Durandal 배선 개요

PX4 v1.11

WARNING

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

This quick start guide shows how to power the Holybro Durandal^® flight controller and connect its most important peripherals.

포장 개봉

Durandal is sold bundled with a number of different combinations of accessories, including power modules: PM02 V3 and PM07, and the Pixhawk 4 GPS/Compass ( u-blox NEO-M8N).

The content of the box with the PM02 V3 power module is shown below (the box also includes a pinout guide and power module instructions).

배선 개요

아래의 이미지는 주요 센서와 주변 장치(모터 및 서보 출력 제외)들의 연결 방법을 설명합니다. 다음 섹션에서 각 장치에 대하여 자세히 설명합니다.

TIP

More information about available ports can be found here: Durandal > Pinouts.

콘트롤러 장착 및 장착 방향

Durandal should be mounted on the frame positioned as close to your vehicle’s center of gravity as possible, oriented top-side up with the arrow pointing towards the front of the vehicle.

If the controller cannot be mounted in the recommended/default orientation (e.g. due to space constraints) you will need to configure the autopilot software with the orientation that you actually used: Flight Controller Orientation.

TIP

The board has internal vibration-isolation. 10 핀 케이블을 사용하여 GPS 포트에 연결합니다.

GPS + 나침반 + 부저 + 안전 스위치 + LED

Durandal is designed to work well with the Pixhawk 4 GPS module, which has an integrated compass, safety switch, buzzer and LED. It connects directly to the GPS port using the 10 pin cable.

GPS/나침반은 차량 전방 표식를 사용하여 가능하면 전자 장치들에서 멀리 떨어진 프레임에 장착하는 것이 좋습니다. 나침반은 다른 전자 장치와 떨어지면 간섭이 줄어듦니다.

INFO

The GPS module's integrated safety switch is enabled by default (when enabled, PX4 will not let you arm the vehicle). 비활성화하려면 안전 스위치를 1초간 길게 누르십시오. 안전 스위치를 다시 눌러 안전 장치를 활성화하고 기체 시동을 끌 수 있습니다. 조종기나 지상국 프로그램에서 기체 시동을 끌 수 없는 상황에서 유용합니다.

전원

전원 모듈 또는 배전 보드를 사용하여 모터와 서보에 전원을 공급하고 소비 전력을 측정할 수 있습니다. 비행 콘트롤러에 배터리의 전력을 공급합니다.

PM02 v3 전원 모듈

The Power Module (PM02 v3) can be bundled with Durandal. It provides regulated power to flight controller and sends battery voltage/current to the flight controller.

Connect the output of the Power Module as shown.

• PM voltage/current port: connect to POWER1 port (or POWER2) using the 6-wire GH cable supplied.
• PM 입력 (XT60 수 커넥터) : LiPo 배터리(2 ~ 12S)에 연결합니다.
• PM 전원 출력 (XT60 암 커넥터) : 모든 모터 ESC에 케이블을 연결합니다.

TIP

As this power module does not include power distribution wiring, you would normally just connect all the ESCs in parallel to the power module output (the ESC must be appropriate for the supplied voltage level).

TIP

The 8 pin power (+) rail of MAIN/AUX is not powered by the power module supply to the flight controller. 방향타, 엘레본 등의 서보를 구동하기 위해 별도로 전원을 공급해야하는 경우에는 파워 레일을 BEC 장착 ESC 또는 독립형 5V BEC나 2S LiPo 배터리에 연결합니다. 사용하는 서보의 전압을 확인하십시오.

전원 모듈에는 다음과 같은 특성과 제약 사항이 있습니다.

• 최대 입력 전압 : 60V
• 최대 전류 감지 : 120A 전압
• SV ADC 스위칭 레귤레이터 출력에 대해 설정된 전원은 최대 5.2V 및 3A를 출력합니다.
• 무게 : 20g
• 패키지 내용물 :
  • PM02 보드
  • 6 핀 MLX 케이블 (1 개)
  • 6 핀 GH 케이블 (1 개)

Pixhawk 4 전원 모듈 (PM07)

The Pixhawk 4 Power Module (PM07) can be bundled/used with Durandal. It acts as both a power module and power distribution board, providing regulated power to flight controller and the ESCs, and sending battery voltage/current to the flight controller.

This is wired up in the same way as described in the Pixhawk 4 Quick Start > Power documentation.

It has the following characteristics/limits:

• PCB 전류 : 총 120A 출력 (최대)
• UBEC 5V 출력 전류 : 3A
• UBEC 입력 전압 : 7 ~ 51v (2 ~ 12s LiPo)
• Dimensions: 68_50_8 mm
• Mounting Holes: 45*45mm
• 중량: 36g
• 패키지 내용물 :
  • PM07 보드 (1 개)
  • 80mm XT60 커넥터 와이어 (1 개)

INFO

See also PM07 Quick Start Guide (Holybro).

배터리 설정

The battery/power setup must be configured in Battery Estimation Tuning. For either Power Module you will need to configure the Number of Cells.

You will not need to update the voltage divider unless you are using some other power module (e.g. the one from the Pixracer).

무선 조종

A remote control (RC) radio system is required if you want to manually control your vehicle (PX4 does not require a radio system for autonomous flight modes).

You will need to select a compatible transmitter/receiver and then bind them so that they communicate (read the instructions that come with your specific transmitter/receiver).

The instructions below show how to connect the different types of receivers to Durandal:

• Spektrum/DSM receivers connect to the DSM RC input.

  

• PPM and S.Bus receivers connect to the SBUS_IN/PPM_IN input port (marked as RC IN, next to the MAIN/AUX inputs).

  

• PPM and PWM receivers that have an individual wire for each channel must connect to the PPM RC port via a PPM encoder like this one (PPM-Sum receivers use a single signal wire for all channels).

For more information about selecting a radio system, receiver compatibility, and binding your transmitter/receiver pair, see: Remote Control Transmitters & Receivers.

무선 텔레메트리(선택 사항)

무선 텔레메트리는 지상국 프로그램에서 비행 차량의 통신/제어에 사용합니다(예 : UAV를 특정 위치로 지시하거나 새 임무를 업로드 할 수 있음).

The vehicle-based radio should be connected to the TELEM1 port as shown below using one of the 6-pos connectors (if connected to this port, no further configuration is required). 다른 텔레메트리는 일반적으로 지상국 컴퓨터나 모바일 장치에 USB를 통하여 연결됩니다.

SD 카드(선택 사항)

SD cards are highly recommended as they are needed to log and analyse flight details, to run missions, and to use UAVCAN-bus hardware. Insert an SD card into the Durandal where indicated below.

TIP

For more information see Basic Concepts > SD Cards (Removable Memory).

모터

Motors/servos control signals are connected to the I/O PWM OUT (MAIN OUT) and FMU PWM OUT (AUX) ports in the order specified for your vehicle in the Airframe Reference.

The motors must be separately powered.

INFO

If your frame is not listed in the airframe reference then use a "generic" airframe of the correct type.

TIP

Durandal has 5 AUX ports, so cannot be used with airframes that map AUX6, AUX7, AUX8 to motors or other critical flight controls.

기타 주변 장치

The wiring and configuration of optional/less common components is covered within the topics for individual peripherals.

핀배열

Durandal > Pinouts

PX4 설정

First you will need to install PX4 "Master" Firmware onto the controller using QGroundControl.

INFO

Durandal support will be in the stable PX4 release that follows PX4 v1.10.

Further general configuration information is covered in: Autopilot Configuration.

QuadPlane specific configuration is covered here: QuadPlane VTOL Configuration

추가 정보

• Durandal Overview
• Durandal Technical Data Sheet (Holybro)
• Durandal Pinouts (Holybro)
• Durandal_MB_H743sch.pdf (Durandal Schematics)
• STM32H743IIK_pinout.pdf (Durandal Pinmap)