mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
161 lines
6.9 KiB
Markdown
161 lines
6.9 KiB
Markdown
# Holybro Pixhawk 4 Mini (Discontinued)
|
||
|
||
<Badge type="info" text="Discontinued" px4_current="v1.15" year="2024"/>
|
||
|
||
:::warning
|
||
PX4 does not manufacture this (or any) autopilot.
|
||
Contact the [manufacturer](https://holybro.com/) for hardware support or compliance issues.
|
||
:::
|
||
|
||
The _Pixhawk<sup>®</sup> 4 Mini_ autopilot is designed for engineers and hobbyists who are looking to tap into the power of _Pixhawk 4_ but are working with smaller drones.
|
||
_Pixhawk 4 Mini_ takes the FMU processor and memory resources from the _Pixhawk 4_ while eliminating interfaces that are normally unused.
|
||
This allows the _Pixhawk 4 Mini_ to be small enough to fit in a 250mm racer drone.
|
||
|
||
_Pixhawk 4 Mini_ was designed and developed in collaboration with Holybro<sup>®</sup> and Auterion<sup>®</sup>.
|
||
It is based on the [Pixhawk](https://pixhawk.org/) **FMUv5** design standard and is optimized to run PX4 flight control software.
|
||
|
||
|
||
|
||
:::tip
|
||
This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md) by the PX4 maintenance and test teams.
|
||
:::
|
||
|
||
## 总览
|
||
|
||
- 主处理器：STM32F765
|
||
- 32 位 Arm® Cortex®-M7，216MHz，2MB 储存，512KB RAM
|
||
- 内置传感器：
|
||
- 加速度计 / 陀螺仪：ICM-20689
|
||
- Accel/Gyro: BMI055 or ICM20602
|
||
- 磁力计：IST8310
|
||
- 气压计：MS5611
|
||
- GPS：ublox Neo-M8N GPS/GLONASS 接收器；集成磁力计 IST8310
|
||
- 接口：
|
||
- 8 PWM outputs
|
||
- 4 dedicated PWM/Capture inputs on FMU
|
||
- CPPM专用的RC输入
|
||
- 用于 Spektrum / DSM 与 有模拟 / PWM RSSI 的 S.Bus 的专用遥控输入
|
||
- 3个通用串行口
|
||
- 2 I2C ports
|
||
- 3 SPI buses
|
||
- 1 CANBuses for CAN ESC
|
||
- 电池电压 / 电流模拟输入口
|
||
- 2 个模拟输入接口
|
||
- 电源系统
|
||
- Power Brick Input: 4.75~5.5V
|
||
- USB 电源输入：4.75~5.25V
|
||
- Servo Rail Input: 0~24V
|
||
- 最大电流感应：120A
|
||
- 重量和尺寸:
|
||
- Weight: 37.2g
|
||
- Dimensions: 38x55x15.5mm
|
||
- 其它特性:
|
||
- 工作温度：-40 ~ 85°C
|
||
|
||
Additional information can be found in the [_Pixhawk 4 Mini_ Technical Data Sheet](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/flight_controller/pixhawk4mini/pixhawk4mini_technical_data_sheet.pdf).
|
||
|
||
## 购买渠道
|
||
|
||
No longer available.
|
||
|
||
## 接口
|
||
|
||
|
||
|
||
:::warning
|
||
The **RC IN** and **PPM** ports are for RC receivers only. These are powered! NEVER connect any servos, power supplies or batteries (or to any connected receiver).
|
||
:::
|
||
|
||
## 针脚定义
|
||
|
||
Download _Pixhawk 4 Mini_ pinouts from [here](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/flight_controller/pixhawk4mini/pixhawk4mini_pinouts.pdf).
|
||
|
||
## 尺寸
|
||
|
||
|
||
|
||
## 额定电压
|
||
|
||
_Pixhawk 4 Mini_ can have power supply redundancy — if two power sources are supplied. The power rails are: **POWER** and **USB**.
|
||
|
||
:::info
|
||
The output power rail of **MAIN OUT** does not power the flight controller board (and is not powered by it).
|
||
You must [supply power](../assembly/quick_start_pixhawk4_mini.md#power) to one of **POWER** or **USB** or the board will be unpowered.
|
||
:::
|
||
|
||
**Normal Operation Maximum Ratings**
|
||
|
||
Under these conditions all power sources will be used in this order to power the system:
|
||
|
||
1. **POWER** (4.75V to 5.5V)
|
||
2. **USB** input (4.75V to 5.25V)
|
||
|
||
**Absolute Maximum Ratings**
|
||
|
||
Under these conditions the system will remain intact.
|
||
|
||
1. **POWER** input (0V to 6V undamaged)
|
||
2. **USB** input (0V to 6V undamaged)
|
||
3. Servo input: VDD_SERVO pin of **MAIN OUT** (0V to 24V undamaged)
|
||
|
||
## 组装 / 设置
|
||
|
||
The [_Pixhawk 4 Mini_ Wiring Quick Start](../assembly/quick_start_pixhawk4_mini.md) provides instructions on how to assemble required/important peripherals including GPS, Power Management Board, etc.
|
||
|
||
## 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](../dev_setup/building_px4.md) for this target:
|
||
|
||
```
|
||
make px4_fmu-v5_default
|
||
```
|
||
|
||
## 调试接口
|
||
|
||
The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) run on the **FMU Debug** port.
|
||
In order to access these ports, the user must remove the _Pixhawk 4 Mini_ casing.
|
||
|
||
|
||
|
||
The port has a standard serial pinout and can be connected to a standard FTDI cable (3.3V, but it's 5V tolerant) or a [Zubax BugFace BF1](https://github.com/Zubax/bugface_bf1).
|
||
The pinout uses the standard [Pixhawk debug connector](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf) pinout. Please refer to the [wiring](../debug/system_console.md) page for details of how to wire up this port.
|
||
|
||
## 串口映射
|
||
|
||
| UART | 设备 | QGC Parameter Description | Port Label on FC |
|
||
| :----: | :--------: | :-----------------------: | :-----------------------------------------: |
|
||
| UART1 | /dev/ttyS0 | GPS1 | GPS Module |
|
||
| USART2 | /dev/ttyS1 | TELEM1 | TELEM1 |
|
||
| USART3 | /dev/ttyS2 | TELEM2 | N/A |
|
||
| UART4 | /dev/ttyS3 | TELEM/SERIAL4 | UART/l2C B |
|
||
| USART6 | /dev/ttyS4 | N/A | RC IN |
|
||
| UART7 | /dev/ttyS5 | N/A | Debug |
|
||
| UART8 | /dev/ttyS6 | N/A | Not connected (no PX4IO) |
|
||
|
||
## 外部设备
|
||
|
||
- [Digital Airspeed Sensor](https://holybro.com/products/digital-air-speed-sensor-ms4525do)
|
||
- [Telemetry Radio Modules](../telemetry/index.md)
|
||
- [Rangefinders/Distance sensors](../sensor/rangefinders.md)
|
||
|
||
## Supported Platforms
|
||
|
||
Motors and servos are connected to the **MAIN OUT** ports in the order specified for your vehicle in the [Airframe Reference](../airframes/airframe_reference.md).
|
||
This reference lists the output port to motor/servo mapping for all supported air and ground frames (if your frame is not listed in the reference then use a "generic" airframe of the correct type).
|
||
|
||
:::warning
|
||
_Pixhawk 4 Mini_ does not have AUX ports.
|
||
The board cannot be used with frames that require more than 8 ports or which use AUX ports for motors or control surfaces.
|
||
It can be used for airframes that use AUX for non-essential peripherals (e.g. "feed-through of RC AUX1 channel").
|
||
:::
|
||
|
||
## 更多信息
|
||
|
||
- [_Pixhawk 4 Mini_ Technical Data Sheet](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/flight_controller/pixhawk4mini/pixhawk4mini_technical_data_sheet.pdf)
|
||
- [FMUv5 reference design pinout](https://docs.google.com/spreadsheets/d/1-n0__BYDedQrc_2NHqBenG1DNepAgnHpSGglke-QQwY/edit#gid=912976165).
|