# Aerotenna OcPoC-Zynq 미니 비행 컨트롤러

PX4 does not manufacture this (or any) autopilot. Contact the [manufacturer](https://ainstein.ai/) for hardware support or compliance issues.


This flight controller has been discontinued and is no longer commercially available.

PX4 v1.11 is the last release that has experimental support for this platform.

The OcPoC-Zynq Mini (opens new window) is a FPGA+ARM SoC based flight control platform.

OcPoC-Zynq's enhanced I/O flexibility and increased processing power makes it a great solution for commercial UAS developers and researchers. The FPGA's I/O flexibility allows for rapid sensor integration and customization of the flight controller hardware, allowing for capabilities such as triple redundancy in GPS, magnetometers, and IMUs. OcPoC-Zynq maintains also lightweight, compact footprint, leaving more space and weight on the airframe for sensor and peripheral expansion.

Main documentation is available on Aerotenna's User Hub (opens new window) for hardware setup, FAQs, and various tutorials including FPGA and kernel development.


# Quick Summary

  • 메인 FPGA + ARM 시스템 - 온 - 칩 : 자일링스 Zynq Z-7010
    • CPU: 667 MHz Dual-Core ARM A9
    • FPGA: Artix®-7 with 28K Logic Cells
    • RAM: 512 MB DDR3
    • Flash: 128 MB
    • SD Card: 16 GB
  • IMU: 2x MPU9250 9-DOF
  • Baro: 1x MS5611
  • Power: 5-30 VDC
    • OcPoC regulates internally to 5V
    • 2S-6S LiPo 배터리는 기체상의 일반적인 전원입니다.
    • 벤치 테스트를 위해 콘솔 "USB1"포트는 5V
  • 16x Programmable 3-pin GPIOs
  • 다음 인터페이스를 지원하는 JST-GH 커넥터에서 10x 프로그래밍 가능한 I / O :
    • I2C
    • USB-OTG
    • USB-UART
    • SPI
    • CSI
    • GSI
    • CAN
  • Availability: Ainstein Store (opens new window)

# 핀아웃 및 SD 카드 설정

Pinouts for the default OcPoC-Zynq configuration and full step-by-step instructions for first time setup are available on Aerotenna's User Hub (opens new window).

# OcPoC-Zynq 용 PX4 구현

After setting up the PX4 development environment and cloning the PX4 Firmware (opens new window), you can build PX4 for OcPoC-Zynq with the following commands (for Aerotenna's default ubuntu-armhf root file system):

make aerotenna_ocpoc_ubuntu

See the user hub page PX4 on OcPoC Zynq Mini (opens new window) for full step-by-step instructions for first time setup of PX4 on OcPoC-Zynq.


At the present time PX4 firmware must be built from source as no pre-built binaries for OcPoC-Zynq are supplied through QGroundControl.