01 Pixhawk Autopilot

PIXHAWK 是一個高性能的自動駕駛儀上模塊適於固定翼,多個轉子(multi rotors),直升機,汽車,輪船和任何其他機器人平台可以移動。其目標是高端的研究,業餘和行業需求,並結合的功能 PX4FMU + PX4IO.

特殊功能

  • 14 PWM / Servo 輸出(8故障安全和手動控制,6個輔助,高功率兼容)
  • 豐富的外設連接選項(UART,I2C,CAN)
  • 集成的備份系統在飛行中恢復和手動控制有專用的處理器和獨立電源(固定翼飛機使用)
  • 備份系統集成了混合,提供一致的自動駕駛儀和手動控制模式的混合(固定翼使用)
  • 冗餘電源輸入和自動故障轉移
  • 外部安全開關
  • 多色LED的主視覺指示器
  • 高功率,多音壓電音頻指示器(multi-tone piezo audio indicator)
  • microSD卡,記錄Log

哪裡可以買到

英國:

德國:

瑞士:

If out of stock the software-compatible but not connector-compatible versions can be used:

規格

處理器

  • 32bit STM32F427 Cortex M4 core with FPU
  • 168 MHz
  • 256 KB RAM
  • MB Flash
  • 32 bit STM32F103 failsafe co-processor

感應器

  • ST Micro L3GD20H 16 bit gyroscope(陀螺儀)
  • ST Micro LSM303D 14 bit accelerometer / magnetometer(加速度計/指南針)
  • Invensense MPU 6000 3-axis accelerometer/gyroscope(加速度計/陀螺儀)
  • MEAS MS5611 barometer(氣壓計)

接口

  • 5x UART (serial ports序列埠), one high-power capable, 2x with HW flow control
  • 2x CAN (one with internal 3.3V transceiver, one on expansion connector)
  • Spektrum DSM / DSM2 / DSM-X® Satellite compatible input
  • Futaba S.BUS® compatible input and output
  • PPM sum signal input
  • RSSI (PWM or voltage) input
  • I2C
  • SPI
  • 3.3 and 6.6V ADC inputs
  • Internal microUSB port and external microUSB port extension

電源系統和保護

  • Ideal diode controller with automatic failover
  • Servo rail high-power (max. 10V) and high-current (10A+) ready
  • All peripheral outputs over-current protected, all inputs ESD protected

電力範圍

可以是可以由三個地方提供電源,如果三個電源供給。這三個導軌:電源模塊輸入(Power module input),(servo rail input)伺服軌輸入,USB輸入。

Normal Operation Maximum Ratings

Under these conditions all power sources will be used in this order to power the system

  1. Power module input (4.8V to 5.4V)
  2. Servo rail input (4.8V to 5.4V) UP TO 10V FOR MANUAL OVERRIDE, BUT AUTOPILOT PART WILL BE UNPOWERED ABOVE 5.7V IF POWER MODULE INPUT IS NOT PRESENT
  3. USB power input (4.8V to 5.4V)

絕對最大額定值

在這些條件下,系統也不會汲取任何功率(不會運行),但將保持不變。

  1. Power module input (4.1V to 5.7V, 0V to 20V undamaged)
  2. Servo rail input (4.1V to 5.7V, 0V to 20V)
  3. USB power input (4.1V to 5.7V, 0V to 6V)

示意圖

接口

The RC IN port is for RC receivers only and provides power. NEVER connect any servos, power supplies or batteries to it or to the receiver connected to it.

接口接腳表

TELEM1, TELEM2 ports

Pin Signal Volt
1 (red) VCC +5V
2 (blk) TX (OUT) +3.3V
3 (blk) RX (IN) +3.3V
4 (blk) CTS (IN) +3.3V
5 (blk) RTS (OUT) +3.3V
6 (blk) GND GND

GPS port 定位

Pin Signal Volt
1 (red) VCC +5V
2 (blk) TX (OUT) +3.3V
3 (blk) RX (IN) +3.3V
4 (blk) CAN2 TX +3.3V
5 (blk) CAN2 RX +3.3V
6 (blk) GND GND

SERIAL 4/5 port - due to space constraints two ports are on one connector.

Pin Signal Volt
1 (red) VCC +5V
2 (blk) TX (#4) +3.3V
3 (blk) RX (#4) +3.3V
4 (blk) TX (#5) +3.3V
5 (blk) RX (#5) +3.3V
6 (blk) GND GND

ADC 6.6V 類比轉數位

Pin Signal Volt
1 (red) VCC +5V
2 (blk) ADC IN up to +6.6V
3 (blk) GND GND

ADC 3.3V類比轉數位

Pin Signal Volt
1 (red) VCC +5V
2 (blk) ADC IN up to +3.3V
3 (blk) GND GND
4 (blk) ADC IN up to +3.3V
5 (blk) GND GND

I2C

Pin Signal Volt
1 (red) VCC +5V
2 (blk) SCL +3.3 (pullups)
3 (blk) SDA +3.3 (pullups)
4 (blk) GND GND

CAN

Pin Signal Volt
1 (red) VCC +5V
2 (blk) CAN_H +12V
3 (blk) CAN_L +12V
4 (blk) GND GND

SPI

Pin Signal Volt
1 (red) VCC +5V
2 (blk) SPI_EXT_SCK +3.3
3 (blk) SPI_EXT_MISO +3.3
4 (blk) SPI_EXT_MOSI +3.3
5 (blk) !SPI_EXT_NSS +3.3
6 (blk) !GPIO_EXT +3.3
7 (blk) GND GND

POWER

Pin Signal Volt
1 (red) VCC +5V
2 (blk) VCC +5V
3 (blk) CURRENT +3.3V
4 (blk) VOLTAGE +3.3V
5 (blk) GND GND
6 (blk) GND GND

SWITCH

Pin Signal Volt
1 (red) VCC +3.3V
2 (blk) !IO_LED_SAFETY GND
3 (blk) SAFETY GND

Console Port

The system's serial console runs on the port labeled SERIAL4/5. The pinout is standard serial pinout, to connect to a standard FTDI cable (3.3V, but its 5V tolerant).

Please refer to the wiring page for details how to wire up this port.

Parts / Housings

Peripherals

Supported Platforms / Airframes

Any multicopter / airplane / rover or boat that can be controlled with normal RC servos or Futaba S-Bus servos. More details are available on the platforms page.

 

資料來源:https://pixhawk.org/modules/pixhawk

Drone-PX4
CH1 簡介CH2 Pixhawk