Pixhawk 4

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

Pixhawk 4® 是一款高端自驾仪,由 Holybro® 与 PX4 团队联合设计打造。 It is optimized to run PX4 v1.7 and later, and is suitable for academic and commercial developers.

它基于 Pixhawk 项目FMUv5 开放硬件设计,在 NuttX 操作系统上运行 PX4。

This autopilot is supported by the PX4 maintenance and test teams.


  • 主 FMU 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
  • 板载传感器:
    • 加速度计 / 陀螺仪:ICM-20689
    • 加速度计 / 陀螺仪:BMI055
    • 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 路专用 PWM/Capture 输入
    • 用于 CPPM 的专用遥控输入
    • 用于 Spektrum / DSM 与 有模拟 / PWM RSSI 的 S.Bus 的专用遥控输入
    • 专用 S.Bus 舵机输出
    • 5 个通用串行接口
    • 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
    • 两路电池电压 / 电流模拟输入口
  • 电源系统:
    • 电源模块输出:4.9~5.5V
    • USB 电源输入:4.75~5.25V
    • 舵机轨道输入:0~36V
  • 重量和尺寸:
    • 重量:15.8g
    • 尺寸:44x84x12mm
  • 其它特性:
    • 工作温度:-40 ~ 85°C

更多信息可以在 Pixhawk 4 技术数据表中找到。


中国大陆用户请从官方代理商 思动智能 的淘宝店 地面售货站 购买。境外用户从 Holybro 购买。


Pixhawk 4 连接器

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).


点此下载 Pixhawk 4 的针脚定义。

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


Pixhawk 4 尺寸

Voltage Ratings

Pixhawk 4 可以实现电源三度冗余。 三个供电轨道为:POWER1POWER2USB

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.



  1. POWER1POWER2 输入电压(4.9 v 至 5.5 v)
  2. USB 输入电压(4.75 v 至 5.25 v)



  1. POWER1POWER2 输入(可运行范围 4.1V 至 5.7V,0V 至 10V 不会损坏)
  2. USB 输入(可运行范围 4.1V 至 5.7V,0V 至 6V 不会损坏)
  3. 舵机输入:FMU PWM OUTI/O PWM OUT 的 VDD_SERVO 针脚 (0V 至 42V 不会损坏)


Pixhawk 4 快速接线指南 提供如何组装所需的/重要的外设包含 GPS,电源管理板等的说明。

Building Firmware

Most users will not need to build this firmware! It is pre-built and automatically installed by QGroundControl when appropriate hardware is connected.

为此目标 构建(build) PX4

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.

Pixhawk 4 Debug Ports

The pinout uses the standard Pixhawk debug connector pinout. For wiring information see:


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.

Further info

© PX4 Dev Team. License: CC BY 4.0            Updated: 2020-10-26 18:55:47

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