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88 lines
3.1 KiB
Markdown
88 lines
3.1 KiB
Markdown
# Pixhawk 3 Pro (Discontinued)
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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-drotek.com/) for hardware support or compliance issues.
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:::
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The Pixhawk<sup>®</sup> 3 Pro is based on the FMUv4 hardware design (Pixracer) with some upgrades and additional features.
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The board was designed by [Drotek<sup>®</sup>](https://drotek.com) and PX4.
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:::info
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The main hardware documentation is here: https://drotek.gitbook.io/pixhawk-3-pro/hardware
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:::
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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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## 总览
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- Microcontroller: **STM32F469**; Flash size is **2MiB**, RAM size is **384KiB**
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- **ICM-20608-G** gyro / accelerometer
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- **MPU-9250** gyro / accelerometer / magnetometer
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- **LIS3MDL** compass
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- Sensors connected via two SPI buses (one high rate and one low-noise bus)
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- Two I2C buses
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- Two CAN buses
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- Voltage / battery readings from two power modules
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- FrSky<sup>®</sup> Inverter
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- 8 Main + 6 AUX PWM outputs (Separate IO chip, PX4IO)
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- microSD (logging)
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- S.BUS / Spektrum / SUMD / PPM input
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- JST GH user-friendly connectors: same connectors and pinouts as Pixracer
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## Where to buy
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No longer available.
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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-v4pro_default
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```
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## 调试接口
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The board has FMU and IO debug ports as shown below.
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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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| 针脚 | 信号 | 电压 |
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| ---- | ---------------- | --------------------- |
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| 1（红） | VCC TARGET SHIFT | +3.3V |
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| 2 | UART7 Tx | +3.3V |
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| 3 | UART7 Rx | +3.3V |
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| 4（黑） | SWDIO | +3.3V |
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| 6 | SWCLK | +3.3V |
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| 6 | GND | GND |
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For information about wiring and 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#pixhawk_debug_port) (Note, the FMU console maps to UART7).
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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 | WiFi |
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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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