Holybro Pixhawk 4
WARNING
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.
TIP
This autopilot is supported by the PX4 maintenance and test teams.
总览
- 主处理器：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
- 内置传感器：
- 加速度计 / 陀螺仪：ICM-20689
- Accel/Gyro: BMI055 or ICM20602
- 磁力计：IST8310
- 气压计：MS5611
- GPS：ublox Neo-M8N GPS/GLONASS 接收器；集成磁力计 IST8310
- 接口：
- 8-16 路PWM输出（8路来自 IO，8路来自 FMU）
- FMU上有3个专用PWM/Capture输入
- CPPM专用的RC输入
- 用于 Spektrum / DSM 与 有模拟 / PWM RSSI 的 S.Bus 的专用遥控输入
- Dedicated S.Bus servo output
- 5个通用串行口
- 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
- 2个电池电流/电压模拟输入口
- 电源系统
- 电源模块输出：4.9~5.5V
- USB 电源输入：4.75~5.25V
- 伺服导轨输入电压：0~36V
- 重量和尺寸:
- 重量：15.8g
- 尺寸：44_84_12mm
- 其它特性:
- 工作温度：-40 ~ 85°C
Additional information can be found in the Pixhawk 4 Technical Data Sheet.
购买渠道
Order from Holybro.
连接器
WARNING
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.
INFO
Connector pin assignments are left to right (i.e. Pin 1 is the left-most pin). The exception is the debug port(s) (pin 1 is the right-most, as shown below).
串口映射
| 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.
INFO
The output power rails FMU PWM OUT and I/O PWM OUT (0V to 36V) do not power the flight controller board (and are not powered by it). You must supply power to one of POWER1, POWER2 or USB or the board will be unpowered.
Normal Operation Maximum Ratings
Under these conditions all power sources will be used in this order to power the system:
- POWER1 and POWER2 inputs (4.9V to 5.5V)
- USB input (4.75V to 5.25V)
Absolute Maximum Ratings
Under these conditions the system will not draw any power (will not be operational), but will remain intact.
- POWER1 and POWER2 inputs (operational range 4.1V to 5.7V, 0V to 10V undamaged)
- USB input (operational range 4.1V to 5.7V, 0V to 6V undamaged)
- Servo input: VDD_SERVO pin of FMU PWM OUT and I/O PWM OUT (0V to 42V undamaged)
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
TIP
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调试接口
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.