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163 lines
6.9 KiB
Markdown
163 lines
6.9 KiB
Markdown
# RaccoonLab FMUv6X Autopilot
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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://raccoonlab.co) for hardware support or compliance issues.
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:::
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The [RaccoonLab FMUv6X](https://docs.raccoonlab.co/guide/autopilot/RCLv6X.html) flight controller is based on the following Pixhawk® standards: [Pixhawk Autopilot FMUv6X Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-012%20Pixhawk%20Autopilot%20v6X%20Standard.pdf), [Autopilot Bus Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-010%20Pixhawk%20Autopilot%20Bus%20Standard.pdf), and [Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf).
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Equipped with a high-performance H7 Processor, modular design, triple redundancy, temperature-controlled IMU board, and isolated sensor domains, it delivers exceptional performance, reliability, and flexibility.
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At RaccoonLab, we focus on DroneCAN and Cyphal-based onboard control system buses.
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Our autopilot is part of a larger DroneCAN and Cyphal ecosystem, making it an ideal choice for next-generation intelligent vehicles.
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RaccoonLab offers versatile HATs for both Raspberry Pi and NVIDIA Jetson Xavier NX, enhancing connectivity and functionality.
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The [Jetson Xavier NX HAT](https://docs.raccoonlab.co/guide/nx_hat/) is designed to integrate the CAN bus with the Jetson Xavier NX, enabling access to Cyphal and DroneCAN protocols.
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The [Raspberry Pi CM4 HAT](https://docs.raccoonlab.co/guide/rpi_hat/) provides robust features, including CAN bus connectivity, an LTE modem, internal voltage measurement, SWD debugging for other MCUs, and UART communication with PX4 over MAVLINK.
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These HATs expand the capabilities of devices, making them ideal for advanced robotics and UAV applications.
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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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## Key Design Points
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- High performance STM32H753 Processor
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- Modular flight controller: separated IMU, FMU, and Base system connected by a 100-pin & a 50-pin Pixhawk Autopilot Bus connector.
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- Redundancy: 3x IMU sensors & 2x Barometer sensors on separate buses
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- Triple redundancy domains: Completely isolated sensor domains with separate buses and separate power control
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- Newly designed vibration isolation system to filter out high frequency vibration and reduce noise to ensure accurate readings
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- Ethernet interface for high-speed mission computer integration
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## Processors & Sensors
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- FMU Processor: STM32H753
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- 32 Bit Arm Cortex-M7, 480MHz, 2MB flash memory, 1MB RAM
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- IO 处理器：STM32F100
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- 32 Bit Arm Cortex-M3, 24MHz, 8KB SRAM
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- On-board sensors
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- Accel/Gyro: ICM-20649 or BMI088
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- Accel/Gyro: ICM-42688-P
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- Accel/Gyro: ICM-42670-P
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- Mag: BMM150
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- Barometer: 2x BMP388
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## Electrical data
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- Voltage Ratings:
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- Max input voltage: 36V
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- USB Power Input: 4.75\~5.25V
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- Servo Rail Input: 0\~36V
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- Current Ratings:
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- `TELEM1` output current limiter: 1.5A
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- All other port combined output current limiter: 1.5A
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## Mechanical data
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- 尺寸
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- Flight Controller Module: 38.8 x 31.8 x 14.6mm
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- Standard Baseboard: 52.4 x 103.4 x 16.7mm
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- Mini Baseboard: 43.4 x 72.8 x 14.2 mm
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- 重量
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- Flight Controller Module: 23g
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- Standard Baseboard: 51g
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- Mini Baseboard: 26.5g
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3D model can be downloaded on [GrabCAD](https://grabcad.com/library/raccoonlab-autopilot-1).
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## 接口
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- 16- PWM servo outputs
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- R/C input for Spektrum / DSM
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- Dedicated R/C input for PPM and S.Bus input
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- Dedicated analog / PWM RSSI input and S.Bus output
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- 4个通用串行口
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- 3 with full flow control
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- 1 with separate 1.5A current limit (`TELEM1`)
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- 1 with I2C and additional GPIO line for external NFC reader
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- 2 GPS ports
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- 1 full GPS plus Safety Switch Port
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- 1 basic GPS port
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- 1 I2C port
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- 1 Ethernet port
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- Transformerless Applications
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- 100Mbps
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- 1 SPI bus
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- 2 chip select lines
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- 2 data-ready lines
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- 1 SPI SYNC line
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- 1 SPI reset line
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- 2 CAN Buses for CAN peripheral
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- CAN Bus has individual silent controls or ESC RX-MUX control
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- 2 Power input ports with SMBus
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- 1 AD & IO port
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- 2 个模拟输入接口
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- 1 PWM/Capture input
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- 2 Dedicated debug and GPIO lines
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## 串口映射
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| UART | 设备 | Port |
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| ------ | ---------- | ------------------------------- |
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| USART1 | /dev/ttyS0 | GPS |
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| USART2 | /dev/ttyS1 | TELEM3 |
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| USART3 | /dev/ttyS2 | 调试控制台 |
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| UART4 | /dev/ttyS3 | UART4 & I2C |
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| UART5 | /dev/ttyS4 | TELEM2 |
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| USART6 | /dev/ttyS5 | PX4IO/RC |
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| UART7 | /dev/ttyS6 | TELEM1 |
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| UART8 | /dev/ttyS7 | GPS2 |
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## 额定电压
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_RaccoonLab FMUv6X_ can be triple-redundant on the power supply if three power sources are supplied.
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The three power rails are: **POWER1**, **POWER2** and **USB**.
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The **POWER1** & **POWER2** ports on the RaccoonLab FMUv6X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/en-us/products/part-detail/5024430670).
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**Normal Operation Maximum Ratings**
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Under these conditions all power sources will be used in this order to power the system:
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1. **POWER1** and **POWER2** inputs (4.9V to 5.5V)
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2. **USB** input (4.75V to 5.25V)
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:::tip
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The manufacturer [RaccoonLab Docs](https://docs.raccoonlab.co/guide/autopilot/RCLv6X.html) are the canonical reference for the RaccoonLab FMUv6X Autopilot.
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They should be used by preference as they contain the most complete and up to date information.
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:::
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## Where to Buy {#store}
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[RaccoonLab Store](https://raccoonlab.co/store)
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[Cyphal store](https://cyphal.store)
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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-v6x_default
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```
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## 支持的平台/机身
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Any multicopter / airplane / rover or boat that can be controlled with normal RC servos or Futaba S-Bus servos.
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The complete set of supported configurations can be seen in the [Airframes Reference](../airframes/airframe_reference.md).
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## 更多信息
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- [Pixhawk Autopilot FMUv6X Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-012%20Pixhawk%20Autopilot%20v6X%20Standard.pdf)
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- [Pixhawk Autopilot Bus Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-010%20Pixhawk%20Autopilot%20Bus%20Standard.pdf)
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- [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf)
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- [RaccoonLab docs](https://docs.raccoonlab.co/)
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