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* Add vitepress tree * Update existing workflows so they dont trigger on changes in the docs path * Add nojekyll, package.json, LICENCE etc * Add crowdin docs upload/download scripts * Add docs flaw checker workflows * Used docs prefix for docs workflows * Crowdin obvious fixes * ci: docs move to self hosted runner runs on a beefy server for faster builds Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: don't run build action for docs or ci changes Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: update runners Signed-off-by: Ramon Roche <mrpollo@gmail.com> * Add docs/en * Add docs assets and scripts * Fix up editlinks to point to PX4 sources * Download just the translations that are supported * Add translation sources for zh, uk, ko * Update latest tranlsation and uorb graphs * update vitepress to latest --------- Signed-off-by: Ramon Roche <mrpollo@gmail.com> Co-authored-by: Ramon Roche <mrpollo@gmail.com>
186 lines
4.9 KiB
Markdown
186 lines
4.9 KiB
Markdown
# 树莓派 PilotPi 拓展板
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<LinkedBadge type="warning" text="Experimental" url="../flight_controller/autopilot_experimental.html"/>
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:::warning
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PX4 does not manufacture this (or any) autopilot.
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Contact the [manufacturer](mailto:lhf2613@gmail.com) for hardware support or compliance issues.
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:::
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The _PilotPi_ shield is a fully functional solution to run PX4 autopilot directly on Raspberry Pi.
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It is designed to be a low-cost but highly scalability platform with continuous updates from both Linux and PX4 sides.
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No proprietary driver is required, as all components have upstream support from RPi and PX4 community.
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PCB and schematic are open source as well.
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## 总览
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- 支持的树莓派：
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- 树莓派 2B/3B/3B+/4B
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- 支持的操作系统：
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- Raspberry Pi OS
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- Ubuntu Server (armhf/arm64)
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- 加速度计/角速度计：
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- ICM42688P
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- 磁力计：
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- IST8310
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- 气压计：
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- MS5611
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- PWM：
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- PCA9685
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- ADC：
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- ADS1115
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- 电源：
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- 3~6S 电池 具有内置电压监测
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- 通过USB线启动树莓派
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- Availability: _preparing for shipping_
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## 连接
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Shield provides:
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- 16 x PWM 输出通道
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- GPS 连接器
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- 数传连接器
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- External I2C bus connector (**Note:** conflicts with CSI camera)
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- 遥控输入口（SBUS 协议）
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- 3 x 0~5V ADC 通道
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- 2\*8 2.54mm 排插，引出未使用的 GPIO
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Direct accessible from RPi:
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- 4x USB 连接器
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- CSI connector(**Note:** conflict with external I2C bus)
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- 其它
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## 推荐接线
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## 针脚定义
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:::warning
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It still uses old GH1.25 connectors.
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Wiring is compatible with Pixhawk 2.4.8
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:::
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### 连接器
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#### GPS 连接器
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Mapped to `/dev/ttySC0`
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| 针脚 | 信号 | 电压 |
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| -- | --- | ---- |
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| 1 | VCC | +5V |
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| 2 | TX | +3v3 |
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| 3 | RX | +3v3 |
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| 4 | NC | +3v3 |
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| 5 | NC | +3v3 |
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| 6 | GND | GND |
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#### 数传连接器
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Mapped to `/dev/ttySC1`
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| 针脚 | 信号 | 电压 |
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| -- | -------------------- | ---- |
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| 1 | VCC | +5V |
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| 2 | TX | +3v3 |
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| 3 | RX | +3v3 |
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| 4 | CTS | +3v3 |
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| 5 | RTS: | +3v3 |
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| 6 | GND | GND |
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#### 外部 I2C 总线连接器
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Mapped to `/dev/i2c-0`
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| 针脚 | 信号 | 电压 |
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| -- | --- | --------------------------- |
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| 1 | VCC | +5V |
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| 2 | SCL | +3v3(上拉) |
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| 3 | SDA | +3v3(上拉) |
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| 4 | GND | GND |
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#### RC & ADC2/3/4
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RC is mapped to `/dev/ttyAMA0` with signal inverter switch on RX line.
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| 针脚 | 信号 | 电压 |
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| -- | --- | ------------------------ |
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| 1 | RC | +3V3~+5V |
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| 2 | VCC | +5V |
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| 3 | GND | GND |
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- ADC1 内部连接到分压电路以监测电池电压。
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- ADC2 空闲。
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- ADC3 可以连接模拟量空速计。
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- ADC4 在 ADC 和 VCC 之间有一个跳线帽，监测系统电压。
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| 针脚 | 信号 | 电压 |
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| -- | ---- | ---------------------- |
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| 1 | ADCx | 0V~+5V |
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| 2 | VCC | +5V |
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| 3 | GND | GND |
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:::info
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ADC3 & 4 have an alternative VCC source
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When 'Vref' switch is on, 'VCC' pin is driven by REF5050.
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:::
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#### 拓展板顶部引出的未使用的GPIO
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| 拓展板Pin | BCM号 | WiringPi号 | 树莓派Pin |
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| ------ | ---- | --------- | ------ |
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| 1 | 3V3 | 3v3 | 3V3 |
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| 2 | 5V | 5V | 5V |
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| 3 | 4 | 7 | 7 |
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| 4 | 14 | 15 | 8 |
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| 5 | 17 | 0 | 11 |
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| 6 | 27 | 2 | 13 |
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| 7 | 22 | 3 | 15 |
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| 8 | 23 | 4 | 16 |
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| 9 | 7 | 11 | 26 |
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| 10 | 5 | 21 | 29 |
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| 11 | 6 | 22 | 31 |
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| 12 | 12 | 26 | 32 |
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| 13 | 13 | 23 | 33 |
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| 14 | 16 | 27 | 36 |
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| 15 | 26 | 25 | 37 |
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| 16 | GND | GND | GND |
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### 开关
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#### 遥控信号反相器
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This switch will decide the signal polarity of RX line: `UART_RX = SW xor RC_INPUT`
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- 开启：适合SBUS(反转信号)
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- 关闭：保留
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#### 参考压
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ADC 3 & 4 will have VCC driven by:
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- 开启开关时：由REF5050驱动
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- 关闭开关时：从树莓派5V取电
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#### 启动模式
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This switch is connected to Pin22(BCM25).
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System rc script will check its value and decide whether PX4 should start alongside with system booting or not.
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- 开启：开机自启 PX4
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- 关闭：不启动 PX4
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## 开发者快速指南
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Refer to specific instructions for the OS running on your RPi:
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- [Raspberry Pi OS Lite (armhf)](raspberry_pi_pilotpi_rpios.md)
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- [Ubuntu Server (arm64 & armhf)](raspberry_pi_pilotpi_ubuntu_server.md)
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