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165 lines
6.7 KiB
Markdown
165 lines
6.7 KiB
Markdown
# Holybro Pixhawk 4
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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://holybro.com/) for hardware support or compliance issues.
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:::
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_Pixhawk 4_<sup>®</sup> is an advanced autopilot designed and made in collaboration with Holybro<sup>®</sup> and the PX4 team.
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It is optimized to run PX4 v1.7 and later, and is suitable for academic and commercial developers.
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It is based on the [Pixhawk-project](https://pixhawk.org/) **FMUv5** open hardware design and runs PX4 on the [NuttX](https://nuttx.apache.org/) OS.
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<img src="../../assets/flight_controller/pixhawk4/pixhawk4_hero_upright.jpg" width="200px" title="Pixhawk4 Upright Image" /> <img src="../../assets/flight_controller/pixhawk4/pixhawk4_logo_view.jpg" width="420px" title="Pixhawk4 Image" />
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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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- 主处理器：STM32F765
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- 32 位 Arm® Cortex®-M7，216MHz，2MB 储存，512KB RAM
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- IO 处理器：STM32F100
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- 32 位 Arm® Cortex®-M3，24MHz，8KB SRAM
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- 内置传感器：
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- 加速度计 / 陀螺仪：ICM-20689
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- Accel/Gyro: BMI055 or ICM20602
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- 磁力计：IST8310
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- 气压计：MS5611
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- GPS：ublox Neo-M8N GPS/GLONASS 接收器；集成磁力计 IST8310
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- 接口：
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- 8-16 路PWM输出（8路来自 IO，8路来自 FMU）
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- FMU上有3个专用PWM/Capture输入
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- CPPM专用的RC输入
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- 用于 Spektrum / DSM 与 有模拟 / PWM RSSI 的 S.Bus 的专用遥控输入
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- Dedicated S.Bus servo output
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- 5个通用串行口
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- 3 个 I2C 接口
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- 4路SPI总线
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- 多达 2 路 CAN 总线用于带串口的电调
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- 2个电池电流/电压模拟输入口
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- 电源系统
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- 电源模块输出：4.9~5.5V
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- USB 电源输入：4.75~5.25V
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- 伺服导轨输入电压：0~36V
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- 重量和尺寸:
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- 重量：15.8g
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- 尺寸：44_84_12mm
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- 其它特性:
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- 工作温度：-40 ~ 85°C
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Additional information can be found in the [Pixhawk 4 Technical Data Sheet](https://github.com/PX4/PX4-Autopilot/blob/main/docs/assets/flight_controller/pixhawk4/pixhawk4_technical_data_sheet.pdf).
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## 购买渠道
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Order from [Holybro](https://holybro.com/products/pixhawk-4).
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## 连接器
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:::warning
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The **DSM/SBUS RC** and **PPM RC** ports are for RC receivers only.
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These are powered! NEVER connect any servos, power supplies or batteries (or to any connected receiver).
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:::
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## 针脚定义
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Download _Pixhawk 4_ pinouts from [here](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Pixhawk4-Pinouts.pdf).
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:::info
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Connector pin assignments are left to right (i.e. Pin 1 is the left-most pin).
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The exception is the [debug port(s)](#debug_port) (pin 1 is the right-most, as shown below).
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:::
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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 | GPS |
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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 | /dev/ttyS3 | TELEM4 |
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| USART6 | /dev/ttyS4 | RC SBUS |
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| UART7 | /dev/ttyS5 | 调试控制台 |
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| UART8 | /dev/ttyS6 | PX4IO |
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## 尺寸
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## 额定电压
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_Pixhawk 4_ can be triple-redundant on the power supply if three power sources are supplied. The three power rails are: **POWER1**, **POWER2** and **USB**.
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:::info
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The output power rails **FMU PWM OUT** and **I/O PWM OUT** (0V to 36V) do not power the flight controller board (and are not powered by it).
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You must supply power to one of **POWER1**, **POWER2** or **USB** or the board will be unpowered.
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:::
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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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1. **POWER1** and **POWER2** inputs (4.9V to 5.5V)
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2. **USB** input (4.75V to 5.25V)
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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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1. **POWER1** and **POWER2** inputs (operational range 4.1V to 5.7V, 0V to 10V undamaged)
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2. **USB** input (operational range 4.1V to 5.7V, 0V to 6V undamaged)
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3. Servo input: VDD_SERVO pin of **FMU PWM OUT** and **I/O PWM OUT** (0V to 42V undamaged)
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## 组装 / 设置
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The [Pixhawk 4 Wiring Quick Start](../assembly/quick_start_pixhawk4.md) provides instructions on how to assemble required/important peripherals including GPS, Power Management Board etc.
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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-v5_default
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```
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<a id="debug_port"></a>
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## 调试接口
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The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) run on the **FMU Debug** port, while the I/O console and SWD interface can be accessed via **I/O Debug** port.
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In order to access these ports, the user must remove the _Pixhawk 4_ casing.
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The pinout uses the standard [Pixhawk debug connector pinout](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf).
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For wiring information see:
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- [System Console > Pixhawk Debug Port](../debug/system_console.md#pixhawk_debug_port)
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## 外部设备
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- [Digital Airspeed Sensor](https://store-drotek.com/793-digital-differential-airspeed-sensor-kit-.html)
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- [Telemetry Radio Modules](../telemetry/index.md)
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- [Rangefinders/Distance sensors](../sensor/rangefinders.md)
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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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The complete set of supported configurations can be seen in the [Airframes Reference](../airframes/airframe_reference.md).
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## 更多信息
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- [Pixhawk 4 Technical Data Sheet](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/flight_controller/pixhawk4/pixhawk4_technical_data_sheet.pdf)
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- [FMUv5 reference design pinout](https://docs.google.com/spreadsheets/d/1-n0__BYDedQrc_2NHqBenG1DNepAgnHpSGglke-QQwY/edit#gid=912976165).
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- [Pixhawk 4 Wiring QuickStart](../assembly/quick_start_pixhawk4.md)
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- [Pixhawk 4 Pinouts](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Pixhawk4-Pinouts.pdf) (Holybro)
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- [Pixhawk 4 Quick Start Guide](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Pixhawk4-quickstartguide.pdf) (Holybro)
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