# Pixhawk 4
PX4 does not manufacture this (or any) autopilot. Contact the [manufacturer](https://shop.holybro.com/) 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 (opens new window) FMUv5 open hardware design and runs PX4 on the NuttX (opens new window) OS.
TIP
This autopilot is supported by the PX4 maintenance and test teams.
# 빠른 요약
- 메인 FMU 프로세서: STM32F765
- 32 Bit Arm® Cortex®-M7, 216MHz, 2MB memory, 512KB RAM
- IO 프로세서: STM32F100
- 32 Bit Arm® Cortex®-M3, 24MHz, 8KB SRAM
- 내장 센서:
- 가속도/자이로: ICM-20689
- 가속/자이로: BMI055
- 지자계: IST8310
- 기압계: MS5611
- GPS: u-blox Neo-M8N GPS/GLONASS receiver; integrated magnetometer IST8310
- 인터페이스:
- PWM 출력 8-16개 (IO에서 8개, FMU에서 8개)
- FMU의 전용 PWM/캡처 입력 3 개
- CPPM 전용 R/C 입력
- 아날로그 / PWM RSSI 입력이있는 Spektrum / DSM 및 S.Bus 전용 R / C 입력
- 전용 S.Bus 서보 출력
- 범용 serial 포트 5개
- I2C 포트 3개
- SPI 버스 4개
- 직렬 ESC를 사용하는 듀얼 CAN에 최대 2 개의 CAN 버스
- 배터리 2 개의 전압 / 전류를위한 아날로그 입력
- 전원시스템
- 전원 모듈 출력: 4.9~5.5V
- USB 전원 입력: 4.75~5.25V
- 서보 전원 입력: 0~36V
- 무게와 치수
- 무게: 15.8g
- 치수: 44x84x12mm
- 기타 특성:
- 작동 온도: -40 ~ 85°c
Additional information can be found in the Pixhawk 4 Technical Data Sheet (opens new window).
# 구입처
Order from Holybro (opens new window).
# 커넥터 Connectors
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).
# 핀아웃 Pinouts
Download Pixhawk 4 pinouts from here (opens new window).
Note
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).
# Serial Port Mapping
| UART | Device | 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 |
# Dimensions
# Voltage Ratings
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.
Note
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 과 POWER2 에 (4.9V to 5.5V) 를 입력
- USB 에 (4.75V to 5.25V) 입력
Absolute Maximum Ratings
Under these conditions the system will not draw any power (will not be operational), but will remain intact.
- POWER1 과 POWER2 입력 (작동 범위 4.1V ~ 5.7V, 비손상 범위0V ~ 10V)
- USB 입력 (작동 범위 4.1V to 5.7V, 비손상 범위 0V to 6V)
- 서보 입력: FMU PWM OUT 과 I/O PWM OUT의 VDD_SERVO 핀 (0V to 42V undamaged)
# Assembly/Setup
The Pixhawk 4 Wiring Quick Start provides instructions on how to assemble required/important peripherals including GPS, Power Management Board etc.
# Building Firmware
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
# Debug Port
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 (opens new window). For wiring information see:
# Peripherals
# Supported Platforms / Airframes
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.