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234 lines
10 KiB
Markdown
234 lines
10 KiB
Markdown
# mRo Pixracer
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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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Pixhawk<sup>®</sup> XRacer 보드 제품군은 소형 레이싱 쿼드와 비행기에 최적화되어 있습니다.
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In contrast to [Pixfalcon](../flight_controller/pixfalcon.md) and [Pixhawk](../flight_controller/pixhawk.md) it has in-built WiFi, new sensors, convenient full servo headers, CAN and supports 2M flash.
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<img src="../../assets/flight_controller/pixracer/pixracer_hero_grey.jpg" width="300px" title="pixracer + 8266 grey" />
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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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- Main System-on-Chip: [STM32F427VIT6 rev.3](https://www.st.com/en/microcontrollers-microprocessors/stm32f427-437.html)
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- CPU : 단정밀도 FPU의 180MHz ARM Cortexex<sup>®</sup> M4
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- RAM : 256KB SRAM (L1)
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- 표준 FPV 폼 팩터 : 36x36mm, 표준 30.5mm 구멍 패턴
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- Invensense<sup>®</sup> ICM-20608 가속 / 자이로 (4KHz) / MPU9250 가속 / 자이로 / 마그 (4KHz)
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- 온도 보상 기능 HMC5983 자력계
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- Measurement Specialties MS5611 기압계
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- JST GH 커넥터
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- microSD (로깅)
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- Futaba S.BUS 및 S.BUS2/Spektrum DSM2 및 DSMX/Graupner SUMD/PPM 입력/Yuneec ST24
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- FrSky<sup>®</sup> 텔레메트리 포트
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- OneShot PWM 출력(설정 가능)
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- 옵션 : 안전 스위치 및 부저
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## 구매처
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Pixracer Pro is available from the [store.3dr.com](https://store.3dr.com/pixracer-pro/).
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액세서리에는 아래의 내용물이 포함됩니다.
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- [Digital airspeed sensor](https://hobbyking.com/en_us/hkpilot-32-digital-air-speed-sensor-and-pitot-tube-set.html)
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- Hobbyking<sup>®</sup> OSD + EU Telemetry (433 MHz) (Discontinued)
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## 키트
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Pixracer는 별도의 항공전자기기 전원공급장치를 사용하도록 설계되었습니다.
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이는 모터 또는 ESC의 전류 서지가 비행 컨트롤러로 다시 흐르고 섬세한 센서를 방해하는 것을 방지하는 데 필요합니다.
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- 전원 모듈(전압 및 전류 감지 포함)
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- I2C 스플리터(AUAV, Hobbyking 및 3DR<sup>®</sup> 주변 장치 지원)
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- 모든 일반 주변기기용 케이블 키트
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## Wi-Fi(USB 필요 없음)
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보드의 주요 기능중 하나는 새 펌웨어, 시스템 설정과 기내 원격 측정을 위해 Wi-Fi를 사용할 수 있는 것입니다.
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이를 통해 데스크탑 시스템이 필요없습니다.
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- [ESP8266 Wifi](../telemetry/esp8266_wifi_module.md)
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- [Custom ESP8266 MAVLink firmware](https://github.com/BeyondRobotix/mavesp8266)
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:::info
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Firmware upgrade is not yet enabled over WiFi (it is supported by the default bootloader but not yet enabled).
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Setup and telemetry are supported.
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:::
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## 조립
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See the [Pixracer Wiring Quickstart](../assembly/quick_start_pixracer.md)
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## Wiring Diagrams
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:::info
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If using `TELEM2` for an external telemetry module you will need to configure it as a MAVLink serial port.
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For more information see: [Pixracer Wiring Quickstart > External Telemetry](../assembly/quick_start_pixracer.md#external-telemetry)
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:::
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## 커넥터
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All connectors follow the [Pixhawk connector standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf).
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Unless noted otherwise all connectors are JST GH.
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## 핀배열
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#### TELEM1, TELEM2+OSD 포트
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| 핀 | 신호 | 전압 |
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| ------------------------- | --------------------------- | --------------------- |
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| 1(red) | VCC | +5V |
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| 2 (흑) | TX (출력) | +3.3V |
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| 3 (흑) | RX (입력) | +3.3V |
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| 4 (흑) | CTS (입력) | +3.3V |
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| 5 (흑) | RTS (출력) | +3.3V |
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| 6 (흑) | GND | GND |
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#### GPS 포트
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| 핀 | 신호 | 전압 |
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| ------------------------- | -------------------------- | --------------------- |
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| 1(red) | VCC | +5V |
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| 2 (흑) | TX (출력) | +3.3V |
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| 3 (흑) | RX (입력) | +3.3V |
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| 4 (흑) | I2C1 SCL | +3.3V |
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| 5 (흑) | I2C1 SDA | +3.3V |
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| 6 (흑) | GND | GND |
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#### FrSky 텔레메트리/SERIAL4
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| 핀 | 신호 | 전압 |
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| ------------------------- | -------------------------- | --------------------- |
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| 1(red) | VCC | +5V |
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| 2 (흑) | TX (출력) | +3.3V |
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| 3 (흑) | RX (입력) | +3.3V |
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| 4 (흑) | GND | GND |
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#### RC 입력(PPM/S.BUS/Spektrum/SUMD/ST24 허용)
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| 핀 | 신호 | 전압 |
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| ------------------------- | ------- | --------------------- |
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| 1(red) | VCC | +5V |
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| 2 (흑) | RC IN | +3.3V |
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| 3 (흑) | RSSI 입력 | +3.3V |
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| 4 (흑) | VDD 3V3 | +3.3V |
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| 5 (흑) | GND | GND |
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#### CAN
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| 핀 | 신호 | 전압 |
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| ------------------------- | -------------------------- | ---- |
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| 1(red) | VCC | +5V |
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| 2 (흑) | CAN_H | +12V |
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| 3 (흑) | CAN_L | +12V |
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| 4 (흑) | GND | GND |
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#### 전원
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| 핀 | 신호 | 전압 |
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| ------------------------- | ------- | --------------------- |
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| 1(red) | VCC | +5V |
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| 2 (흑) | VCC | +5V |
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| 3 (흑) | CURRENT | +3.3V |
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| 4 (흑) | VOLTAGE | +3.3V |
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| 5 (흑) | GND | GND |
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| 6 (흑) | GND | GND |
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#### 스위치
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| 핀 | 신호 | 전압 |
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| ------------------------- | -------------------------------------------------------- | --------------------- |
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| 1(red) | SAFETY | GND |
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| 2 (흑) | !IO_LED_SAFETY | GND |
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| 3 (흑) | VCC | +3.3V |
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| 4 (흑) | BUZZER- | - |
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| 5 (흑) | BUZZER+ | - |
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#### 디버그 포트
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The pinouts and connector comply with the [Pixhawk Debug Mini](../debug/swd_debug.md#pixhawk-debug-mini) interface defined in the [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf) (JST SM06B connector).
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| 핀 | 신호 | 전압 |
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| ------------------------- | ---------------------------------- | --------------------- |
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| 1(red) | VCC TARGET SHIFT | +3.3V |
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| 2 (흑) | CONSOLE TX (출력) | +3.3V |
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| 3 (흑) | CONSOLE RX (입력) | +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) | 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 UART7).
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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 | WiFi (ESP8266) |
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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 reference is provided as: [Altium Design Files](https://github.com/AUAV-OpenSource/FMUv4-PixRacer)
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The following PDF files are provided for _convenience only_:
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- [pixracer-rc12-12-06-2015-1330.pdf](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/flight_controller/pixracer/pixracer-rc12-12-06-2015-1330.pdf)
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- [pixracer-r14.pdf](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/flight_controller/pixracer/pixracer-r14.pdf) - R14 or RC14 is printed next to the SDCard socket
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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-v4_default
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```
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## 설정
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[Compass calibration](../config/compass.md) should be done with USB disconnected.
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This is always recommended, but is necessary on Pixracer because the USB connection produces particularly large levels of magnetic interference.
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Configuration is otherwise the same as for other boards.
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## Credits
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This design was created by Nick Arsov and Phillip Kocmoud and architected by Lorenz Meier, David Sidrane and Leonard Hall.
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