mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-03 13:48:54 +08:00
107 lines
5.3 KiB
Markdown
107 lines
5.3 KiB
Markdown
# 使用机载计算机与 Pixhawk 控制器
|
||
|
||
PX4 running on Pixhawk-series flight controllers can connect to a companion computer using any free configurable serial port, including the Ethernet port (if supported).
|
||
|
||
See [Companion Computers](../companion_computer/index.md) for information about supported hardware and general setup.
|
||
|
||
## 机载计算机软件
|
||
|
||
机载计算机需要运行能与飞控通信的软件，并将消息路由到地面站和云端。
|
||
|
||
Common options are listed in [Companion Computers > Companion Computer Setup](../companion_computer/index.md#companion-computer-software).
|
||
|
||
## 以太网设置
|
||
|
||
以太网是推荐的连接方式，如果飞行控制器支持的话。
|
||
See [Ethernet Setup](../advanced_config/ethernet_setup.md) for instructions.
|
||
|
||
## Serial Port Setup
|
||
|
||
These instructions explain how to setup the connection if you're not using Ethernet.
|
||
|
||
### Pixhawk Configuration
|
||
|
||
PX4 expects companion computers to connect via `TELEM2` for offboard control.
|
||
The port is configured by default to interface using MAVLink.
|
||
|
||
If using MAVLink, no other PX4-side configuration should be required.
|
||
To use MAVLink on another port, and/or disable it on `TELEM2`, see [MAVLink Peripherals (GCS/OSD/Companion)](../peripherals/mavlink_peripherals.md) and [Serial Port Configuration](../peripherals/serial_configuration.md).
|
||
|
||
To use [ROS 2/uXRCE-DDS](../ros2/user_guide.md) instead of MAVLink on `TELEM2`, disable MAVLink on the port and then enable the uXRCE-DDS client on `TELEM2`(see [uXRCE-DDS > Starting the client](../middleware/uxrce_dds.md#starting-the-client)).
|
||
|
||
### Serial Port Hardware Setup
|
||
|
||
If you're connecting using a serial port, wire the port according to the instructions below.
|
||
All Pixhawk serial ports operate at 3.3V and are 5V level compatible.
|
||
|
||
:::warning
|
||
Many modern companion computers only support 1.8V levels on their hardware UART and can be damaged by 3.3V levels.
|
||
Use a level shifter.
|
||
In most cases the accessible hardware serial ports already have some function (modem or console) associated with them and need to be _reconfigured in Linux_ before they can be used.
|
||
:::
|
||
|
||
A safe and easy to set up option is to use an FTDI Chip USB-to-serial adapter board to connect from `TELEM2` on the Pixhawk to the USB port on the companion computer.
|
||
The `TELEM2` to FTDI wiring map is shown below.
|
||
|
||
| TELEM2 | | FTDI | |
|
||
| ------ | ---------------------------- | ---- | -------------------------------- |
|
||
| 1 | + 5v (红色) | | DO NOT CONNECT! |
|
||
| 2 | 2 | 5 | 5 |
|
||
| 3 | 3 | 4 | 4 |
|
||
| 4 | CTS（输入） | 6 | 6 |
|
||
| 5 | RTS（输出） | 2 | 2 |
|
||
| 6 | GND | 1 | FTDI GND (黑色) |
|
||
|
||
You may also be able to directly connect `TELEM2` directly to a companion computer serial port.
|
||
This is demonstrated for the Raspberry Pi in [Raspberry Pi Companion with Pixhawk](../companion_computer/pixhawk_rpi.md).
|
||
|
||
### USB Serial Port Software setup on Linux
|
||
|
||
On Linux the default name of a USB FTDI would be like `\dev\ttyUSB0`.
|
||
If you have a second FTDI linked on the USB or an Arduino, it will registered as `\dev\ttyUSB1`.
|
||
To avoid the confusion between the first plugged and the second plugged, we recommend you to create a symlink from `ttyUSBx` to a friendly name, depending on the Vendor and Product ID of the USB device.
|
||
|
||
Using `lsusb` we can get the vendor and product IDs.
|
||
|
||
```sh
|
||
$lsusb
|
||
总线006 设备002：ID 0BDA:8153 Realtek 半导体公司
|
||
Bus 006 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
|
||
Bus 005 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
|
||
Bus 004 Device 002: ID 05e3:0616 Genesys Logic, Inc.
|
||
Bus 004 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
|
||
Bus 003 Device 004: ID 2341:0042 Arduino SA Mega 2560 R3 (CDC ACM)
|
||
Bus 003 Device 005: ID 26ac:0011
|
||
Bus 003 Device 002: ID 05e3:0610 Genesys Logic, Inc. 4-port hub
|
||
Bus 003 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
|
||
Bus 002 Device 001: ID 1d6b:0001 Linux Foundation 1.1 root hub
|
||
Bus 001 Device 002: ID 0bda:8176 Realtek Semiconductor Corp. RTL8188CUS 802.11n WLAN Adapter
|
||
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
|
||
```
|
||
|
||
The Arduino is `Bus 003 Device 004: ID 2341:0042 Arduino SA Mega 2560 R3 (CDC ACM)`
|
||
|
||
The Pixhawk is `Bus 003 Device 005: ID 26ac:0011`
|
||
|
||
:::info
|
||
If you do not find your device, unplug it, execute `lsusb`, plug it, execute `lsusb` again and see the added device.
|
||
:::
|
||
|
||
Therefore, we can create a new UDEV rule in a file called `/etc/udev/rules.d/99-pixhawk.rules` with the following content, changing the idVendor and idProduct to yours.
|
||
|
||
```sh
|
||
SUBSYSTEM=="tty", ATTRS{idVendor}=="2341", ATTRS{idProduct}=="0042", SYMLINK+="ttyArduino"
|
||
SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0011", SYMLINK+="ttyPixhawk"
|
||
```
|
||
|
||
Finally, after a **reboot** you can be sure to know which device is what and put `/dev/ttyPixhawk` instead of `/dev/ttyUSB0` in your scripts.
|
||
|
||
:::info
|
||
Be sure to add yourself in the `tty` and `dialout` groups via `usermod` to avoid to have to execute scripts as root.
|
||
:::
|
||
|
||
```sh
|
||
usermod -a -G tty ros-user
|
||
usermod -a -G dialout ros-user
|
||
```
|