# 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.
提示
This autopilot is supported by the PX4 maintenance and test teams.
# 总览
- 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: u-blox Neo-M8N GPS/GLONASS receiver; integrated magnetometer 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
Additional information can be found in the Pixhawk 4 Technical Data Sheet (opens new window).
# 采购
中国大陆用户请从官方代理商 思动智能 (opens new window) 的淘宝店 地面售货站 (opens new window) 购买。境外用户从 Holybro (opens new window) 购买。
# 连接器
注意
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).
# 针脚定义
Download Pixhawk 4 pinouts from here (opens new window).
注解
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 | 设备 | 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 |
# 尺寸
# 额定电压
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.
注解
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 和 POWER2 输入电压（4.9 v 至 5.5 v）
- USB 输入电压（4.75 v 至 5.25 v）
Absolute Maximum Ratings
Under these conditions the system will not draw any power (will not be operational), but will remain intact.
- POWER1 与 POWER2 输入（可运行范围 4.1V 至 5.7V，0V 至 10V 不会损坏）
- USB 输入（可运行范围 4.1V 至 5.7V，0V 至 6V 不会损坏）
- 舵机输入：FMU PWM OUT 和 I/O PWM OUT 的 VDD_SERVO 针脚 （0V 至 42V 不会损坏）
# 组装 / 设置
The Pixhawk 4 Wiring Quick Start provides instructions on how to assemble required/important peripherals including GPS, Power Management Board etc.
# 编译固件
提示
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调试端口
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:
# 外部设备
# 支持的平台/机身
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.