danny wang 6b2cb6fa39 this N3 net clean robot use bfd1.5V6 | 2 years ago | |
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README.md | 2 years ago | |
defaults.parm | 2 years ago | |
hwdef-bl.dat | 2 years ago | |
hwdef.dat | 2 years ago | |
pixhawk4-pinout.jpg | 2 years ago |
The Pixhawk4 flight controller is sold by Holybro
The Telem1 and Telem2 ports have RTS/CTS pins, the other UARTs do not have RTS/CTS.
The UART7 connector is labelled debug, but is available as a general purpose UART with ArduPilot.
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) | SERIAL3 TX (OUT) | +3.3V |
3 (blk) | SERIAL3 RX (IN) | +3.3V |
4 (blk) | SCL | +3.3 (pullups) |
5 (blk) | SDA | +3.3 (pullups) |
6 (blk) | SafetyButton | +3.3V |
7 (blk) | SafetyLED | +3.3V |
8 (blk) | VDD 3.3 (OUT) | +3.3V |
9 (blk) | Buzzer | +3.3V |
10 (blk) | GND | GND |
RC input is configured on the port marked DSM/SBUS RC. This connector supports all RC protocols. Two cables are available for this port. To use software binding of Spektrum satellite receivers you need to use the Spektrum satellite cable.
The Pixhawk4 supports up to 16 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 8 outputs (labelled AUX1 to AUX8) are the "auxillary" outputs. These are directly attached to the STM32F765 and support all PWM protocols. The first 6 of the auxillary PWM outputs support DShot.
The 8 main PWM outputs are in 3 groups:
The 8 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 two dedicated power monitor ports on 6 pin connectors. The correct battery setting parameters are dependent on the type of power brick which is connected.
The Pixhawk4 has a builtin IST8310 compass. Due to potential interference the board is usually used with an external I2C compass as part of a GPS/Compass combination.
The 6 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 PWM5 and PWM6 will be available for use as GPIOs.
The numbering of the GPIOs for PIN variables in ArduPilot is:
The Pixhawk4 has 7 analog inputs
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) | SERIAL4 TX (OUT) | +3.3V |
3 (blk) | SERIAL4 RX (IN) | +3.3V |
4 (blk) | SCL | +3.3 (pullups) |
5 (blk) | SDA | +3.3 (pullups) |
6 (blk) | GND | GND |
The Pixhawk4 has two independent CAN buses, with the following pinouts.
Pin | Signal | Volt |
---|---|---|
1 (red) | VCC | +5V |
2 (blk) | CAN_H | +12V |
3 (blk) | CAN_L | +12V |
4 (blk) | GND | GND |
The Pixhawk4 supports SWD debugging on the debug port
Pin | Signal | Volt |
---|---|---|
1 (red) | FMU VDD 3.3 | +3.3V |
2 (blk) | UART TX Debug (OUT) | +3.3V |
3 (blk) | UART RX Debug (IN) | +3.3V |
4 (blk) | SWDIO | +3.3V |
5 (blk) | SWCLK | +3.3V |
6 (blk) | GND | GND |
The board comes pre-installed with an ArduPilot compatible bootloader, allowing the loading of *.apj firmware files with any ArduPilot compatible ground station.
Thanks to PX4 for images used under the CC-BY 4.0 license