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PX4-Autopilot/docs/zh/flight_controller/ark_pab.md
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# ARK Pixhawk Autopilot Bus Carrier
:::warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://arkelectron.com/contact-us/) for hardware support or compliance issues.
:::
The [ARK Pixhawk Autopilot Bus (PAB) Carrier](https://arkelectron.gitbook.io/ark-documentation/flight-controllers/ark-pixhawk-autopilot-bus-carrier) is a USA-built flight controller carrier board, based on the [Pixhawk Autopilot Bus open source standard](https://github.com/pixhawk/Pixhawk-Standards).
The PAB form factor enables the ARK PAB Carrier to be used with any [PAB-compatible flight controller](../flight_controller/pixhawk_autopilot_bus.md), such as the [ARKV6X](../flight_controller/ark_v6x.md).
![ARKPAB Main Photo](../../assets/flight_controller/arkpab/ark_pab_main.jpg)
### Where To Buy
Order From [Ark Electronics](https://arkelectron.com/product/ark-pixhawk-autopilot-bus-carrier/) (US)
## 特性
- [Pixhawk Autopilot Bus (PAB) Form Factor](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-010%20Pixhawk%20Autopilot%20Bus%20Standard.pdf?_ga=2.20605755.2081055420.1671562222-391294592.1671562222)
- USA Built
## 连接器
- PAB Board to Board Interface
- 100 Pin Hirose DF40
- 40 Pin Hirose DF40
- Dual Digital Power Module Inputs
- 5V Input
- I2C Power Monitor
- 6 Pin Molex CLIK-Mate
- Ethernet
- 100Mbps
- Built in Magnetics
- 4 Pin JST-GH
- Full GPS Plus Safety Switch Port
- 10 Pin JST-GH
- Basic GPS Port
- 6 Pin JST-GH
- Dual CAN Ports
- 4 Pin JST-GH
- Triple Telemetry Ports with Flow - Control
- 6 Pin JST-GH
- Eight PWM Outputs
- 10 Pin JST-GH
- UART/I2C Port
- 6 Pin JST-GH
- I2C Port
- 4 Pin JST-GH
- PPM RC Port
- 3 Pin JST-GH
- DSM RC Port
- 3 Pin JST-ZH
- SPI Port
- 11 Pin JST-GH
- ADIO Port
- 8 Pin JST-GH
- 调试接口
- 10 Pin JST-SH
## 尺寸
- Without Flight Controller Module
- 74.0mm x 43.5mm x 12.0mm
- 22g
## 电源
- 5V input on `POWER1`, `POWER2`, `USB C`, and the `USB JST-GH` connector
- Input is prioritized in the following order: POWER1 > POWER2 > USB
- `USB C` and the `USB JST-GH` are in parallel
- Overvoltage protection at 5.8V
- Undervoltage protection at 3.9V
- `VDD_5V_HIPOWER` and `VDD_5V_PERIPH` can each provide a total of 1.5A across all the connectors
## LEDS
- There are two LEDs on the ARK PAB
- `Red` is the ethernet power LED
- `Green` is the ethernet activity LED
## 针脚定义
![ARKPAB Pinout](../../assets/flight_controller/arkpab/arkpab_pinout.jpg)
## POWER1
| 针脚 | 信号 | 电压 |
| ---- | ----------------------------- | --------------------- |
| 1（红） | `VBRICK1` | +5.0V |
| 2 | `VBRICK1` | +5.0V |
| 3 | I2C1_SCL | +3.3V |
| 4（黑） | I2C1_SDA | +3.3V |
| 6 | `GND` | GND |
| 6 | `GND` | GND |
## POWER2
| 针脚 | 信号 | 电压 |
| ---- | ----------------------------- | --------------------- |
| 1（红） | `VBRICK2` | +5.0V |
| 2 | `VBRICK2` | +5.0V |
| 3 | I2C2_SCL | +3.3V |
| 4（黑） | I2C2_SDA | +3.3V |
| 6 | `GND` | GND |
| 6 | `GND` | GND |
## PWM
| 针脚 | 信号 | 电压 |
| --------------------------- | ----------------------------------------------------------------- | --------------------- |
| 1（红） | VDD_SERVO (Not Connected) | +5.0V |
| 2 | FMU_CH1 | +3.3V |
| 3 | FMU_CH2 | +3.3V |
| 4（黑） | FMU_CH3 | +3.3V |
| 6 | FMU_CH4 | +3.3V |
| 6 | FMU_CH5 | +3.3V |
| 7 | FMU_CH6 | +3.3V |
| 8 (blk) | FMU_CH7 | +3.3V |
| 9 (blk) | FMU_CH8 | +3.3V |
| 10 (blk) | `GND` | GND |
## GPS1
| 针脚 | 信号 | 电压 |
| --------------------------- | ------------------------------------------------------------------------------------- | --------------------- |
| 1（红） | `VDD_5V_PERIPH` | +5.0V |
| 2 | USART1_TX_GPS1 | +3.3V |
| 3 | USART1_RX_GPS1 | +3.3V |
| 4（黑） | I2C1_SCL | +3.3V |
| 6 | I2C1_SDA | +3.3V |
| 6 | nSAFETY_SWITCH_IN | +3.3V |
| 7 | nSAFETY_SWITCH_LED_OUT | +3.3V |
| 8 (blk) | `3V3_FMU` | +3.3V |
| 9 (blk) | BUZZER | +5.0V |
| 10 (blk) | `GND` | GND |
## GPS2
| 针脚 | 信号 | 电压 |
| ---- | ------------------------------------------------------- | --------------------- |
| 1（红） | `VDD_5V_HIPOWER` | +5.0V |
| 2 | UART8_TX_GPS2 | +3.3V |
| 3 | UART8_RX_GPS2 | +3.3V |
| 4（黑） | I2C2_SCL | +3.3V |
| 6 | I2C2_SDA | +3.3V |
| 6 | `GND` | GND |
## TELEM1
| 针脚 | 信号 | 电压 |
| ---- | ------------------------------ | --------------------- |
| 1（红） | `VDD_5V_HIPOWER` | +5.0V |
| 2 | UART7_TX | +3.3V |
| 3 | UART7_RX | +3.3V |
| 4（黑） | UART7_CTS | +3.3V |
| 6 | UART7_RTS | +3.3V |
| 6 | `GND` | GND |
## TELEM2
| 针脚 | 信号 | 电压 |
| ---- | ------------------------------ | --------------------- |
| 1（红） | `VDD_5V_PERIPH` | +5.0V |
| 2 | UART5_TX | +3.3V |
| 3 | UART5_RX | +3.3V |
| 4（黑） | UART5_CTS | +3.3V |
| 6 | UART5_RTS | +3.3V |
| 6 | `GND` | GND |
## TELEM3
| 针脚 | 信号 | 电压 |
| ---- | ------------------------------- | --------------------- |
| 1（红） | `VDD_5V_HIPOWER` | +5.0V |
| 2 | USART2_TX | +3.3V |
| 3 | USART2_RX | +3.3V |
| 4（黑） | USART2_CTS | +3.3V |
| 6 | USART2_RTS | +3.3V |
| 6 | `GND` | GND |
## UART4/I2C3
| 针脚 | 信号 | 电压 |
| ---- | ----------------------------- | --------------------- |
| 1（红） | `VDD_5V_PERIPH` | +5.0V |
| 2 | UART4_TX | +3.3V |
| 3 | UART4_RX | +3.3V |
| 4（黑） | I2C3_SCL | +3.3V |
| 6 | I2C3_SDA | +3.3V |
| 6 | `GND` | GND |
## I2C3
| 针脚 | 信号 | 电压 |
| ---- | ----------------------------- | --------------------- |
| 1（红） | `VDD_5V_PERIPH` | +5.0V |
| 2 | I2C3_SCL | +3.3V |
| 3 | I2C3_SDA | +3.3V |
| 4（黑） | `GND` | GND |
## CAN1
| 针脚 | 信号 | 电压 |
| ---- | --------------------------- | --------------------- |
| 1（红） | `VDD_5V_HIPOWER` | +5.0V |
| 2 | CAN1_H | +3.3V |
| 3 | CAN1_L | +3.3V |
| 4（黑） | `GND` | GND |
## CAN2
| 针脚 | 信号 | 电压 |
| ---- | --------------------------- | --------------------- |
| 1（红） | `VDD_5V_PERIPH` | +5.0V |
| 2 | CAN2_H | +3.3V |
| 3 | CAN2_L | +3.3V |
| 4（黑） | `GND` | GND |
## USB
All signals in parallel with USB C connector
| 针脚 | 信号 | 电压 |
| ---- | -------------------------- | --------------------- |
| 1（红） | `VBUS_IN` | +5.0V |
| 2 | USB_N | +3.3V |
| 3 | USB_P | +3.3V |
| 4（黑） | `GND` | GND |
## ETH
| 针脚 | 信号 | 电压 |
| ---- | -------------------------------------------------- | ------------------------------- |
| 1（红） | ETH_RD_N | +50.0V Tolerant |
| 2 | ETH_RD_P | +50.0V Tolerant |
| 3 | ETH_TD_N | +50.0V Tolerant |
| 4（黑） | ETH_TD_P | +50.0V Tolerant |
## ADIO
| 针脚 | 信号 | 电压 |
| -------------------------- | ----------------------------------------------------- | --------------------- |
| 1（红） | `VDD_5V_PERIPH` | +5.0V |
| 2 | FMU_CAP | +3.3V |
| 3 | BOOTLOADER | +3.3V |
| 4（黑） | FMU_RST_REQ | +3.3V |
| 6 | nARMED | +3.3V |
| 6 | ADC1_3V3 | +3.3V |
| 7 | ADC1_6V6 | +3.3V |
| 8 (blk) | `GND` | GND |
## RC/SBUS
| 针脚 | 信号 | 电压 |
| ---- | -------------------------------------------------------------------------------- | --------------------- |
| 1（红） | `VDD_5V_SBUS_RC` | +5.0V |
| 2 | USART6_RX_SBUS_IN | +3.3V |
| 3 | USART6_TX | +3.3V |
| 4（黑） | `VDD_3V3_SPEKTRUM` | +3.3V |
| 6 | `GND` | GND |
## PPM
| 针脚 | 信号 | 电压 |
| ---- | -------------------------------------------------------------------------------------- | --------------------- |
| 1（红） | `VDD_5V_PPM_RC` | +5.0V |
| 2 | DSM_INPUT/FMU_PPM_INPUT | +3.3V |
| 3 | `GND` | GND |
## DSM
| 针脚 | 信号 | 电压 |
| ---- | -------------------------------------------------------------------------------------- | --------------------- |
| 1（红） | `VDD_3V3_SPEKTRUM` | +3.3V |
| 2 | `GND` | GND |
| 3 | DSM_INPUT/FMU_PPM_INPUT | +3.3V |
## SPI6
| 针脚 | 信号 | 电压 |
| --------------------------- | -------------------------------- | --------------------- |
| 1（红） | `VDD_5V_PERIPH` | +5.0V |
| 2 | SPI6_SCK | +3.3V |
| 3 | SPI6_MISO | +3.3V |
| 4（黑） | SPI6_MOSI | +3.3V |
| 6 | SPI6_nCS1 | +3.3V |
| 6 | SPI6_nCS2 | +3.3V |
| 7 | SPIX_nSYNC | +3.3V |
| 8 (blk) | SPI6_DRDY1 | +3.3V |
| 9 (blk) | SPI6_DRDY2 | +3.3V |
| 10 (blk) | SPI6_nRESET | +3.3V |
| 11 (blk) | `GND` | GND |
## 调试接口
The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) run on the **FMU Debug** port.
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).
| 针脚 | 信号 | 电压 |
| --------------------------- | ----------------------------------- | --------------------- |
| 1（红） | `Vtref` | +3.3V |
| 2 | Console TX (OUT) | +3.3V |
| 3 | Console RX (IN) | +3.3V |
| 4（黑） | `SWDIO` | +3.3V |
| 6 | `SWCLK` | +3.3V |
| 6 | `SWO` | +3.3V |
| 7 | NFC GPIO | +3.3V |
| 8 (blk) | PH11 | +3.3V |
| 9 (blk) | nRST | +3.3V |
| 10 (blk) | `GND` | GND |
For information about using this port see:
- [SWD Debug Port](../debug/swd_debug.md)
- [PX4 System Console](../debug/system_console.md) (Note, the FMU console maps to USART3).
![ARKPAB Top Down Photo](../../assets/flight_controller/arkpab/ark_pab_top.jpg)
![ARKPAB Bottom Photo](../../assets/flight_controller/arkpab/ark_pab_back.jpg)
## 另见
- [ARK Pixhawk Autopilot Bus Carrier](https://arkelectron.gitbook.io/ark-documentation/flight-controllers/ark-pixhawk-autopilot-bus-carrier) (ARK Docs)
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