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243 lines
12 KiB
Markdown
243 lines
12 KiB
Markdown
# Holybro Pixhawk 5X
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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://holybro.com/) for hardware support or compliance issues.
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:::
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_Pixhawk 5X_<sup>®</sup> is the latest update to the successful family of Pixhawk® flight controllers designed and made in collaboration with Holybro<sup>®</sup> and the PX4 team.
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It is based on the [Pixhawk® Autopilot FMUv5X Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-011%20Pixhawk%20Autopilot%20v5X%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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It comes with the latest PX4 Autopilot® pre-installed, triple redundancy, temperature-controlled, isolated sensor domain, delivering incredible performance and reliability.
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<img src="../../assets/flight_controller/pixhawk5x/pixhawk5x_hero_upright.jpg" width="250px" title="Pixhawk5x Upright Image" /> <img src="../../assets/flight_controller/pixhawk5x/pixhawk5x_exploded_diagram.jpg" width="450px" title="Pixhawk5x Exploded Image" />
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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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## 소개
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Inside the Pixhawk® 5X, you can find an STMicroelectronics® based STM32F7, paired with sensor technology from Bosch®, InvenSense®, giving you flexibility and reliability for controlling any autonomous vehicle, suitable for both academic and commercial applications.
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The Pixhawk® 5X’s F7 microcontroller has 2MB flash memory and 512KB RAM.
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The PX4 Autopilot takes advantage of the increased power and RAM.
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Thanks to the updated processing power, developers can be more productive and efficient with their development work, allowing for complex algorithms and models.
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The FMUv5X open standard includes high-performance, low-noise IMUs on board, designed for better stabilization.
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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 newly designed vibration isolations 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, and with an integrated Microchip Ethernet PHY (LAN8742AI-CZ-TR), high-speed communication with mission computers via ethernet is now supported.
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Two smart battery monitoring ports (SMBus), support for INA226 SMBus Power module.
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The Pixhawk® 5X is perfect for developers at corporate research labs, startups, academics (research, professors, students), and commercial application.
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## Key Design Points
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- Modular flight controller
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- separated IMU, FMU, and Base system connected by a 100-pin & a 50-pin Pixhawk® Autopilot Bus connector, designed for flexible and customizable systems
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- Redundancy
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- 3x IMU sensors & 2x Barometer sensors on separate buses, allowing parallel and continuous operation even in the event of a hardware failure
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- Triple redundancy domains
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- Completely isolated sensor domains with separate buses and separate power control
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- Temperature-controlled IMUs
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- Onboard IMU heating resistors, allowing optimum working temperature of IMUs
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- Vibration isolation system
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- Newly designed system to filter out high frequency vibration and reduce noise to ensure accurate readings
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- Ethernet interface
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- For high-speed mission computer integration
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- Automated sensor calibration eliminating varying signals and temperature
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- Two smart batteries monitoring on SMBus
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- Additional GPIO line and 5V for the external NFC reader
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- Secure element for secure authentication of the drone (SE050)
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## Technical specification
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- FMU Processor: STM32F765
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- 32 비트 Arm® Cortex®-M7, 216MHz, 2MB 메모리, 512KB RAM
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- IO 프로세서: STM32F100
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- 32 비트 Arm® Cortex®-M3, 24MHz, 8KB SRAM
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- On-board Sensors:
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- Accel/Gyro: ICM-20649
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- Accel/Gyro: ICM-42688P
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- 가속도/자이로: ICM-20602
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- 자력계: BMM150
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- Barometer: 2x BMP388
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- 인터페이스
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- 16- PWM servo outputs
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- R/C input for Spektrum / DSM
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- Dedicated R/C input for PPM and S.Bus input
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- Dedicated analog / PWM RSSI input and S.Bus output
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- 범용 시리얼 포트 4개
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- 전체 흐름 제어 3개
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- 1.5A 전류 제한이 있는 1 개
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- 1 with I2C and additional GPIO line for external NFC reader
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- 2 GPS ports
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- 1 full GPS & Safety Switch Port
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- 1 basic GPS port
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- 1 I2C port
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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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- 2 Power input ports with SMBus
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- 1 AD & IO port
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- 2개의 추가 아날로그 입력
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- 1 PWM/Capture input
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- 2 Dedicated debug and GPIO lines
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- 정격 전압
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- 최대 입력 전압: 6V
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- USB 전원 입력: 4.75~5.25V
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- 서보 레일 입력: 0~36V
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- 크기
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- Flight Controller Module: 38.8 x 31.8 x 14.6mm
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- Standard Baseboard: 52.4 x 103.4 x 16.7mm
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- 중량
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- Flight Controller Module: 23g
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- Standard Baseboard: 51g
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- 기타 특성:
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- Operating & storage temperature: -40 ~ 85°c
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## 구매처
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Order from [Holybro](https://holybro.com/products/pixhawk-5x).
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## 조립 및 설정
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The [Pixhawk 5X Wiring Quick Start](../assembly/quick_start_pixhawk5x.md) provides instructions on how to assemble required/important peripherals including GPS, Power Module etc.
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## 연결
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## 핀배열
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:::info
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Connector pin assignments are left to right (i.e. Pin 1 is the left-most pin).
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::: infos:
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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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- _Pixhawk 5X_ pinouts can be downloaded in PDF from from [here](https://github.com/PX4/PX4-user_guide/blob/main/assets/flight_controller/pixhawk5x/pixhawk5x_pinout.pdf) or [here](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Holybro_Pixhawk5X_Pinout.pdf).
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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 & I2C |
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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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## 크기
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## 정격 전압
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_Pixhawk 5X_ can be triple-redundant on the power supply if three power sources are supplied. The three power rails are: **POWER1**, **POWER2** and **USB**.
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The **POWER1** & **POWER2** ports on the Pixhawk 5X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/en-us/products/part-detail/5024430670).
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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. **POWER1** and **POWER2** inputs (4.9V to 5.5V)
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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 4.1V to 5.7V, 0V to 10V undamaged)
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2. **USB** input (operational range 4.1V 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 I2C battery monitoring is enabled by default (see [Quickstart > Power](../assembly/quick_start_pixhawk5x.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-v5x_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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For information about using this port see:
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- [SWD Debug Port](../debug/swd_debug.md)
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- [PX4 System Console](../debug/system_console.md) (Note, the FMU console maps to USART3).
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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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- [Pixhawk 5X Wiring QuickStart](../assembly/quick_start_pixhawk5x.md)
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- [Pixhawk 5X Overview & Specification](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Holybro_Pixhawk5X_Spec_Overview.pdf) (Holybro)
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- [Pixhawk 5X Pinouts](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Holybro_Pixhawk5X_Pinout.pdf) (Holybro)
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- [FMUv5X reference design pinout](https://docs.google.com/spreadsheets/d/1Su7u8PHp-Y1AlLGVuH_I8ewkEEXt_bHHYBHglRuVH7E/edit#gid=562580340).
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- [Pixhawk Autopilot FMUv5X Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-011%20Pixhawk%20Autopilot%20v5X%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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