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
UART | 设备 | Port |
---|---|---|
UART1 | /dev/ttyS0 | GPS |
USART2 | /dev/ttyS1 | TELEM1 (flow control) |
USART3 | /dev/ttyS2 | TELEM2 (flow control) |
UART4 | /dev/ttyS3 | TELEM4 |
USART6 | /dev/ttyS4 | RC SBUS |
UART7 | /dev/ttyS5 | Debug Console |
UART8 | /dev/ttyS6 | PX4IO |
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:
POWER1 和 POWER2 输入电压(4.9 v 至 5.5 v)
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.
POWER1 与 POWER2 输入(可运行范围 4.1V 至 5.7V,0V 至 10V 不会损坏)
USB 输入(可运行范围 4.1V 至 5.7V,0V 至 6V 不会损坏)
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:
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
FMUv5参考设计</0 >。
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