7.4 KiB
ModalAI Flight Core v1
:::warning This frame has been discontinued and is no longer commercially available. :::
:::warning PX4 does not manufacture this (or any) autopilot. Contact the manufacturer for hardware support or compliance issues. :::
The ModalAI Flight Core v1 (Datasheet) is a flight controller for PX4, made in the USA. The Flight Core can be paired with ModalAI VOXL for obstacle avoidance and GPS-denied navigation, or used independently as a standalone flight controller.
Flight Core is identical to the PX4 Flight Controller portion of VOXL Flight (Datasheet) which integrates the VOXL Companion Computer and Flight Core into a single PCB.
:::info This flight controller is manufacturer supported. :::
技术规范
| 特性 | Details |
|---|---|
| 重量 | 6 g |
| MCU | 216MHz, 32-bit ARM M7 STM32F765II |
| 内存 | 256Kb FRAM |
| 2Mbit Flash | |
| 512Kbit SRAM | |
| 固件 | PX4 |
| IMUs | ICM-20602 (SPI1) |
| ICM-42688 (SPI2) | |
| BMI088 (SPI6) | |
| Barometer | BMP388 (I2C4) |
| Secure Element | A71CH (I2C4) |
| microSD Card | Information on supported cards |
| 输入 | GPS/Mag |
| Spektrum | |
| 数传 | |
| CAN bus | |
| PPM | |
| Outputs | 6 LEDs (2xRGB) |
| 8 PWM Channels | |
| Extra Interfaces | 3 serial ports |
| I2C | |
| GPIO |
:::info More detailed hardware documentation can be found here. :::
尺寸
PX4 Firmware Compatibility
Flight Core v1 is fully compatible with the official PX4 Firmware from PX4 v1.11.
ModalAI maintains a branched PX4 version for PX4 v1.11. This includes UART ESC support and improvements in VIO and VOA that are planned to be upstreamed.
More information about the firmware can be found here.
QGroundControl支持
This board supported in QGroundControl 4.0 and later.
访问链接
- No longer available
Quick Start
安装方向
The diagram below shows the recommended orientation, which corresponds to ROTATION_NONE starting with PX4 v1.11.
连接器
Detailed information about the pinouts can be found here.
| Connector | 概要 |
|---|---|
| J1 | VOXL Communications Interface Connector (TELEM2) |
| J2 | Programming and Debug Connector |
| J3 | USB Connector |
| J4 | UART2, UART ESC (TELEM3) |
| J5 | Telemetry Connector (TELEM1) |
| J6 | VOXL-Power Management Input / Expansion |
| J7 | 8-Channel PWM Output Connector |
| J8 | CAN Bus Connector |
| J9 | PPM RC In |
| J10 | External GPS & Magnetometer Connector |
| J12 | RC input, Spektrum/SBus/UART Connector |
| J13 | I2C Display (Spare Sensor Connector) / Safety Button Input |
User Guide
The full user guide is available here.
How to Build
To build PX4 for this target:
make modalai_fc-v1
串口映射
| UART | 设备 | Port |
|---|---|---|
| USART1 | /dev/ttyS0 | GPS1 (J10) |
| USART2 | /dev/ttyS1 | TELEM3 (J4) |
| USART3 | /dev/ttyS2 | Debug Console (J2) |
| UART4 | /dev/ttyS3 | Expansion UART (J6) |
| UART5 | /dev/ttyS4 | TELEM2, Primary VOXL Communications (J1) |
| USART6 | /dev/ttyS5 | RC (J12) |
| UART7 | /dev/ttyS6 | TELEM1 (J5) |
| UART8 | /dev/ttyS7 | N/A |
技术支持
Please visit the ModalAI Forum for more information.