PX4 自动驾驶用户指南 (v1.14)

# ARK Pixhawk Autopilot Bus Carrier

注意

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

The ARK Pixhawk Autopilot Bus (PAB) Carrier is a USA-built flight controller carrier board, based on the Pixhawk Autopilot Bus open source standard (opens new window).

The PAB form factor enables the ARK PAB Carrier to be used with any PAB-compatible flight controller, such as the ARKV6X.

ARKPAB Main Photo

# Where To Buy

Order From Ark Electronics (opens new window) (US)

# Features

# Connectors

  • PAB Board to Board Interface
    • 100 Pin Hirose DF40
    • 40 Pin Hirose DF40
  • Dual Digital Power Module Inputs
    • 5V Input
    • I2C Power Monitor
    • 6 Pin Molex CLIK-Mate
  • Ethernet
    • 100Mbps
    • Built in Magnetics
    • 4 Pin JST-GH
  • Full GPS Plus Safety Switch Port
    • 10 Pin JST-GH
  • Basic GPS Port
    • 6 Pin JST-GH
  • Dual CAN Ports
    • 4 Pin JST-GH
  • Triple Telemetry Ports with Flow - Control
    • 6 Pin JST-GH
  • Eight PWM Outputs
    • 10 Pin JST-GH
  • UART/I2C Port
    • 6 Pin JST-GH
  • I2C Port
    • 4 Pin JST-GH
  • PPM RC Port
    • 3 Pin JST-GH
  • DSM RC Port
    • 3 Pin JST-ZH
  • SPI Port
    • 11 Pin JST-GH
  • ADIO Port
    • 8 Pin JST-GH
  • Debug Port
    • 10 Pin JST-SH

# Dimensions

  • Without Flight Controller Module
    • 74.0mm x 43.5mm x 12.0mm
    • 22g

# Power

  • 5V input on POWER1, POWER2, USB C, and the USB JST-GH connector
    • Input is prioritized in the following order: POWER1 > POWER2 > USB
    • USB C and the USB JST-GH are in parallel
    • Overvoltage protection at 5.8V
    • Undervoltage protection at 3.9V
  • VDD_5V_HIPOWER and VDD_5V_PERIPH can each provide a total of 1.5A across all the connectors

# LEDS

  • There are two LEDs on the ARK PAB
    • Red is the ethernet power LED
    • Green is the ethernet activity LED

# Pinout

ARKPAB Pinout

# POWER1

Pin Signal Volt
1 (red) VBRICK1 +5.0V
2 (blk) VBRICK1 +5.0V
3 (blk) I2C1_SCL +3.3V
4 (blk) I2C1_SDA +3.3V
5 (blk) GND GND
6 (blk) GND GND

# POWER2

Pin Signal Volt
1 (red) VBRICK2 +5.0V
2 (blk) VBRICK2 +5.0V
3 (blk) I2C2_SCL +3.3V
4 (blk) I2C2_SDA +3.3V
5 (blk) GND GND
6 (blk) GND GND

# PWM

Pin Signal Volt
1 (red) VDD_SERVO (Not Connected) +5.0V
2 (blk) FMU_CH1 +3.3V
3 (blk) FMU_CH2 +3.3V
4 (blk) FMU_CH3 +3.3V
5 (blk) FMU_CH4 +3.3V
6 (blk) FMU_CH5 +3.3V
7 (blk) FMU_CH6 +3.3V
8 (blk) FMU_CH7 +3.3V
9 (blk) FMU_CH8 +3.3V
10 (blk) GND GND

# GPS1

Pin Signal Volt
1 (red) VDD_5V_PERIPH +5.0V
2 (blk) USART1_TX_GPS1 +3.3V
3 (blk) USART1_RX_GPS1 +3.3V
4 (blk) I2C1_SCL +3.3V
5 (blk) I2C1_SDA +3.3V
6 (blk) nSAFETY_SWITCH_IN +3.3V
7 (blk) nSAFETY_SWITCH_LED_OUT +3.3V
8 (blk) 3V3_FMU +3.3V
9 (blk) BUZZER +5.0V
10 (blk) GND GND

# GPS2

Pin Signal Volt
1 (red) VDD_5V_HIPOWER +5.0V
2 (blk) UART8_TX_GPS2 +3.3V
3 (blk) UART8_RX_GPS2 +3.3V
4 (blk) I2C2_SCL +3.3V
5 (blk) I2C2_SDA +3.3V
6 (blk) GND GND

# TELEM1

Pin Signal Volt
1 (red) VDD_5V_HIPOWER +5.0V
2 (blk) UART7_TX +3.3V
3 (blk) UART7_RX +3.3V
4 (blk) UART7_CTS +3.3V
5 (blk) UART7_RTS +3.3V
6 (blk) GND GND

# TELEM2

Pin Signal Volt
1 (red) VDD_5V_PERIPH +5.0V
2 (blk) UART5_TX +3.3V
3 (blk) UART5_RX +3.3V
4 (blk) UART5_CTS +3.3V
5 (blk) UART5_RTS +3.3V
6 (blk) GND GND

# TELEM3

Pin Signal Volt
1 (red) VDD_5V_HIPOWER +5.0V
2 (blk) USART2_TX +3.3V
3 (blk) USART2_RX +3.3V
4 (blk) USART2_CTS +3.3V
5 (blk) USART2_RTS +3.3V
6 (blk) GND GND

# UART4/I2C3

Pin Signal Volt
1 (red) VDD_5V_PERIPH +5.0V
2 (blk) UART4_TX +3.3V
3 (blk) UART4_RX +3.3V
4 (blk) I2C3_SCL +3.3V
5 (blk) I2C3_SDA +3.3V
6 (blk) GND GND

# I2C3

Pin Signal Volt
1 (red) VDD_5V_PERIPH +5.0V
2 (blk) I2C3_SCL +3.3V
3 (blk) I2C3_SDA +3.3V
4 (blk) GND GND

# CAN1

Pin Signal Volt
1 (red) VDD_5V_HIPOWER +5.0V
2 (blk) CAN1_H +3.3V
3 (blk) CAN1_L +3.3V
4 (blk) GND GND

# CAN2

Pin Signal Volt
1 (red) VDD_5V_PERIPH +5.0V
2 (blk) CAN2_H +3.3V
3 (blk) CAN2_L +3.3V
4 (blk) GND GND

# USB

All signals in parallel with USB C connector

Pin Signal Volt
1 (red) VBUS_IN +5.0V
2 (blk) USB_N +3.3V
3 (blk) USB_P +3.3V
4 (blk) GND GND

# ETH

Pin Signal Volt
1 (red) ETH_RD_N +50.0V Tolerant
2 (blk) ETH_RD_P +50.0V Tolerant
3 (blk) ETH_TD_N +50.0V Tolerant
4 (blk) ETH_TD_P +50.0V Tolerant

# ADIO

Pin Signal Volt
1 (red) VDD_5V_PERIPH +5.0V
2 (blk) FMU_CAP +3.3V
3 (blk) BOOTLOADER +3.3V
4 (blk) FMU_RST_REQ +3.3V
5 (blk) nARMED +3.3V
6 (blk) ADC1_3V3 +3.3V
7 (blk) ADC1_6V6 +3.3V
8 (blk) GND GND

# RC/SBUS

Pin Signal Volt
1 (red) VDD_5V_SBUS_RC +5.0V
2 (blk) USART6_RX_SBUS_IN +3.3V
3 (blk) USART6_TX +3.3V
4 (blk) VDD_3V3_SPEKTRUM +3.3V
5 (blk) GND GND

# PPM

Pin Signal Volt
1 (red) VDD_5V_PPM_RC +5.0V
2 (blk) DSM_INPUT/FMU_PPM_INPUT +3.3V
3 (blk) GND GND

# DSM

Pin Signal Volt
1 (red) VDD_3V3_SPEKTRUM +3.3V
2 (blk) GND GND
3 (blk) DSM_INPUT/FMU_PPM_INPUT +3.3V

# SPI6

Pin Signal Volt
1 (red) VDD_5V_PERIPH +5.0V
2 (blk) SPI6_SCK +3.3V
3 (blk) SPI6_MISO +3.3V
4 (blk) SPI6_MOSI +3.3V
5 (blk) SPI6_nCS1 +3.3V
6 (blk) SPI6_nCS2 +3.3V
7 (blk) SPIX_nSYNC +3.3V
8 (blk) SPI6_DRDY1 +3.3V
9 (blk) SPI6_DRDY2 +3.3V
10 (blk) SPI6_nRESET +3.3V
11 (blk) GND GND

# Debug Port

The PX4 System Console and SWD interface run on the FMU Debug port.

The pinouts and connector comply with the Pixhawk Debug Full interface defined in the Pixhawk Connector Standard (opens new window) interface (JST SM10B connector).

Pin Signal Volt
1 (red) Vtref +3.3V
2 (blk) Console TX (OUT) +3.3V
3 (blk) Console RX (IN) +3.3V
4 (blk) SWDIO +3.3V
5 (blk) SWCLK +3.3V
6 (blk) SWO +3.3V
7 (blk) NFC GPIO +3.3V
8 (blk) PH11 +3.3V
9 (blk) nRST +3.3V
10 (blk) GND GND

For information about using this port see:

ARKPAB Top Down Photo

ARKPAB Bottom Photo

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