Pixracer

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

Where to Buy

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.

Setup and telemetry are already available, firmware upgrade is already supported by the default bootloader but not yet enabled

Wiring Diagrams

Grau setup pixracer top

Grau setup pixracer bottom

setup pixracer GPS

Grau b Pixracer FrSkyS.Port Connection

Grau ACSP4 2 roh

Grau ACSP5 roh

连接器

All connectors follow the Pixhawk connector standard. Unless noted otherwise all connectors are JST GH.

针脚定义

Pixracer top pinouts

Pixracer bottom pinouts

Pixracer esp

TELEM1, TELEM2+OSD ports

针脚 信号 电压
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

针脚 信号 电压
1 (red) VCC +5V
2 (blk) TX (OUT) +3.3V
3 (blk) RX (IN) +3.3V
4 (blk) I2C1 SCL +3.3V
5 (blk) I2C1 SDA +3.3V
6 (blk) GND GND

FrSky Telemetry / SERIAL4

针脚 信号 电压
1 (red) VCC +5V
2 (blk) TX (OUT) +3.3V
3 (blk) RX (IN) +3.3V
4 (blk) GND GND

RC Input (accepts PPM / S.BUS / Spektrum / SUMD / ST24)

针脚 信号 电压
1 (red) VCC +5V
2 (blk) RC IN +3.3V
3 (blk) RSSI IN +3.3V
4 (blk) VDD 3V3 +3.3V
5 (blk) GND GND

CAN

针脚 信号 电压
1 (red) VCC +5V
2 (blk) CAN_H +12V
3 (blk) CAN_L +12V
4 (blk) GND GND

POWER

针脚 信号 电压
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

针脚 信号 电压
1 (red) SAFETY GND
2 (blk) !IO_LED_SAFETY GND
3 (blk) VCC +3.3V
4 (blk) BUZZER- -
5 (blk) BUZZER+ -

Debug Port

This is a Pixhawk Debug Port (JST SM06B connector).

针脚 信号 电压
1 (red) VCC TARGET SHIFT +3.3V
2 (blk) CONSOLE TX (OUT) +3.3V
3 (blk) CONSOLE RX (IN) +3.3V
4 (blk) SWDIO +3.3V
5 (blk) SWCLK +3.3V
6 (blk) GND GND

For information about wiring and using this port see:

Serial Port Mapping

UART Device 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:

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:

make px4_fmu-v4_default

Credits

This design was created by Nick Arsov and Phillip Kocmoud and architected by Lorenz Meier, David Sidrane and Leonard Hall.

© PX4 Dev Team. License: CC BY 4.0            Updated: 2020-10-23 00:56:02

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