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338 lines
14 KiB
Markdown
338 lines
14 KiB
Markdown
# 3DR Pixhawk 1 Flight Controller (Discontinued)
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:::warning
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This flight controller has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available.
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You can use the [mRo Pixhawk](../flight_controller/mro_pixhawk.md) as a drop-in replacement.
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:::
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:::warning
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PX4 does not manufacture this (or any) autopilot.
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Contact the manufacturer for support or compliance issues.
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:::
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The _3DR Pixhawk<sup>®</sup> 1_ autopilot is a popular general purpose flight controller based on the [Pixhawk-project](https://pixhawk.org/) **FMUv2** open hardware design (it combines the functionality of the PX4FMU + PX4IO).
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It runs PX4 on the [NuttX](https://nuttx.apache.org/) OS.
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Assembly/setup instructions for use with PX4 are provided here: [Pixhawk Wiring Quickstart](../assembly/quick_start_pixhawk.md)
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## 主要特性
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- Main System-on-Chip: [STM32F427](https://www.st.com/en/microcontrollers-microprocessors/stm32f427-437.html)
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- CPU: 180 MHz ARM<sup>®</sup> Cortex<sup>®</sup> M4 with single-precision FPU
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- RAM: 256 KB SRAM (L1)
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- Failsafe System-on-Chip: STM32F100
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- CPU: 24 MHz ARM Cortex M3
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- RAM: 8 KB SRAM
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- Wifi: ESP8266 external
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- GPS: u-blox<sup>®</sup> 7/8 (Hobbyking<sup>®</sup>) / u-blox 6 (3D Robotics)
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- Optical flow: [PX4 Flow unit](../sensor/px4flow.md)
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- Redundant power supply inputs and automatic failover
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- External safety switch
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- Multicolor LED main visual indicator
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- High-power, multi-tone piezo audio indicator
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- microSD card for high-rate logging over extended periods of time
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连接
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- 1x I2C
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- 1x CAN (2x optional)
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- 1x ADC
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- 4x UART (2x with flow control)
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- 1x Console
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- 8x PWM with manual override
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- 6x PWM / GPIO / PWM input
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- S.BUS / PPM / Spektrum input
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- S.BUS output
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# 购买渠道
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Originally manufactured by 3DR® this board was the original standard microcontroller platform for PX4®. While the board is no longer manufactured by 3DR, you can use the [mRo Pixhawk](../flight_controller/mro_pixhawk.md) as a drop-in replacement.
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Order mRo Pixhawk from:
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- [Bare Bones](https://store.mrobotics.io/Genuine-PixHawk-1-Barebones-p/mro-pixhawk1-bb-mr.htm) - Just the board (useful as a 3DR Pixhawk replacement)
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- [mRo Pixhawk 2.4.6 Essential Kit](https://store.mrobotics.io/Genuine-PixHawk-Flight-Controller-p/mro-pixhawk1-minkit-mr.htm) - includes everything except for telemetry radios
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- [mRo Pixhawk 2.4.6 Cool Kit! (Limited edition)](https://store.mrobotics.io/product-p/mro-pixhawk1-fullkit-mr.htm) - includes everything you need including telemetry radios
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## 产品规格
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### 处理器
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- 32bit STM32F427 [Cortex-M4F](https://en.wikipedia.org/wiki/ARM_Cortex-M#Cortex-M4) core with FPU
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- 168 MHz
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- 256 KB RAM
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- 2 MB Flash
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- 32 bit STM32F103 failsafe co-processor
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### 传感器
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- ST Micro L3GD20H 16 bit gyroscope
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- ST Micro LSM303D 14 bit accelerometer / magnetometer
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- Invensense MPU 6000 3-axis accelerometer/gyroscope
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- MEAS MS5611 气压计
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### 接口
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- 5x UART (serial ports), one high-power capable, 2x with HW flow control
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- 2x CAN (one with internal 3.3V transceiver, one on expansion connector)
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- Spektrum DSM / DSM2 / DSM-X® Satellite compatible input
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- Futaba S.BUS® compatible input and output
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- PPM sum signal input
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- RSSI (PWM or voltage) input
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- I2C
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- SPI
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- 3.3 and 6.6V ADC inputs
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- Internal microUSB port and external microUSB port extension
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<lite-youtube videoid="gCCC5A-Bvv4" title="PX4 Pixhawk (3DR) Multicolor Led in action"/>
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### Power System and Protection
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- Ideal diode controller with automatic failover
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- Servo rail high-power (max. 10V) and high-current (10A+) ready
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- All peripheral outputs over-current protected, all inputs ESD protected
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## 额定电压
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Pixhawk can be triple-redundant on the power supply if three power sources are supplied. The three rails are: Power module input, servo rail input, USB input.
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### Normal Operation Maximum Ratings
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Under these conditions all power sources will be used in this order to power the system
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- Power module input (4.8V to 5.4V)
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- Servo rail input (4.8V to 5.4V) **UP TO 10V FOR MANUAL OVERRIDE, BUT AUTOPILOT PART WILL BE UNPOWERED ABOVE 5.7V IF POWER MODULE INPUT IS NOT PRESENT**
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- USB power input (4.8V to 5.4V)
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### Absolute Maximum Ratings
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Under these conditions the system will not draw any power (will not be operational), but will remain intact.
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- Power module input (4.1V to 5.7V, 0V to 20V undamaged)
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- Servo rail input (4.1V to 5.7V, 0V to 20V)
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- USB power input (4.1V to 5.7V, 0V to 6V)
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## 原理图
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[FMUv2 + IOv2 schematic](https://raw.githubusercontent.com/PX4/Hardware/master/FMUv2/PX4FMUv2.4.5.pdf) -- Schematic and layout
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:::info
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As a CC-BY-SA 3.0 licensed Open Hardware design, all schematics and design files are [available](https://github.com/pixhawk/Hardware).
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:::
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## Connections
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Pixhawk ports are shown below.
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These use Hirose DF13 connectors (predating the JST-GH connectors defined in the Pixhawk connector standard).
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:::warning
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Many 3DR Pixhawk clones use Molex picoblade connectors instead of DF13 connectors.
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They have rectangular instead of square pins, and cannot be assumed to be compatible.
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:::
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:::tip
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The `RC IN` port is for RC receivers only and provides sufficient power for that purpose.
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**NEVER** connect any servos, power supplies or batteries to it or to the receiver connected to it.
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:::
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## 针脚定义
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#### TELEM1，TELEM2 接口
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| 针脚 | 信号 | 电压 |
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| ---- | ---------------------------- | --------------------- |
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| 1（红） | VCC | +5V |
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| 2 | TX (OUT) | +3.3V |
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| 3 | RX (IN) | +3.3V |
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| 4（黑） | CTS (IN) | +3.3V |
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| 6 | RTS (OUT) | +3.3V |
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| 6 | GND | GND |
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#### GPS 接口
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| 针脚 | 信号 | 电压 |
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| ---- | --------------------------- | --------------------- |
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| 1（红） | VCC | +5V |
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| 2 | TX (OUT) | +3.3V |
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| 3 | RX (IN) | +3.3V |
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| 4（黑） | CAN2 TX | +3.3V |
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| 6 | CAN2 RX | +3.3V |
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| 6 | GND | GND |
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#### SERIAL 4/5 port
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Due to space constraints two ports are on one connector.
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| 针脚 | 信号 | 电压 |
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| ---- | -------------------------- | --------------------- |
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| 1（红） | VCC | +5V |
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| 2 | TX (#4) | +3.3V |
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| 3 | RX (#4) | +3.3V |
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| 4（黑） | TX (#5) | +3.3V |
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| 6 | RX (#5) | +3.3V |
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| 6 | GND | GND |
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#### ADC 6.6V
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| 针脚 | 信号 | 电压 |
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| ---- | ------ | --------------------------- |
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| 1（红） | VCC | +5V |
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| 2 | ADC IN | up to +6.6V |
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| 3 | GND | GND |
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#### ADC 3.3V
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| 针脚 | 信号 | 电压 |
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| ---- | ------ | --------------------------- |
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| 1（红） | VCC | +5V |
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| 2 | ADC IN | up to +3.3V |
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| 3 | GND | GND |
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| 4（黑） | ADC IN | up to +3.3V |
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| 6 | GND | GND |
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#### I2C
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| 针脚 | 信号 | 电压 |
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| ---- | --- | ------------------------------------------------- |
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| 1（红） | VCC | +5V |
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| 2 | SCL | +3.3 (pullups) |
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| 3 | SDA | +3.3 (pullups) |
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| 4（黑） | GND | GND |
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#### CAN
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| 针脚 | 信号 | 电压 |
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| ---- | -------------------------- | ---- |
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| 1（红） | VCC | +5V |
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| 2 | CAN_H | +12V |
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| 3 | CAN_L | +12V |
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| 4（黑） | GND | GND |
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#### SPI
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| 针脚 | 信号 | 电压 |
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| ---- | ------------------------------------------------------ | -------------------- |
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| 1（红） | VCC | +5V |
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| 2 | SPI_EXT_SCK | +3.3 |
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| 3 | SPI_EXT_MISO | +3.3 |
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| 4（黑） | SPI_EXT_MOSI | +3.3 |
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| 6 | !SPI_EXT_NSS | +3.3 |
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| 6 | !GPIO_EXT | +3.3 |
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| 7 | GND | GND |
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#### POWER
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| 针脚 | 信号 | 电压 |
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| ---- | --- | --------------------- |
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| 1（红） | VCC | +5V |
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| 2 | VCC | +5V |
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| 3 | 电流 | +3.3V |
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| 4（黑） | 电压 | +3.3V |
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| 6 | GND | GND |
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| 6 | GND | GND |
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#### SWITCH
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| 针脚 | 信号 | 电压 |
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| ---- | -------------------------------------------------------- | --------------------- |
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| 1（红） | VCC | +3.3V |
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| 2 | !IO_LED_SAFETY | GND |
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| 3 | SAFETY | GND |
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## 串口映射
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| UART | 设备 | Port |
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| ------ | ---------- | ------------------------------ |
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| UART1 | /dev/ttyS0 | IO debug |
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| USART2 | /dev/ttyS1 | TELEM1 (流控) |
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| USART3 | /dev/ttyS2 | TELEM2 (流控) |
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| UART4 | | |
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| UART7 | CONSOLE | |
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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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## Debug Ports
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### Console Port
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The [PX4 System Console](../debug/system_console.md) runs on the port labeled [SERIAL4/5](#serial-4-5-port).
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:::tip
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A convenient way to connect to the console is to use a [Zubax BugFace BF1](https://github.com/Zubax/bugface_bf1), as it comes with connectors that can be used with several different Pixhawk devices.
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Simply connect the 6-pos DF13 1:1 cable on the [Zubax BugFace BF1](https://github.com/Zubax/bugface_bf1) to the Pixhawk `SERIAL4/5` port.
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:::
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The pinout is standard serial pinout, designed to connect to a [3.3V FTDI](https://www.digikey.com/en/products/detail/TTL-232R-3V3/768-1015-ND/1836393) cable (5V tolerant).
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\| 3DR Pixhawk 1 | | FTDI |
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\| ------------- | --------- | ---- | ---------------- |
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\| 1 | +5V (red) | | N/C |
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\| 2 | S4 Tx | | N/C |
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\| 3 | S4 Rx | | N/C |
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\| 4 | S5 Tx | 5 | FTDI RX (yellow) |
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\| 5 | S5 Rx | 4 | FTDI TX (orange) |
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\| 6 | GND | 1 | FTDI GND (black) |
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The wiring for an FTDI cable to a 6-pos DF13 1:1 connector is shown in the figure below.
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The complete wiring is shown below.
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:::info
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For information on how to _use_ the console see: [System Console](../debug/system_console.md).
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:::
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### SWD Port
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The [SWD](../debug/swd_debug.md) (JTAG) ports are hidden under the cover (which must be removed for hardware debugging).
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There are separate ports for FMU and IO, as highlighted below.
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The ports are ARM 10-pin JTAG connectors, which you will probably have to solder.
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The pinout for the ports is shown below (the square markers in the corners above indicates pin 1).
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:::info
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All Pixhawk FMUv2 boards have a similar SWD port.
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:::
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## 编译固件
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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-v2_default
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```
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## Parts / Housings
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- **ARM MINI JTAG (J6)**: 1.27 mm 10pos header (SHROUDED), for Black Magic Probe: FCI 20021521-00010D4LF ([Digi-Key](https://www.digikey.com/en/products/detail/20021521-00010T1LF/609-4054-ND/2414951),) or Samtec FTSH-105-01-F-DV-K (untested) or Harwin M50-3600542 ([Digikey](https://www.digikey.com/en/products/detail/harwin-inc/M50-3600542/2264370))
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- JTAG Adapter Option #1: [BlackMagic Probe](https://1bitsquared.com/products/black-magic-probe). Note, may come without cables (check with manufacturer).
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If so, you will need the **Samtec FFSD-05-D-06.00-01-N** cable ([Samtec sample service](https://www.samtec.com/products/ffsd-05-d-06.00-01-n) or [Digi-Key Link: SAM8218-ND](https://www.digikey.com/en/products/detail/samtec-inc/ffsd-05-d-06-00-01-n/1106577)) or [Tag Connect Ribbon](https://www.tag-connect.com/product/10-pin-cortex-ribbon-cable-4-length-with-50-mil-connectors) and a Mini-USB cable.
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- JTAG Adapter Option #2: [Digi-Key Link: ST-LINK/V2](https://www.digikey.com/product-detail/en/stmicroelectronics/ST-LINK-V2/497-10484-ND) / [ST USER MANUAL](https://www.st.com/resource/en/user_manual/dm00026748.pdf), needs an ARM Mini JTAG to 20pos adapter: [Digi-Key Link: 726-1193-ND](https://www.digikey.com/en/products/detail/texas-instruments/MDL-ADA2/1986451)
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- JTAG Adapter Option #3: [Olimex ARM-TINY](https://www.olimex.com/wiki/ARM-USB-TINY) or any other OpenOCD-compatible ARM Cortex JTAG adapter, needs an ARM Mini JTAG to 20pos adapter: [Digi-Key Link: 726-1193-ND](https://www.digikey.com/en/products/detail/texas-instruments/MDL-ADA2/1986451)
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- **USARTs**: Hirose DF13 6 pos ([Digi-Key Link: DF13A-6P-1.25H(20)](https://www.digikey.com/products/en?keywords=H3371-ND))
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- Mates: Hirose DF13 6 pos housing ([Digi-Key Link: Hirose DF13-6S-1.25C](https://www.digikey.com/products/en?keywords=H2182-ND))
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- **I2C and CAN**: Hirose DF13 4 pos ([Digi-Key Link: DF13A-4P-1.25H(20)](https://www.digikey.com/en/products/detail/hirose-electric-co-ltd/DF13A-4P-1-25H-20/530666) - discontinued)
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## 支持的平台/机身
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Any multicopter / airplane / rover or boat that can be controlled with normal RC servos or Futaba S-Bus servos.
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