danny wang 6b2cb6fa39 this N3 net clean robot use bfd1.5V6 | преди 2 години | |
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PixhawkLabeled.jpg | преди 2 години | |
README.md | преди 2 години | |
hwdef-bl.dat | преди 2 години | |
hwdef.dat | преди 2 години |
The Pixhawk1 flight controller was originally produced by 3DR. A number of vendors now sell boards with the same layout as the original board.
The Telem1 and Telem2 ports have RTS/CTS pins, the other UARTs do not have RTS/CTS.
The GPS2/spare port (labelled serial5) has two UARTs on one 6 pin connector. The spare port was originally used as a debug console, but debug is now on USB, so this port is free for any UART protocol.
The original Pixhawk1 uses DF13 connectors, and has 14 ports
Pin | Signal | Volt |
---|---|---|
1 (red) | VCC | +5V |
2 (blk) | TX (OUT) | +3.3V |
3 (blk) | RX (IN) | +3.3V |
4 (blk) | CTS | +3.3V |
5 (blk) | RTS | +3.3V |
6 (blk) | GND | GND |
Pin | Signal | Volt |
---|---|---|
1 (red) | VCC | +5V |
2 (blk) | TX (OUT) | +3.3V |
3 (blk) | RX (IN) | +3.3V |
4 (blk) | CAN2 TX | +3.3V |
5 (blk) | CAN2 RX | +3.3V |
6 (blk) | GND | GND |
Pin | Signal | Volt |
---|---|---|
1 (red) | VCC | +5V |
2 (blk) | TX (#4) | +3.3V |
3 (blk) | RX (#4) | +3.3V |
4 (blk) | TX (#5) | +3.3V |
5 (blk) | RX (#5) | +3.3V |
6 (blk) | GND | GND |
Pin | Signal | Volt |
---|---|---|
1 (red) | VCC | +5V |
2 (blk) | ADC IN | up to +6.6V |
3 (blk) | GND | GND |
Pin | Signal | Volt |
---|---|---|
1 (red) | VCC | +5V |
2 (blk) | ADC IN | up to +3.3V |
3 (blk) | GND | GND |
4 (blk) | ADC IN | up to +3.3V |
5 (blk) | GND | GND |
Pin | Signal | Volt |
---|---|---|
1 (red) | VCC | +5V |
2 (blk) | SCL | +3.3 (pullups) |
3 (blk) | SDA | +3.3 (pullups) |
4 (blk) | GND | GND |
Pin | Signal | Volt |
---|---|---|
1 (red) | VCC | +5V |
2 (blk) | CAN_H | +12V |
3 (blk) | CAN_L | +12V |
4 (blk) | GND | GND |
Pin | Signal | Volt |
---|---|---|
1 (red) | VCC | +5V |
2 (blk) | SPI_SCK | 3.3V |
3 (blk) | SPI_MISO | +3.3V |
4 (blk) | SPI_MOSI | +3.3V |
5 (blk) | !SPI_NSS | +3.3V |
6 (blk) | !GPIO | +3.3V |
7 (blk) | GND | GND |
Pin | Signal | Volt |
---|---|---|
1 (red) | VCC | +5V |
2 (blk) | VCC | +5V |
3 (blk) | CURRENT | up to +3.3V |
4 (blk) | VOLTAGE | up to +3.3V | 5 (blk) | GND | GND | 6 (blk) | GND | GND |
Pin | Signal | Volt |
---|---|---|
1 (red) | VCC | +3.3V |
2 (blk) | !IO_LED_SAFETY | GND |
3 (blk) | SAFETY | GND |
RC input is configured on the RCIN pin, at one end of the servo rail, marked PPM in the above diagram. This pin supports all RC protocols. In addition there is a dedicated Spektrum satellite port which supports software power control, allowing for binding of Spektrum satellite receivers.
The Pixhawk1 supports up to 14 PWM outputs. First first 8 outputs (labelled "MAIN") are controlled by a dedicated STM32F100 IO controller. These 8 outputs support all PWM output formats, but not DShot.
The remaining 6 outputs (labelled AUX1 to AUX6) are the "auxillary" outputs. These are directly attached to the STM32F427 and support all PWM protocols as well as DShot.
The 8 main PWM outputs are in 3 groups:
The 6 auxillary PWM outputs are in 2 groups:
Channels within the same group need to use the same output rate. If any channel in a group uses DShot then all channels in the group need to use DShot.
The board has a dedicatd power monitor port on a 6 pin DF13 connector. The correct battery setting parameters are dependent on the type of power brick which is connected.
The Pixhawk1 has a LSM303D builtin SPI compass, but due to interference the board is usually used with an external I2C compass as part of a GPS/Compass combination.
The 6 auxillary PWM ports can be used as GPIOs (relays, buttons, RPM etc). To use them you need to limit the number of these pins that is used for PWM by setting the BRD_PWM_COUNT to a number less than 6. For example if you set BRD_PWM_COUNT to 4 then AUX5 and AUX6 will be available for use as GPIOs.
The numbering of the GPIOs for PIN variables in ArduPilot is:
The Pixhawk1 has 6 analog inputs on the FMU, plus servo rail voltage and RSSI monitoring on the IO controller.
The board comes pre-installed with an ArduPilot compatible bootloader, allowing the loading of *.apj firmware files with any ArduPilot compatible ground station.