串口配置

Pixhawk 飞控板上的大多数串口 (UART) 可以通过参数完全配置 (用于非常特定目的的端口除外,如RC输入,或不可配置的串口,如 SERIAL 5)。

通过配置,可以轻松地(例如):

  • 更改端口上的波特率
  • 在其他端口上运行 MAVLink ,或更改流消息
  • 设置双 GPS
  • 启用在串口上运行的传感器,例如某些 距离传感器

端口预配置

以下功能通常映射到所有板上的相同的特定串口,默认情况下映射为:

  • MAVLink 被映射到 Telem 1 端口,端口的波特率为 57600 (对于遥测模块)。
  • GPS 1 (gps driver) is mapped to the GPS 1 port with a baudrate Auto (with this setting a GPS will automatically detect the baudrate - except for the Trimble MB-Two, which requires 115200 baudrate).

默认情况下,所有其他端口都没有指定的功能(禁用)。

通过分别将 MAV_0_CONFIGGPS_1_CONFIG 设置为 Disabled,可以禁用上述端口映射。

如何配置端口

所有串行驱动程序/端口都以相同的方式配置:

  1. Set the configuration parameter for the service/peripheral to the port it will use. > Note Configuration parameter names follow the pattern \*\_CONFIG or \*\_CFG (QGroundControl only displays the parameters for services/drivers that are present in firmware). At time of writing the current set is: GPS_1_CONFIG, GPS_2_CONFIG, ISBD_CONFIG, MAV_0_CONFIG, MAV_1_CONFIG, MAV_2_CONFIG, RTPS_CONFIG, RTPS_MAV_CONFIG, TEL_FRSKY_CONFIG, TEL_HOTT_CONFIG, SENS_LEDDAR1_CFG, SENS_SF0X_CFG, SENS_TFMINI_CFG, SENS_ULAND_CFG.
  2. Reboot the vehicle in order to make the additional configuration parameters visible.
  3. 将所选端口的波特率设置为所需值。
  4. 配置特定于模块的参数 (如 MAVLink 流和数据速率配置)。

The GPS/Compass > Secondary GPS section provides a practical example of how to configure a port in QGroundControl (it shows how to use GPS_2_CONFIG to run a secondary GPS on the TELEM 2 port).

处理端口冲突

端口冲突由系统启动处理,它确保在特定端口上最多运行一个服务。

At time of writing there is no user feedback about conflicting ports.

故障处理

QGroundControl 中缺少的配置参数

QGroundControl 只显示固件中存在的 services/drivers 的参数。 如果缺少参数,则可能需要将其添加到固件中。

PX4 firmware includes most drivers by default on Pixhawk-series boards. Flash-limited boards may comment out/omit the driver (at time of writing this only affects boards based on FMUv2).

You can include the missing driver in firmware by uncommenting (or adding) the driver in the default.cmake config file that corresponds to the board you want to build for. For example, to enable the sf0x driver, you would remove the # at the beginning of the line below.

#distance_sensor/sf0x

You will then need to build the firmware for your platform, as described in Building PX4 Software (PX4 Development Guide).

更多信息

© PX4 Dev Team. License: CC BY 4.0            Updated: 2019-12-09 21:04:15

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