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PX4 Build Bot
270 lines
11 KiB
Markdown
270 lines
11 KiB
Markdown
# mRo Pixhawk Flight Controller (Pixhawk 1)
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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.mrobotics.io/) for hardware support or compliance issues.
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:::
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The _mRo Pixhawk<sup>®</sup>_ is a hardware compatible version of the original [Pixhawk 1](../flight_controller/pixhawk.md). It runs PX4 on the [NuttX](https://nuttx.apache.org/) OS.
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:::tip
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The controller can be used as a drop-in replacement for the 3DR<sup>®</sup> [Pixhawk 1](../flight_controller/pixhawk.md).
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The main difference is that it is based on the [Pixhawk-project](https://pixhawk.org/) **FMUv3** open hardware design, which corrects a bug that limited the original Pixhawk 1 to 1MB of flash.
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:::
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Assembly/setup instructions for use with PX4 are provided here: [Pixhawk Wiring Quickstart](../assembly/quick_start_pixhawk.md)
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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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## 主要特性
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- 微处理器：
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- 32-bit STM32F427 Cortex<sup>®</sup> M4 core with FPU
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- 168 MHz/256 KB RAM/2 MB Flash
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- 32 bit STM32F100 failsafe co-processor
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- 24 MHz/8 KB RAM/64 KB Flash
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- 传感器：
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- ST Micro L3GD20 3-axis 16-bit gyroscope
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- ST Micro LSM303D 3-axis 14-bit accelerometer / magnetometer
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- Invensense<sup>®</sup> MPU 6000 3-axis accelerometer/gyroscope
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- MEAS MS5611 气压计
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- 接口：
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- 5x UART (serial ports), one high-power capable, 2x with HW flow control
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- 2x CAN
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- Spektrum DSM / DSM2 / DSM-X® Satellite compatible input up to DX8 (DX9 and above not supported)
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- Futaba<sup>®</sup> S.BUS compatible input and output
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- PPM sum signal
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- RSSI (PWM or voltage) input
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- I2C
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- SPI
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- 3.3 and 6.6V ADC inputs
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- External microUSB port
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- 电源系统
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- Ideal diode controller with automatic failover
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- Servo rail high-power (7 V) and high-current ready
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- All peripheral outputs over-current protected, all inputs ESD protected
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- 重量和尺寸:
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- Weight: 38g (1.31oz)
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- Width: 50mm (1.96")
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- Thickness: 15.5mm (.613")
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- Length: 81.5mm (3.21")
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## 访问链接
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- [Bare Bones](https://store.mrobotics.io/Genuine-PixHawk-1-Barebones-p/mro-pixhawk1-bb-mr.htm) - Just the board (useful as a 3DR Pixhawk replacement)
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- [mRo Pixhawk 2.4.6 Essential Kit!](https://store.mrobotics.io/Genuine-PixHawk-Flight-Controller-p/mro-pixhawk1-minkit-mr.htm) - Everything except for telemetry radios
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- [mRo Pixhawk 2.4.6 Cool Kit! (Limited edition)](https://store.mrobotics.io/product-p/mro-pixhawk1-fullkit-mr.htm) - Everything you need including telemetry radios
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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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```sh
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make px4_fmu-v3_default
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```
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## Debug Ports
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### Console Port
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The [PX4 System Console](../debug/system_console.md) runs on the port labeled [SERIAL4/5](#serial-4-5-port).
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:::tip
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A convenient way to connect to the console is to use a [Zubax BugFace BF1](https://github.com/Zubax/bugface_bf1), as it comes with connectors that can be used with several different Pixhawk devices.
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Simply connect the 6-pos DF13 1:1 cable on the [Zubax BugFace BF1](https://github.com/Zubax/bugface_bf1) to the Pixhawk `SERIAL4/5` port.
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:::
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The pinout is standard serial pinout, designed to connect to a [3.3V FTDI](https://www.digikey.com/en/products/detail/TTL-232R-3V3/768-1015-ND/1836393) cable (5V tolerant).
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| 3DR Pixhawk 1 | | FTDI | |
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| ------------- | ---------------------------- | ---- | -------------------------------- |
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| 1 | + 5v (红色) | | N/C |
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| 2 | S4 Tx | | N/C |
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| 3 | S4 Rx | | N/C |
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| 4 | S5 Tx | 5 | FTDI RX （黄色） |
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| 5 | S5 Rx | 4 | FTDI TX （橙色） |
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| 6 | GND | 1 | FTDI GND (黑色) |
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The wiring for an FTDI cable to a 6-pos DF13 1:1 connector is shown in the figure below.
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The complete wiring is shown below.
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:::info
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For information on how to _use_ the console see: [System Console](../debug/system_console.md).
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:::
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### SWD Port
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The [SWD](../debug/swd_debug.md) (JTAG) ports are hidden under the cover (which must be removed for hardware debugging).
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There are separate ports for FMU and IO, as highlighted below.
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The ports are ARM 10-pin JTAG connectors, which you will probably have to solder.
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The pinout for the ports is shown below (the square markers in the corners above indicates pin 1).
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:::info
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All Pixhawk FMUv2 boards have a similar SWD port.
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:::
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## 针脚定义
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#### TELEM1，TELEM2 接口
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| 针脚 | 信号 | 电压 |
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| ---- | ---------------------------- | --------------------- |
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| 1（红） | VCC | +5V |
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| 2 | TX (OUT) | +3.3V |
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| 3 | RX (IN) | +3.3V |
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| 4（黑） | CTS (IN) | +3.3V |
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| 6 | RTS (OUT) | +3.3V |
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| 6 | GND | GND |
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#### GPS 接口
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| 针脚 | 信号 | 电压 |
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| ---- | --------------------------- | --------------------- |
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| 1（红） | VCC | +5V |
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| 2 | TX (OUT) | +3.3V |
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| 3 | RX (IN) | +3.3V |
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| 4（黑） | CAN2 TX | +3.3V |
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| 6 | CAN2 RX | +3.3V |
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| 6 | GND | GND |
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#### SERIAL 4/5 port
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Due to space constraints two ports are on one connector.
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| 针脚 | 信号 | 电压 |
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| ---- | -------------------------- | --------------------- |
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| 1（红） | VCC | +5V |
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| 2 | TX (#4) | +3.3V |
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| 3 | RX (#4) | +3.3V |
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| 4（黑） | TX (#5) | +3.3V |
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| 6 | RX (#5) | +3.3V |
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| 6 | GND | GND |
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#### ADC 6.6V
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| 针脚 | 信号 | 电压 |
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| ---- | ------ | --------------------------- |
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| 1（红） | VCC | +5V |
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| 2 | ADC IN | up to +6.6V |
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| 3 | GND | GND |
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#### ADC 3.3V
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| 针脚 | 信号 | 电压 |
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| ---- | ------ | --------------------------- |
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| 1（红） | VCC | +5V |
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| 2 | ADC IN | up to +3.3V |
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| 3 | GND | GND |
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| 4（黑） | ADC IN | up to +3.3V |
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| 6 | GND | GND |
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#### I2C
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| 针脚 | 信号 | 电压 |
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| ---- | --- | ------------------------------------------------- |
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| 1（红） | VCC | +5V |
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| 2 | SCL | +3.3 (pullups) |
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| 3 | SDA | +3.3 (pullups) |
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| 4（黑） | GND | GND |
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#### CAN
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| 针脚 | 信号 | 电压 |
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| ---- | -------------------------- | ---- |
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| 1（红） | VCC | +5V |
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| 2 | CAN_H | +12V |
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| 3 | CAN_L | +12V |
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| 4（黑） | GND | GND |
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#### SPI
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| 针脚 | 信号 | 电压 |
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| ---- | ------------------------------------------------------ | -------------------- |
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| 1（红） | VCC | +5V |
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| 2 | SPI_EXT_SCK | +3.3 |
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| 3 | SPI_EXT_MISO | +3.3 |
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| 4（黑） | SPI_EXT_MOSI | +3.3 |
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| 6 | !SPI_EXT_NSS | +3.3 |
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| 6 | !GPIO_EXT | +3.3 |
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| 7 | GND | GND |
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#### POWER
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| 针脚 | 信号 | 电压 |
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| ---- | --- | --------------------- |
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| 1（红） | VCC | +5V |
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| 2 | VCC | +5V |
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| 3 | 电流 | +3.3V |
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| 4（黑） | 电压 | +3.3V |
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| 6 | GND | GND |
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| 6 | GND | GND |
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#### SWITCH
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| 针脚 | 信号 | 电压 |
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| ---- | -------------------------------------------------------- | --------------------- |
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| 1（红） | VCC | +3.3V |
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| 2 | !IO_LED_SAFETY | GND |
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| 3 | SAFETY | GND |
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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 | IO debug |
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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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## 串口映射
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| UART | 设备 | Port |
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| ------ | ---------- | ------------------------------ |
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| UART1 | /dev/ttyS0 | IO debug |
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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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## 原理图
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The board is based on the [Pixhawk-project](https://pixhawk.org/) **FMUv3** open hardware design.
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- [FMUv3 schematic](https://github.com/pixhawk/Hardware/raw/master/FMUv3_REV_D/Schematic%20Print/Schematic%20Prints.PDF) -- Schematic and layout
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:::info
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As a CC-BY-SA 3.0 licensed Open Hardware design, all schematics and design files are [available](https://github.com/pixhawk/Hardware).
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:::
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