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109 lines
4.2 KiB
Markdown
109 lines
4.2 KiB
Markdown
# mRo Pixhawk 비행 컨트롤러 (Pixhawk 1)
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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.mrobotics.io/) for hardware support or compliance issues.
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:::
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The _mRo Pixhawk<sup>®</sup>_ is a hardware compatible version of the original [Pixhawk 1](../flight_controller/pixhawk.md). It runs PX4 on the [NuttX](https://nuttx.apache.org/) OS.
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:::tip
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The controller can be used as a drop-in replacement for the 3DR<sup>®</sup> [Pixhawk 1](../flight_controller/pixhawk.md).
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The main difference is that it is based on the [Pixhawk-project](https://pixhawk.org/) **FMUv3** open hardware design, which corrects a bug that limited the original Pixhawk 1 to 1MB of flash.
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:::
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Assembly/setup instructions for use with PX4 are provided here: [Pixhawk Wiring Quickstart](../assembly/quick_start_pixhawk.md)
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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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## 주요 특징
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- 마이크로 프로세서:
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- FPU가있는 32 비트 STM32F427 코어 텍스<sup>®</sup> M4 코어
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- 168 MHz / 256 KB RAM / 2 MB 플래시
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- 32 비트 STM32F100 failsafe 코프로세서
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- 24 MHz/8 KB RAM/64 KB 플래시
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- 센서:
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- ST Micro L3GD20 3축 16비트 자이로스코프
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- ST Micro LSM303D 3축 14비트 가속도계/자력계
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- Invensense<sup>®</sup> MPU 6000 3축 가속도계/자이로스코프
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- MEAS MS5611 기압계
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- 인터페이스:
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- UART (직렬 포트) 5개, 1 개의 고전력 지원, 2x (HW 흐름 제어 포함)
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- CAN 2 개
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- 최대 DX8의 Spektrum DSM/DSM2/DSM-X® Satellite 호환 입력(DX9 이상은 지원되지 않음)
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- Futaba<sup>®</sup> S.BUS 호환 입력 및 출력
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- PPM 합계 신호
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- RSSI(PWM 또는 전압) 입력
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- I2C
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- SPI
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- 3.3 및 6.6V ADC 입력
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- 외부 microUSB 포트
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- 전원시스템
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- 자동 복구 기능의 이상적인 다이오드 컨트롤러
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- 서보 레일 고전력 (7V) 및 고전류 준비
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- 모든 주변 장치 출력 과전류 보호, 모든 입력 ESD 보호
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- 중량과 크기
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- 무게 : 38g (1.31oz)
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- 너비 : 50mm (1.96 ")
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- 두께 : 15.5mm (.613 ")
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- 길이 : 81.5mm (3.21")
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## 구매처
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- [Bare Bones](https://store.mrobotics.io/Genuine-PixHawk-1-Barebones-p/mro-pixhawk1-bb-mr.htm) - Just the board (useful as a 3DR Pixhawk replacement)
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- [mRo Pixhawk 2.4.6 Essential Kit!](https://store.mrobotics.io/Genuine-PixHawk-Flight-Controller-p/mro-pixhawk1-minkit-mr.htm) - Everything except for telemetry radios
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- [mRo Pixhawk 2.4.6 Cool Kit! (Limited edition)](https://store.mrobotics.io/product-p/mro-pixhawk1-fullkit-mr.htm) - Everything you need including telemetry radios
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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-v3_default
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```
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## 디버그 포트
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See [3DR Pixhawk 1 > Debug Ports](../flight_controller/pixhawk.md#debug-ports)
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## 핀배열
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See [3DR Pixhawk 1 > Pinouts](../flight_controller/pixhawk.md#pinouts)
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## 시리얼 포트 매핑
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| UART | 장치 | 포트 |
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| ------ | ---------- | --------------------------------- |
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| UART1 | /dev/ttyS0 | IO 디버그 |
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| USART2 | /dev/ttyS1 | TELEM1 (흐름 제어) |
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| USART3 | /dev/ttyS2 | TELEM2 (흐름 제어) |
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| UART4 | | |
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| UART7 | 콘솔 | |
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| UART8 | SERIAL4 | |
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<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
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## 회로도
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The board is based on the [Pixhawk-project](https://pixhawk.org/) **FMUv3** open hardware design.
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- [FMUv3 schematic](https://github.com/pixhawk/Hardware/raw/master/FMUv3_REV_D/Schematic%20Print/Schematic%20Prints.PDF) -- Schematic and layout
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:::info
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As a CC-BY-SA 3.0 licensed Open Hardware design, all schematics and design files are [available](https://github.com/pixhawk/Hardware).
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:::
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