v1.12 (Chinese)

Holybro Pixhawk 4 (FMUv5)

PX4 does not manufacture this (or any) autopilot. Contact the manufacturer for hardware support or compliance issues.

Pixhawk 4® is an advanced autopilot designed and made in collaboration with Holybro® and the PX4 team. It is optimized to run PX4 v1.7 and later, and is suitable for academic and commercial developers.

It is based on the Pixhawk-project FMUv5 open hardware design and runs PX4 on the NuttX OS.

This autopilot is supported by the PX4 maintenance and test teams.

总览

  • 主 FMU 处理器：STM32F765

    • 32 位 Arm® Cortex®-M7，216MHz，2MB 储存，512KB RAM

  • IO 处理器：STM32F100

    • 32 位 Arm® Cortex®-M3，24MHz，8KB SRAM

  • 板载传感器：

    • 加速度计 / 陀螺仪：ICM-20689

    • 加速度计 / 陀螺仪：BMI055

    • 磁力计：IST8310

    • 气压计：MS5611

  • GPS: u-blox Neo-M8N GPS/GLONASS receiver; integrated magnetometer IST8310

  • 接口：

    • 8-16 路PWM输出（8路来自 IO，8路来自 FMU）

    • FMU 上有 3 路专用 PWM/Capture 输入

    • 用于 CPPM 的专用遥控输入

    • 用于 Spektrum / DSM 与 有模拟 / PWM RSSI 的 S.Bus 的专用遥控输入

    • 专用 S.Bus 舵机输出

    • 5 个通用串行接口

    • 3 个 I2C 接口

    • 4 路 SPI 总线

    • 多达 2 路 CAN 总线用于带串口的电调

    • 两路电池电压 / 电流模拟输入口

  • 电源系统：

    • 电源模块输出：4.9~5.5V

    • USB 电源输入：4.75~5.25V

    • 舵机轨道输入：0~36V

  • 重量和尺寸：

    • 重量：15.8g

    • 尺寸：44x84x12mm

  • 其它特性：

    • 工作温度：-40 ~ 85°C

Additional information can be found in the Pixhawk 4 Technical Data Sheet.

采购

中国大陆用户请从官方代理商 思动智能 的淘宝店 地面售货站 购买。境外用户从 Holybro 购买。

连接器

The DSM/SBUS RC and PPM RC ports are for RC receivers only. These are powered! NEVER connect any servos, power supplies or batteries (or to any connected receiver).

针脚定义

Download Pixhawk 4 pinouts from here.

Serial Port Mapping

尺寸

额定电压

Pixhawk 4 can be triple-redundant on the power supply if three power sources are supplied. The three power rails are: POWER1, POWER2 and USB.

Normal Operation Maximum Ratings

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

  1. POWER1 和 POWER2 输入电压（4.9 v 至 5.5 v）

  2. USB 输入电压（4.75 v 至 5.25 v）

Absolute Maximum Ratings

Under these conditions the system will not draw any power (will not be operational), but will remain intact.

  1. POWER1 与 POWER2 输入（可运行范围 4.1V 至 5.7V，0V 至 10V 不会损坏）

  2. USB 输入（可运行范围 4.1V 至 5.7V，0V 至 6V 不会损坏）

  3. 舵机输入：FMU PWM OUT 和 I/O PWM OUT 的 VDD_SERVO 针脚 （0V 至 42V 不会损坏）

组装 / 设置

The Pixhawk 4 Wiring Quick Start provides instructions on how to assemble required/important peripherals including GPS, Power Management Board etc.

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:

make px4_fmu-v5_default

Debug调试端口

The PX4 System Console and SWD interface run on the FMU Debug port, while the I/O console and SWD interface can be accessed via I/O Debug port. In order to access these ports, the user must remove the Pixhawk 4 casing.

The pinout uses the standard Pixhawk debug connector pinout. For wiring information see:

外部设备

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. The complete set of supported configurations can be seen in the Airframes Reference.

更多信息

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