PX4-Autopilot/docs/zh/flight_controller/holybro_pix32.md

Holybro pix32 Flight Controller (Discontinued)

:::warning PX4 does not manufacture this (or any) autopilot. Contact the manufacturer for hardware support or compliance issues. :::

The Holybro^® pix32 autopilot (also known as "Pixhawk 2", and formerly as HKPilot32) is based on the Pixhawk^®-project FMUv2 open hardware design. This board is based on hardware version Pixhawk 2.4.6. It runs the PX4 flight stack on the NuttX OS.

As a CC-BY-SA 3.0 licensed Open Hardware design, schematics and design files should be available here.

:::tip The Holybro pix32 is software compatible with the 3DR Pixhawk 1. It is not connector compatible, but is otherwise physically very similar to the 3DR Pixhawk or mRo Pixhawk. :::

:::info This flight controller is manufacturer supported. :::

主要特性

• Main System-on-Chip: STM32F427
  • CPU: 32-bit STM32F427 Cortex^® M4 core with FPU
  • RAM: 168 MHz/256 KB
  • Flash: 2 MB
• Failsafe System-on-Chip: STM32F103
• 传感器：
  • ST Micro L3GD20 3-axis 16-bit gyroscope
  • ST Micro LSM303D 3-axis 14-bit accelerometer / magnetometer
  • Invensense^® MPU 6000 3-axis accelerometer/gyroscope
  • MEAS MS5611 气压计
• 尺寸/重量
  • Size: 81x44x15mm
  • Weight: 33.1g
• GPS: u-blox^® super precision Neo-7M with compass
• Input Voltage: 210s (7.437V)

连接

• 1x I2C
• 2x CAN
• 3.3 and 6.6V ADC inputs
• 5x UART (serial ports), one high-power capable, 2x with HW flow control
• Spektrum DSM / DSM2 / DSM-X® Satellite compatible input up to DX8 (DX9 and above not supported)
• Futaba^® S.BUS compatible input and output
• PPM sum signal
• RSSI (PWM or voltage) input
• SPI
• External microUSB port
• Molex PicoBlade connectors

购买渠道

shop.holybro.com

配件

• Digital airspeed sensor
• HolyBro SiK Telemetry Radio (EU 433 MHz, US 915 MHz)

编译固件

:::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 for this target:

make px4_fmu-v2_default

调试接口

See 3DR Pixhawk 1 > Debug Ports.

引脚和原理图

The board is based on the Pixhawk project FMUv2 open hardware design.

• FMUv2 + IOv2 schematic -- Schematic and layout

:::info As a CC-BY-SA 3.0 licensed Open Hardware design, all schematics and design files are available. :::

串口映射

UART	设备	Port
UART1	/dev/ttyS0	IO debug
USART2	/dev/ttyS1	TELEM1 (流控)
USART3	/dev/ttyS2	TELEM2 (流控)
UART4
UART7	CONSOLE
UART8	SERIAL4