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PX4-Autopilot/docs/ko/flight_controller/pixhawk.md
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# 3DR Pixhawk 1 비행 콘트롤러 (단종됨)
:::warning
This flight controller has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available.
You can use the [mRo Pixhawk](../flight_controller/mro_pixhawk.md) as a drop-in replacement.
:::
:::warning
PX4 does not manufacture this (or any) autopilot.
지원 또는 규정준수 문제는 제조업체에 문의하십시오.
:::
The _3DR Pixhawk<sup>&reg;</sup> 1_ autopilot is a popular general purpose flight controller based on the [Pixhawk-project](https://pixhawk.org/) **FMUv2** open hardware design (it combines the functionality of the PX4FMU + PX4IO).
It runs PX4 on the [NuttX](https://nuttx.apache.org/) OS.
![Pixhawk Image](../../assets/hardware/hardware-pixhawk.png)
Assembly/setup instructions for use with PX4 are provided here: [Pixhawk Wiring Quickstart](../assembly/quick_start_pixhawk.md)
## 주요 특징
- Main System-on-Chip: [STM32F427](https://www.st.com/en/microcontrollers-microprocessors/stm32f427-437.html)
- CPU : 단정밀도 FPU의 180MHz ARM<sup>&reg;</sup> Cortexex<sup>&reg;</sup> M4
- RAM : 256KB SRAM (L1)
- 페일세이프 시스템 온칩 : STM32F100
- CPU: 24 MHz ARM Cortex M3
- RAM : 8KB SRAM
- Wifi: ESP8266 외장형
- GPS: u-blox<sup>&reg;</sup> 7/8 (Hobbyking<sup>&reg;</sup>) / u-blox 6 (3D Robotics)
- Optical flow: [PX4 Flow unit](../sensor/px4flow.md)
- 중복 전원공급장치 및 자동 장애 조치
- 외부 안전 스위치
- 다색 LED 주시각 표시기
- 고전력 멀티톤 피에조 오디오 표시기
- 장기간 고속 로깅용 microSD 카드
연결성
- I2C 1개
- CAN 1개 (2개는 옵션)
- ADC 1개
- UART 4개 (흐름 제어 2개 포함)
- 콘솔 1개
- 수동 오버라이드 기능이 있는 PWM 8개
- 6개 PWM / GPIO / PWM 입력
- S.BUS / PPM / Spektrum 입력
- S.BUS 출력
# 구매처
원래 3DR&reg;에서 제조하였습니다.
이 보드는 PX4&reg;의 최초 표준 마이크로 콘트롤러 플랫폼이었습니다. While the board is no longer manufactured by 3DR, you can use the [mRo Pixhawk](../flight_controller/mro_pixhawk.md) as a drop-in replacement.
mRo Pixhawk 주문:
- [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)
- [mRo Pixhawk 2.4.6 Essential Kit](https://store.mrobotics.io/Genuine-PixHawk-Flight-Controller-p/mro-pixhawk1-minkit-mr.htm) - includes everything except for telemetry radios
- [mRo Pixhawk 2.4.6 Cool Kit! (Limited edition)](https://store.mrobotics.io/product-p/mro-pixhawk1-fullkit-mr.htm) - includes everything you need including telemetry radios
## 사양
### 프로세서
- 32bit STM32F427 [Cortex-M4F](https://en.wikipedia.org/wiki/ARM_Cortex-M#Cortex-M4) core with FPU
- 168 MHz
- 256 KB RAM
- 2 MB Flash
- 32 비트 STM32F103 failsafe 코 프로세서
### 센서
- ST Micro L3GD20H 3축 16비트 자이로스코프
- ST 마이크로 LSM303D 14 비트 가속도계/자력계
- Invensense MPU 6000 3축 가속도계/자이로스코프
- MEAS MS5611 기압계
### 인터페이스
- UART (직렬 포트) 5개, 1 개의 고전력 지원, 2x (HW 흐름 제어 포함)
- CAN 2개(하나는 내부 3.3V 트랜시버, 하나는 확장 커넥터에 있음)
- Spektrum DSM/DSM2/DSM-X® Satellite 호환 입력
- Futaba S.BUS® 호환 입력 및 출력
- PPM 합계 신호 입력
- RSSI(PWM 또는 전압) 입력
- I2C
- SPI
- 3.3 및 6.6V ADC 입력
- 내부 microUSB 포트 및 외부 microUSB 포트 확장
<lite-youtube videoid="gCCC5A-Bvv4" title="PX4 Pixhawk (3DR) Multicolor Led in action"/>
### 전력 시스템 및 보호
- 자동 복구 기능의 이상적인 다이오드 컨트롤러
- Servo rail high-power (max. 10V) and high-current (10A+) ready
- 모든 주변 장치 출력 과전류 보호, 모든 입력 ESD 보호
## 정격 전압
Pixhawk 는 3 개의 전원이 공급되는 경우에는 전원 공급 장치의 3중 중복이 가능합니다. 세 개의 레일은 전원 모듈 입력, 서보 레일 입력과 USB 입력입니다.
### 정상 작동 최대 정격 전압
이러한 조건에서 전원은 아래의 순서대로 시스템에 전원을 공급하여야합니다.
- 전원 모듈 입력 (4.8V ~ 5.4V)
- Servo rail input (4.8V to 5.4V) **UP TO 10V FOR MANUAL OVERRIDE, BUT AUTOPILOT PART WILL BE UNPOWERED ABOVE 5.7V IF POWER MODULE INPUT IS NOT PRESENT**
- USB 전원 입력 (4.8V ~ 5.4V)
### 절대 최대 정격 전압
아래의 조건에서 시스템은 전원을 사용하지 않지만(작동하지 않음), 그대로 유지됩니다.
- 전원 모듈 입력(4.1V ~ 5.7V, 0V ~ 20V 손상되지 않음)
- 서보 레일 입력(4.1V ~ 5.7V, 0V ~ 20V)
- USB 전원 입력(4.1V ~ 5.7V, 0V ~ 6V)
## 회로도
[FMUv2 + IOv2 schematic](https://raw.githubusercontent.com/PX4/Hardware/master/FMUv2/PX4FMUv2.4.5.pdf) -- Schematic and layout
:::info
As a CC-BY-SA 3.0 licensed Open Hardware design, all schematics and design files are [available](https://github.com/pixhawk/Hardware).
:::
## 연결
Pixhawk ports are shown below.
These use Hirose DF13 connectors (predating the JST-GH connectors defined in the Pixhawk connector standard).
:::warning
Many 3DR Pixhawk clones use Molex picoblade connectors instead of DF13 connectors.
They have rectangular instead of square pins, and cannot be assumed to be compatible.
:::
![Pixhawk Connectors](../../assets/flight_controller/pixhawk1/pixhawk_connectors.png)
:::tip
The `RC IN` port is for RC receivers only and provides sufficient power for that purpose.
**NEVER** connect any servos, power supplies or batteries to it or to the receiver connected to it.
:::
## 핀배열
#### TELEM1, TELEM2 포트
| 핀 | 신호 | 전압 |
| ------------------------- | --------------------------- | --------------------- |
| 1(red) | VCC | +5V |
| 2 (흑) | TX (출력) | +3.3V |
| 3 (흑) | RX (입력) | +3.3V |
| 4 (흑) | CTS (입력) | +3.3V |
| 5 (흑) | RTS (출력) | +3.3V |
| 6 (흑) | GND | GND |
#### GPS 포트
| 핀 | 신호 | 전압 |
| ------------------------- | -------------------------- | --------------------- |
| 1(red) | VCC | +5V |
| 2 (흑) | TX (출력) | +3.3V |
| 3 (흑) | RX (입력) | +3.3V |
| 4 (흑) | CAN2 TX | +3.3V |
| 5 (흑) | CAN2 RX | +3.3V |
| 6 (흑) | GND | GND |
#### SERIAL 4/5 포트
공간 제약으로 인하여 두 개의 포트가 하나의 커넥터에 있습니다.
| 핀 | 신호 | 전압 |
| ------------------------- | -------------------------- | --------------------- |
| 1(red) | VCC | +5V |
| 2 (흑) | TX (#4) | +3.3V |
| 3 (흑) | RX (#4) | +3.3V |
| 4 (흑) | TX (#5) | +3.3V |
| 5 (흑) | RX (#5) | +3.3V |
| 6 (흑) | GND | GND |
#### ADC 6.6V
| 핀 | 신호 | 전압 |
| ------------------------- | ------ | ------------------------ |
| 1(red) | VCC | +5V |
| 2 (흑) | ADC 입력 | 최대 +6.6V |
| 3 (흑) | GND | GND |
#### ADC 3.3V
| 핀 | 신호 | 전압 |
| ------------------------- | ------ | ------------------------ |
| 1(red) | VCC | +5V |
| 2 (흑) | ADC 입력 | 최대 +3.3V |
| 3 (흑) | GND | GND |
| 4 (흑) | ADC 입력 | 최대 +3.3V |
| 5 (흑) | GND | GND |
#### I2C
| 핀 | 신호 | 전압 |
| ------------------------- | --- | -------------------------------------------- |
| 1(red) | VCC | +5V |
| 2 (흑) | SCL | +3.3 (풀업) |
| 3 (흑) | SDA | +3.3 (풀업) |
| 4 (흑) | GND | GND |
#### CAN
| 핀 | 신호 | 전압 |
| ------------------------- | -------------------------- | ---- |
| 1(red) | VCC | +5V |
| 2 (흑) | CAN_H | +12V |
| 3 (흑) | CAN_L | +12V |
| 4 (흑) | GND | GND |
#### SPI
| 핀 | 신호 | 전압 |
| ------------------------- | ------------------------------------------------------ | -------------------- |
| 1(red) | VCC | +5V |
| 2 (흑) | SPI_EXT_SCK | +3.3 |
| 3 (흑) | SPI_EXT_MISO | +3.3 |
| 4 (흑) | SPI_EXT_MOSI | +3.3 |
| 5 (흑) | !SPI_EXT_NSS | +3.3 |
| 6 (흑) | !GPIO_EXT | +3.3 |
| 7 (흑) | GND | GND |
#### 전원
| 핀 | 신호 | 전압 |
| ------------------------- | ------- | --------------------- |
| 1(red) | VCC | +5V |
| 2 (흑) | VCC | +5V |
| 3 (흑) | CURRENT | +3.3V |
| 4 (흑) | VOLTAGE | +3.3V |
| 5 (흑) | GND | GND |
| 6 (흑) | GND | GND |
#### 스위치
| 핀 | 신호 | 전압 |
| ------------------------- | -------------------------------------------------------- | --------------------- |
| 1(red) | VCC | +3.3V |
| 2 (흑) | !IO_LED_SAFETY | GND |
| 3 (흑) | SAFETY | GND |
## 시리얼 포트 매핑
| UART | 장치 | 포트 |
| ------ | ---------- | --------------------------------- |
| UART1 | /dev/ttyS0 | IO 디버그 |
| USART2 | /dev/ttyS1 | TELEM1 (흐름 제어) |
| USART3 | /dev/ttyS2 | TELEM2 (흐름 제어) |
| UART4 | | |
| UART7 | 콘솔 | |
| UART8 | SERIAL4 | |
<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
## 디버그 포트
### 콘솔 포트
The [PX4 System Console](../debug/system_console.md) runs on the port labeled [SERIAL4/5](#serial-4-5-port).
:::tip
A convenient way to connect to the console is to use a [Zubax BugFace BF1](https://github.com/Zubax/bugface_bf1), as it comes with connectors that can be used with several different Pixhawk devices.
Simply connect the 6-pos DF13 1:1 cable on the [Zubax BugFace BF1](https://github.com/Zubax/bugface_bf1) to the Pixhawk `SERIAL4/5` port.
![Zubax BugFace BF1](../../assets/flight_controller/pixhawk1/dronecode_probe.jpg)
:::
The pinout is standard serial pinout, designed to connect to a [3.3V FTDI](https://www.digikey.com/en/products/detail/TTL-232R-3V3/768-1015-ND/1836393) cable (5V tolerant).
\| 3DR Pixhawk 1 | | FTDI |
\| ------------- | --------- | ---- | ---------------- |
\| 1 | +5V (red) | | N/C |
\| 2 | S4 Tx | | N/C |
\| 3 | S4 Rx | | N/C |
\| 4 | S5 Tx | 5 | FTDI RX (yellow) |
\| 5 | S5 Rx | 4 | FTDI TX (orange) |
\| 6 | GND | 1 | FTDI GND (black) |
6 핀 DF13 1 : 1 커넥터에 대한 FTDI 케이블의 배선은 아래 그림과 같습니다.
![Console Connector](../../assets/flight_controller/pixhawk1/console_connector.jpg)
전체 배선은 아래와 같습니다.
![Console Debug](../../assets/flight_controller/pixhawk1/console_debug.jpg)
:::info
For information on how to _use_ the console see: [System Console](../debug/system_console.md).
:::
### SWD 포트
The [SWD](../debug/swd_debug.md) (JTAG) ports are hidden under the cover (which must be removed for hardware debugging).
아래에 강조 표시된 것처럼 FMU와 IO를 위한 별도의 포트가 존재합니다.
![Pixhawk SWD](../../assets/flight_controller/pixhawk1/pixhawk_swd.jpg)
포트는 ARM 10핀 JTAG 커넥터이므로 납땜이 필요합니다.
포트의 핀배열은 아래와 같습니다(위 모서리의 사각형 마커는 핀 1을 나타냄).
![ARM 10-Pin connector pinout](../../assets/flight_controller/pixhawk1/arm_10pin_jtag_connector_pinout.jpg)
:::info
All Pixhawk FMUv2 boards have a similar SWD port.
:::
## 펌웨어 빌드
:::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-v2_default
```
## 부품 / 하우징
- **ARM MINI JTAG (J6)**: 1.27 mm 10pos header (SHROUDED), for Black Magic Probe: FCI 20021521-00010D4LF ([Digi-Key](https://www.digikey.com/en/products/detail/20021521-00010T1LF/609-4054-ND/2414951),) or Samtec FTSH-105-01-F-DV-K (untested) or Harwin M50-3600542 ([Digikey](https://www.digikey.com/en/products/detail/harwin-inc/M50-3600542/2264370))
- JTAG Adapter Option #1: [BlackMagic Probe](https://1bitsquared.com/products/black-magic-probe). 케이블 없이 제공될 수 있습니다 (제조업체에 확인).
If so, you will need the **Samtec FFSD-05-D-06.00-01-N** cable ([Samtec sample service](https://www.samtec.com/products/ffsd-05-d-06.00-01-n) or [Digi-Key Link: SAM8218-ND](https://www.digikey.com/en/products/detail/samtec-inc/ffsd-05-d-06-00-01-n/1106577)) or [Tag Connect Ribbon](https://www.tag-connect.com/product/10-pin-cortex-ribbon-cable-4-length-with-50-mil-connectors) and a Mini-USB cable.
- JTAG Adapter Option #2: [Digi-Key Link: ST-LINK/V2](https://www.digikey.com/product-detail/en/stmicroelectronics/ST-LINK-V2/497-10484-ND) / [ST USER MANUAL](https://www.st.com/resource/en/user_manual/dm00026748.pdf), needs an ARM Mini JTAG to 20pos adapter: [Digi-Key Link: 726-1193-ND](https://www.digikey.com/en/products/detail/texas-instruments/MDL-ADA2/1986451)
- JTAG Adapter Option #3: [Olimex ARM-TINY](https://www.olimex.com/wiki/ARM-USB-TINY) or any other OpenOCD-compatible ARM Cortex JTAG adapter, needs an ARM Mini JTAG to 20pos adapter: [Digi-Key Link: 726-1193-ND](https://www.digikey.com/en/products/detail/texas-instruments/MDL-ADA2/1986451)
- **USARTs**: Hirose DF13 6 pos ([Digi-Key Link: DF13A-6P-1.25H(20)](https://www.digikey.com/products/en?keywords=H3371-ND))
- Mates: Hirose DF13 6 pos housing ([Digi-Key Link: Hirose DF13-6S-1.25C](https://www.digikey.com/products/en?keywords=H2182-ND))
- **I2C and CAN**: Hirose DF13 4 pos ([Digi-Key Link: DF13A-4P-1.25H(20)](https://www.digikey.com/en/products/detail/hirose-electric-co-ltd/DF13A-4P-1-25H-20/530666) - discontinued)
## 지원 플랫폼 및 기체
일반 RC 서보 또는 Futaba S-Bus 서보로 제어 가능한 모든 멀티콥터/비행기/로버 또는 보트.
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