# ModalAI Flight Core v1
PX4 does not manufacture this (or any) autopilot. Contact the [manufacturer](https://forum.modalai.com/) for hardware support or compliance issues.
The ModalAI Flight Core v1 (opens new window) (Datasheet (opens new window)) is a flight controller for PX4, made in the USA. The Flight Core can be paired with ModalAI VOXL (opens new window) (Datasheet (opens new window)) for obstacle avoidance and GPS-denied navigation, or used independently as a standalone flight controller.
Flight Core is identical to the PX4 Flight Controller portion of VOXL Flight (opens new window) (Datasheet (opens new window)) which integrates the VOXL Companion Computer and Flight Core into a single PCB.
注解
This flight controller is manufacturer supported.
# 技术规范
| 特性 | Details |
|---|---|
| 重量 | 6 g |
| MCU | 216MHz, 32-bit ARM M7 STM32F765II (opens new window) |
| 内存 | 256Kb FRAM |
| 2Mbit Flash | |
| 512Kbit SRAM | |
| 固件 | PX4 (opens new window) |
| IMUs | ICM-20602 (opens new window) (SPI1) |
| ICM-42688 (SPI2) | |
| BMI088 (opens new window) (SPI6) | |
| Barometer | BMP388 (opens new window) (I2C4) |
| Secure Element | A71CH (opens new window) (I2C4) |
| microSD Card | Information on supported cards |
| 输入 | GPS/Mag |
| Spektrum | |
| Telemetry | |
| CAN bus | |
| PPM | |
| Outputs | 6 LEDs (2xRGB) |
| 8 PWM Channels | |
| Extra Interfaces | 3 serial ports |
| I2C | |
| GPIO |
注解
More detailed hardware documentation can be found here (opens new window).
# 尺寸
# PX4 Firwmare Compatibility
Flight Core v1 is fully compatible with the official PX4 Firmware from PX4 v1.11.
ModalAI maintains a branched PX4 version (opens new window) for PX4 v1.11. This includes UART ESC support and improvements in VIO and VOA that are planned to be upstreamed.
More information about the firmware can be found here (opens new window).
# QGroundControl支持
This board supported in QGroundControl 4.0 and later.
# 访问链接
- Flight Core Complete Kit (opens new window)
- Flight Core Board (opens new window) (only)
- Flight Core integrated with VOXL Companion Computer on a single PCB (opens new window)
- Flight Core integrated with VOXL Companion Computer and Obstacle Avoidance Cameras (VOXL Flight Deck) (opens new window) (Datasheet (opens new window))
- Flight Core assembled with VOXL and cameras (opens new window)
# Quick Start
# 安装方向
The diagram below shows the recommended orientation, which corresponds to ROTATION_NONE starting with PX4 v1.11 (and on the ModalAI-maintained PX4 v1.10 branch (opens new window))
注意
For PX4 v1.10 stable releases from QGroundControl use ROTATION_YAW_180 for the above orientation.
# 连接器
Detailed information about the pinouts can be found here (opens new window).
| Connector | 概要 |
|---|---|
| J1 | VOXL Communications Interface Connector (TELEM2) |
| J2 | Programming and Debug Connector |
| J3 | USB Connector |
| J4 | UART2, UART ESC (TELEM3) |
| J5 | Telemetry Connector (TELEM1) |
| J6 | VOXL-Power Management Input / Expansion |
| J7 | 8-Channel PWM Output Connector |
| J8 | CAN Bus Connector |
| J9 | PPM RC In |
| J10 | External GPS & Magnetometer Connector |
| J12 | RC input, Spektrum/SBus/UART Connector |
| J13 | I2C Display (Spare Sensor Connector) / Safety Button Input |
# User Guide
The full user guide is available here (opens new window).
# How to Build
To build PX4 for this target:
make modalai_fc-v1
# Serial Port Mapping
| UART | 设备 | Port |
|---|---|---|
| USART1 | /dev/ttyS0 | GPS1 (J10) |
| USART2 | /dev/ttyS1 | TELEM3 (J4) |
| USART3 | /dev/ttyS2 | Debug Console (J2) |
| UART4 | /dev/ttyS3 | Expansion UART (J6) |
| UART5 | /dev/ttyS4 | TELEM2, Primary VOXL Communications (J1) |
| USART6 | /dev/ttyS5 | RC (J12) |
| UART7 | /dev/ttyS6 | TELEM1 (J5) |
| UART8 | /dev/ttyS7 | N/A |
# 技术支持
Please visit the ModalAI Forum (opens new window) for more information.