串口配置

Many serial (UART) ports on a Pixhawk board can be fully configured via parameters: e.g.: GPS1, TELEM1, TELEM2, TELEM4 (UART+I2C).

通过配置,可以轻松地(例如):

  • 更改端口上的波特率
  • 在其他端口上运行 MAVLink ,或更改流消息
  • 设置双 GPS
  • 启用在串口上运行的传感器,例如某些 距离传感器

Some ports cannot be configured because they are used for a very specific purpose like RC input or the system console (SERIAL 5).

Pre-configured Ports

The following functions are typically mapped to the same specific serial ports on all boards, and are hence mapped by default:

  • MAVLink 被映射到 Telem 1 端口,端口的波特率为 57600 (对于遥测模块)。
  • GPS 1 (gps driver) is mapped to the GPS 1 port with a baudrate Auto (with this setting a GPS will automatically detect the baudrate - except for the Trimble MB-Two, which requires 115200 baudrate).

All other ports have no assigned functions by default (are disabled).

The ports mappings above can be disabled by setting MAV_0_CONFIG and GPS_1_CONFIG to Disabled, respectively.

如何配置端口

All the serial drivers/ports are configured in the same way:

  1. Set the configuration parameter for the service/peripheral to the port it will use. > Note Configuration parameter names follow the pattern \*\_CONFIG or \*\_CFG (QGroundControl only displays the parameters for services/drivers that are present in firmware). At time of writing the current set is: GPS_1_CONFIG, GPS_2_CONFIG, ISBD_CONFIG, MAV_0_CONFIG, MAV_1_CONFIG, MAV_2_CONFIG, RTPS_CONFIG, RTPS_MAV_CONFIG, TEL_FRSKY_CONFIG, TEL_HOTT_CONFIG, SENS_LEDDAR1_CFG, SENS_SF0X_CFG, SENS_TFMINI_CFG, SENS_ULAND_CFG.
  2. Reboot the vehicle in order to make the additional configuration parameters visible.
  3. 将所选端口的波特率设置为所需值。
  4. 配置特定于模块的参数 (如 MAVLink 流和数据速率配置)。

The GPS/Compass > Secondary GPS section provides a practical example of how to configure a port in QGroundControl (it shows how to use GPS_2_CONFIG to run a secondary GPS on the TELEM 2 port).

处理端口冲突

Port conflicts are handled by system startup, which ensures that at most one service is run on a specific port.

At time of writing there is no user feedback about conflicting ports.

故障处理

Configuration Parameter Missing from QGroundControl

QGroundControl only displays the parameters for services/drivers that are present in firmware. If a parameter is missing, then you may need to add it in firmware.

PX4 firmware includes most drivers by default on Pixhawk-series boards. Flash-limited boards may comment out/omit the driver (at time of writing this only affects boards based on FMUv2).

You can include the missing driver in firmware by uncommenting (or adding) the driver in the default.cmake config file that corresponds to the board you want to build for. For example, to enable the sf0x driver, you would remove the # at the beginning of the line below.

#distance_sensor/sf0x

You will then need to build the firmware for your platform, as described in Building PX4 Software (PX4 Development Guide).

更多信息

© PX4 Dev Team. License: CC BY 4.0            Updated: 2020-10-26 12:32:28

results matching ""

    No results matching ""