USART1 | /dev/ttyS0 | GPS1 (J10) |
| USART2 | /dev/ttyS1 | TELEM3 (J4) |
| USART3 | /dev/ttyS2 | 디버깅 콘솔(J2) |
| UART4 | /dev/ttyS3 | 확장 UART (J6) |
| UART5 | /dev/ttyS4 | TELEM2, 기본 VOXL 통신 (J1) |
| USART6 | /dev/ttyS5 | RC (J12) |
| UART7 | /dev/ttyS6 | TELEM1 (J5) |
| UART8 | /dev/ttyS7 | 해당없음 |
지원
Please visit the ModalAI Forum for more information.