PX4-Autopilot/docs/ko/flight_controller/radiolink_pix6.md

RadiolinkPIX6 Flight Controller

:::warning PX4 does not manufacture this (or any) autopilot. Contact the manufacturer for hardware support or compliance issues. :::

자동조종장치는 상용시스템 통합에 권장되지만, 학술 연구와 기타 용도에도 적합합니다.

The Radiolink PIX6 is a high-performance flight controller. Featuring STM32F7 CPU, vibration isolation of IMUs, redundant IMUs, integrated OSD chip, IMU heating, and DShot.

:::info This flight controller is manufacturer supported. :::

요약

• 프로세서
  • 32-bit ARM Cortex M7 core with DPFPU - STM32F765VIT6
  • 216 MHz/512 KB RAM/2 MB 플래시
  • 32-bit IOMCU co-processor - STM32F100
  • 32KB FRAM - FM25V02A
  • AT7456E OSD
• 센서
  • Bosch BMI088 IMU (accel, gyro)
  • InvenSense ICM-42688 IMU (accel, gyro)
  • SPA06 barometer
  • IST8310 magnetometer
• 전원
  • SMBUS/I2C Power Module Inputs (I2C)
  • voltage and current monitor inputs (Analog)
• 인터페이스
  • 16 PWM Outputs with independent power rail for external power source
  • 5x UART serial ports, 2 with HW flow control
  • Camera Input and Video Output
  • PPM/SBUS input, DSM/SBUS input
  • RSSI(PWM 또는 전압) 입력
  • I2C, SPI, 2x CAN, USB
  • 3.3V and 6.6V ADC inputs
  • 부저와 안전 스위치
  • microSD card
• 중량과 크기
  • Weight 80g
  • Size 94mm x 51.5mm x 14.5mm

Where to Buy

Radiolink Amazon（International users）

Radiolink Taobao（China Mainland user）

커넥터 할당

Top View

Left View

Right View

Rear View

핀배열

Unless noted otherwise all connectors are JST GH.

TELEM1, TELEM2 포트

핀	신호	전압
1	VCC	+5V
2	TX(OUT)	+3.3V
3	RX(IN)	+3.3V
4	CTS	+3.3V
5	RTS	+3.3V
6	GND	GND

OSD

핀	신호	전압
1	GND	GND
2	VOUT	+3.3V
3	VCC	+5V
4	GND	GND
5	VCC	+5V
6	VIN	+3.3V

I2C port

핀	신호	전압
1	VCC	+5V
2	SCL	+3.3V (pullups)
3	SDA	+3.3V (pullups)
4	GND	GND

CAN1, CAN2 ports

핀	신호	전압
1	VCC	+5V
2	CAN_H	+12V
3	CAN_L	+12V
4	GND	GND

GPS1 port

핀	신호	전압
1	VCC	+5V
2	TX(OUT)	+3.3V
3	RX(IN)	+3.3V
4	SCL	+3.3V
5	SDA	+3.3V
6	GND	GND

GPS2 Port

핀	신호	전압
1	VCC	+5V
2	TX(OUT)	+3.3V
3	RX(IN)	+3.3V
4	SCL	+3.3V
5	SDA	+3.3V
6	GND	GND

SPI

핀	신호	전압
1	VCC	+5V
2	SPI_SCK	+3.3V
3	SPI_MISO	+3.3V
4	SPI_MOSI	+3.3V
5	!SPI_NSS1	+3.3V
6	!SPI_NSS2	+3.3V
7	DRDY	+3.3V
8	GND	GND

POWER1 (HY2.0-6P)

Port for analog power monitors.

핀	신호	전압
1	VCC	+5V
2	VCC	+5V
3	CURRENT	최대 +3.3V
4	VOLTAGE	최대 +3.3V
5	GND	GND
6	GND	GND

POWER2 (HY2.0-6P)

Port for digital (I2C) power monitor.

핀	신호	전압
1	VCC	+5V
2	VCC	+5V
3	SCL	+3.3V
4	SDA	+3.3V
5	GND	GND
6	GND	GND

ADC 3.3V

핀	신호	전압
1	VCC	+5V
2	ADC IN1	최대 +3.3V
3	GND	GND
4	ADC IN2	up to +3.3v
5	GND	GND

ADC 6.6V

핀	신호	전압
1	VCC	+5V
2	ADC 입력	up to 6.6V
3	GND	GND

USB remote port

핀	신호	전압
1	USB VDD	+5V
2	DM	+3.3V
3	DP	+3.3V
4	GND	GND

스위치

핀	신호	전압
1	VCC	+3.3V
2	!IO_LED_SAFETY	GND
3	SAFETY	GND

Buzzer port

핀	신호	전압
1	VCC	+5V
2	BUZZER-	+5V

Spektrum/DSM Port (PH1.25-3P)

핀	신호	전압
1	VCC	+3.3V
2	GND	GND
3	신호	+3.3V

Debug port (SH1.0-8P)

핀	신호	전압
1	VCC	+5V
2	FMU_SWCLK	+3.3V
3	FMU_SWDIO	+3.3V
4	TX(UART7)	+3.3V
5	RX(UART7)	+3.3V
6	IO_SWCLK	+3.3V
7	IO_SWDIO	+3.3V
8	GND	GND

펌웨어 빌드

To build PX4 for this target:

make radiolink_PIX6_default

펌웨어 설치

펌웨어는 일반적인 방법으로 설치할 수 있습니다.

• 소스 빌드 및 업로드

  make radiolink_PIX6_default upload
  

• Load the firmware using QGroundControl. 미리 빌드된 펌웨어나 사용자 지정 펌웨어를 사용할 수 있습니다.

  ::: info At time of writing the only pre-built software is PX4 main (see Installing PX4 Main, Beta or Custom Firmware). Release builds will be supported for PX4 v1.17 and later.

:::

PX4 설정

In addition to the basic configuration, the following parameters are important:

매개변수	설정
SYS_HAS_MAG	보드에 내부 자력계가 없기 때문에 비활성화하여야 합니다. 외부 자력계를 연결하여 활성화 할 수 있습니다.

Powering the PIX6

The PIX6 has 2 dedicated power monitor ports, each with a 6 pin connector. One is the Analog power monitor (POWER1), and the other is the I2C power monitor (POWER2).

The power module that comes with the flight controller with a wide voltage input range of 2-12S (7.4-50.4V), a maximum detection current of 90A (single ESC maximum detection current is 22.5A), a BEC output voltage of 5.3±0.2V, and a BEC output current of 2A.

The PIX6 also supports power modules from other manufacturers, such as holybro_pm02d.

Recommended Accessories

GPS Modules

Radiolink manufactures a variety of high-performance GPS，Dual Anti-interference Technology Worry-free of UAV High-power Image Transmission, High-Voltage Lines, or Other Strong Signal Interference.

The PIX6 has 2 dedicated GPS ports, GPS1 and GPS2, each with a 6 pin connector.

Recommended modules include:

• Radiolink SE100
• Radiolink TS100
• Radiolink RTK F9P

시리얼 포트 매핑

UART	장치	포트
UART1	/dev/ttyS0	GPS1
USART2	/dev/ttyS1	TELEM1 (흐름 제어)
USART3	/dev/ttyS2	TELEM2 (흐름 제어)
UART4	/dev/ttyS3	GPS2
UART7	/dev/ttyS4	디버그 콘솔
UART8	/dev/ttyS5	PX4IO

Analog inputs

The Radiolink PIX6 has 3 analog inputs, one 6V tolerant and two 3.3V tolerant.

• ADC Pin12 -> ADC 6.6V Sense
• ADC Pin4 -> ADC IN1 3.3V Sense
• ADC Pin13 -> ADC IN2 3.3V Sense

무선 조종

A Radio Control (RC) system is required if you want to manually control your vehicle (PX4 does not require a radio system for autonomous flight modes).

You will need to select a compatible transmitter/receiver and then bind them so that they communicate (read the instructions that come with your specific transmitter/receiver).

• Spektrum/DSM receivers connect to the DSM/SBUS RC input.
• PPM or SBUS receivers connect to the RC IN input port.
• CRSF receiver must be wired to a spare port (UART) on the Flight Controller. Then you can bind the transmitter and receiver together.

CRSF Parameter Configuration

Find and set the following parameters:

1. Set RC_CRSF_PRT_CFG to the port that is connected to the CRSF receiver (such as TELEM1).

   This configures the serial port to use the CRSF protocol. Note that some serial ports may already have a default serial port mapping or default MAVLink serial port mapping that you will have to un-map before you can assign the port to CRSF. For example, if you want to use TELEM1 or TELEM2 you first need to modify MAV_0_CONFIG or MAV_1_CONFIG to stop setting those ports.

   포트 전송속도는 드라이버에 의해 설정되므로, 추가로 설정하지 않아도 됩니다.

2. Enable RC_CRSF_TEL_EN to activate Crossfire telemetry.

For more information about selecting a radio system, receiver compatibility, and binding your transmitter/receiver pair, see: Remote Control Transmitters & Receivers.