mRo Pixracer (FMUv4)
PX4 does not manufacture this (or any) autopilot. Contact the manufacturer for hardware support or compliance issues.
The Pixhawk® XRacer board family is optimized for small racing quads and planes. In contrast to Pixfalcon and Pixhawk it has in-built WiFi, new sensors, convenient full servo headers, CAN and supports 2M flash.
This autopilot is supported by the PX4 maintenance and test teams.
主要特性
Main System-on-Chip: STM32F427VIT6 rev.3
CPU: 180 MHz ARM Cortex® M4 with single-precision FPU
RAM: 256 KB SRAM (L1)
Standard FPV form factor: 36x36 mm with standard 30.5 mm hole pattern
Invensense® ICM-20608 Accel / Gyro (4 KHz) / MPU9250 Accel / Gyro / Mag (4 KHz)
HMC5983 magnetometer with temperature compensation
Measurement Specialties MS5611 barometer
JST GH connectors
microSD (logging)
Futaba S.BUS and S.BUS2 / Spektrum DSM2 and DSMX / Graupner SUMD / PPM input / Yuneec ST24
FrSky® telemetry port
OneShot PWM out (configurable)
Optional: Safety switch and buzzer
在哪里买
Pixracer is available from the mRobotics.io.
Accessories include:
Kit
The Pixracer is designed to use a separate avionics power supply. This is necessary to avoid current surges from motors or ESCs to flow back to the flight controller and disturb its delicate sensors.
Power module (with voltage and current sensing)
I2C splitter (supporting AUAV, Hobbyking and 3DR® peripherals)
Cable kit for all common peripherals
Wifi (no USB required)
One of the main features of the board is its ability to use Wifi for flashing new firmware, system setup and in-flight telemetry. This frees it of the need of any desktop system.
Assembly
See the Pixracer Wiring Quickstart
Wiring Diagrams
Connectors
All connectors follow the Pixhawk connector standard. Unless noted otherwise all connectors are JST GH.
Pinouts
TELEM1, TELEM2+OSD ports
| 针脚 | 信号 | 电压 |
|---|---|---|
2 | VCC | +5V |
2 | TX (OUT) | +3.3V |
3 | RX (IN) | +3.3V |
4（黑） | CTS (IN) | +3.3V |
6 | RTS (OUT) | +3.3V |
6 | GND | GND |
GPS 接口
| 针脚 | 信号 | 电压 |
|---|---|---|
1（红） | VCC | +5V |
2（黑） | TX (OUT) | +3.3V |
3 | RX (IN) | +3.3V |
4（黑） | I2C1 SCL | +3.3V |
6 | I2C1 SDA | +3.3V |
6 | GND | GND |
FrSky Telemetry / SERIAL4
| 针脚 | 信号 | 电压 |
|---|---|---|
2 | VCC | +5V |
2 | TX (OUT) | +3.3V |
3 | RX (IN) | +3.3V |
4（黑） | GND | GND |
RC Input (accepts PPM / S.BUS / Spektrum / SUMD / ST24)
| 针脚 | 信号 | 电压 |
|---|---|---|
2 | VCC | +5V |
2 | RC IN | +3.3V |
3 | RSSI IN | +3.3V |
4（黑） | VDD 3V3 | +3.3V |
6 | GND | GND |
CAN
| 针脚 | 信号 | 电压 |
|---|---|---|
2 | VCC | +5V |
2 | CAN_H | +12V |
3 | CAN_L | +12V |
4（黑） | GND | GND |
POWER
| 针脚 | 信号 | 电压 |
|---|---|---|
2 | VCC | +5V |
2 | VCC | +5V |
3 | 电流 | +3.3V |
4（黑） | 电压 | +3.3V |
6 | GND | GND |
6 | GND | GND |
SWITCH
| 针脚 | 信号 | 电压 |
|---|---|---|
2 | SAFETY | GND |
2 | !IO_LED_SAFETY | GND |
3 | VCC | +3.3V |
4（黑） | BUZZER- | - |
6 | BUZZER+ | - |
Debug调试端口
This is a Pixhawk Debug Port (JST SM06B connector).
| 针脚 | 信号 | 电压 |
|---|---|---|
2 | VCC TARGET SHIFT | +3.3V |
2 | UART7 Tx | +3.3V |
3 | UART7 Rx | +3.3V |
4（黑） | SWDIO | +3.3V |
6 | SWCLK | +3.3V |
6 | GND | GND |
For information about wiring and using this port see:
PX4 System Console (Note, the FMU console maps to UART7).
Serial Port Mapping
| UART | 设备 | Port |
|---|---|---|
UART1 | /dev/ttyS0 | WiFi (ESP8266) |
USART2 | /dev/ttyS1 | TELEM1 (flow control) |
USART3 | /dev/ttyS2 | TELEM2 (flow control) |
UART4 | ||
UART7 | CONSOLE | |
UART8 | SERIAL4 |
Schematics
The reference is provided as: Altium Design Files
The following PDF files are provided for convenience only:
pixracer-r14.pdf - R14 or RC14 is printed next to the SDCard socket
Building Firmware
Most users will not need to build this firmware! It is pre-built and automatically installed by QGroundControl when appropriate hardware is connected.
To build PX4 for this target:
Credits
This design was created by Nick Arsov and Phillip Kocmoud and architected by Lorenz Meier, David Sidrane and Leonard Hall.
Last updated
