3DR Pixhawk 1
3DR Pixhawk 1 Flight Controller (Discontinued)
This flight controller has been discontinued and is no longer commercially available. You can use the mRo Pixhawk as a drop-in replacement.
PX4 does not manufacture this (or any) autopilot. Contact the manufacturer for support or compliance issues.
The 3DR Pixhawk® 1 autopilot is a popular general purpose flight controller based on the Pixhawk-project FMUv2 open hardware design (it combines the functionality of the PX4FMU + PX4IO). It runs PX4 on the NuttX OS.
Assembly/setup instructions for use with PX4 are provided here: Pixhawk Wiring Quickstart
主要特性
主片上系统：STM32F427
CPU: 180 MHz ARM® Cortex® M4 with single-precision FPU
RAM: 256 KB SRAM (L1)
Failsafe System-on-Chip: STM32F100
CPU: 24 MHz ARM Cortex M3
RAM: 8 KB SRAM
Wifi: ESP8266 external
GPS: u-blox® 7/8 (Hobbyking®) / u-blox 6 (3D Robotics)
Optical flow: PX4 Flow unit
Redundant power supply inputs and automatic failover
External safety switch
Multicolor LED main visual indicator
High-power, multi-tone piezo audio indicator
microSD card for high-rate logging over extended periods of time
Connectivity
1x I2C
1x CAN (2x optional)
1x ADC
4x UART (2x with flow control)
1x Console
8x PWM with manual override
6x PWM / GPIO / PWM input
S.BUS / PPM / Spektrum input
S.BUS output
在哪里买
Originally manufactured by 3DR® this board was the original standard microcontroller platform for PX4®. While the board is no longer manufactured by 3DR, you can use the mRo Pixhawk as a drop-in replacement.
Order mRo Pixhawk from:
Bare Bones - Just the board (useful as a 3DR Pixhawk replacement)
mRo Pixhawk 2.4.6 Essential Kit - includes everything except for telemetry radios
mRo Pixhawk 2.4.6 Cool Kit! (Limited edition) - includes everything you need including telemetry radios
产品规格
处理器
32bit STM32F427 Cortex-M4F core with FPU
168 MHz
256 KB RAM
2 MB Flash
32 bit STM32F103 failsafe co-processor
传感器
ST Micro L3GD20H 16 bit gyroscope
ST Micro LSM303D 14 bit accelerometer / magnetometer
Invensense MPU 6000 3-axis accelerometer/gyroscope
MEAS MS5611 气压计
接口
5x UART (serial ports), 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
Power System and Protection
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
额定电压
Pixhawk can be triple-redundant on the power supply if three power sources are supplied. The three rails are: Power module input, servo rail input, USB input.
正常运行最大额定值
Under these conditions all power sources will be used in this order to power the system
Power module input (4.8V to 5.4V)
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
USB power input (4.8V to 5.4V)
绝对最大额定值
Under these conditions the system will not draw any power (will not be operational), but will remain intact.
Power module input (4.1V to 5.7V, 0V to 20V undamaged)
Servo rail input (4.1V to 5.7V, 0V to 20V)
USB power input (4.1V to 5.7V, 0V to 6V)
原理图
FMUv2 + IOv2 schematic -- Schematic and layout
连接器
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.
针脚定义
TELEM1，TELEM2 接口
| 针脚 | 信号 | 电压 |
|---|---|---|
1（红） | VCC | +5V |
2（黑） | TX (OUT) | +3.3V |
3（黑） | RX (IN) | +3.3V |
4（黑） | CTS (IN) | +3.3V |
5（黑） | RTS (OUT) | +3.3V |
6（黑） | 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） | CAN2 TX | +3.3V |
6 | CAN2 RX | +3.3V |
6 | GND | GND |
SERIAL 4/5 port
Due to space constraints two ports are on one connector.
| 针脚 | 信号 | 电压 |
|---|---|---|
2 | VCC | +5V |
2 | TX (#4) | +3.3V |
3 | RX (#4) | +3.3V |
4（黑） | TX (#5) | +3.3V |
6 | RX (#5) | +3.3V |
6 | GND | GND |
ADC 6.6V
| 针脚 | 信号 | 电压 |
|---|---|---|
2 | VCC | +5V |
2 | ADC IN | up to +6.6V |
3 | GND | GND |
ADC 3.3V
| 针脚 | 信号 | 电压 |
|---|---|---|
2 | VCC | +5V |
2 | ADC IN | up to +3.3V |
3 | GND | GND |
4（黑） | ADC IN | up to +3.3V |
6 | GND | GND |
I2C
| 针脚 | 信号 | 电压 |
|---|---|---|
2 | VCC | +5V |
2 | SCL | +3.3 (pullups) |
3 | SDA | +3.3 (pullups) |
4（黑） | GND | GND |
CAN
| 针脚 | 信号 | 电压 |
|---|---|---|
2 | VCC | +5V |
2 | CAN_H | +12V |
3 | CAN_L | +12V |
4（黑） | GND | GND |
SPI
| 针脚 | 信号 | 电压 |
|---|---|---|
2 | VCC | +5V |
2 | SPI_EXT_SCK | +3.3 |
3 | SPI_EXT_MISO | +3.3 |
4（黑） | SPI_EXT_MOSI | +3.3 |
6 | !SPI_EXT_NSS | +3.3 |
6 | !GPIO_EXT | +3.3 |
7 | 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 | VCC | +3.3V |
2 | !IO_LED_SAFETY | GND |
3 | SAFETY | GND |
Serial Port Mapping
| UART | 设备 | Port |
|---|---|---|
UART1 | /dev/ttyS0 | IO debug |
USART2 | /dev/ttyS1 | TELEM1 (flow control) |
USART3 | /dev/ttyS2 | TELEM2 (flow control) |
UART4 | ||
UART7 | CONSOLE | |
UART8 | SERIAL4 |
Debug Ports
Console Port
The PX4 System Console runs on the port labeled SERIAL4/5.
A convenient way to connect to the console is to use a Dronecode probe, as it comes with connectors that can be used with several different Pixhawk devices. Simply connect the 6-pos DF13 1:1 cable on the Dronecode probe to the Pixhawk SERIAL4/5 port.
The pinout is standard serial pinout, designed to connect to a 3.3V FTDI cable (5V tolerant).
| 3DR Pixhawk 1 | FTDI | |
|---|---|---|
1 | + 5v (红色) | |
2 | S4 Tx | |
3 | S4 Rx | |
4 | S5 Tx | 5 |
5 | S5 Rx | 4 |
6 | GND | 1 |
The wiring for an FTDI cable to a 6-pos DF13 1:1 connector is shown in the figure below.
The complete wiring is shown below.
SWD Port
The SWD (JTAG) ports are hidden under the cover (which must be removed for hardware debugging). There are separate ports for FMU and IO, as highlighted below.
The ports are ARM 10-pin JTAG connectors, which you will probably have to solder. The pinout for the ports is shown below (the square markers in the corners above indicates pin 1).
编译固件
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:
Parts / Housings
ARM MINI JTAG (J6): 1.27 mm 10pos header (SHROUDED), for Black Magic Probe: FCI 20021521-00010D4LF (Distrelec, Digi-Key,) or Samtec FTSH-105-01-F-DV-K (untested) or Harwin M50-3600542 (Digikey or Mouser)
JTAG Adapter Option #1: BlackMagic Probe. Note, may come without cables (check with manufacturer). If so, you will need the Samtec FFSD-05-D-06.00-01-N cable (Samtec sample service or Digi-Key Link: SAM8218-ND) or Tag Connect Ribbon and a Mini-USB cable.
JTAG Adapter Option #2: Digi-Key Link: ST-LINK/V2 / ST USER MANUAL, needs an ARM Mini JTAG to 20pos adapter: Digi-Key Link: 726-1193-ND
JTAG Adapter Option #3: SparkFun Link: Olimex ARM-TINY or any other OpenOCD-compatible ARM Cortex JTAG adapter, needs an ARM Mini JTAG to 20pos adapter: Digi-Key Link: 726-1193-ND
USARTs: Hirose DF13 6 pos (Digi-Key Link: DF13A-6P-1.25H(20))
Mates: Hirose DF13 6 pos housing (Digi-Key Link: Hirose DF13-6S-1.25C)
I2C and CAN: Hirose DF13 4 pos (Digi-Key Link: DF13A-4P-1.25H(20))
支持的平台 / 机身
Any multicopter / airplane / rover or boat that can be controlled with normal RC servos or Futaba S-Bus servos.
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