danny wang 6b2cb6fa39 this N3 net clean robot use bfd1.5V6 | il y a 2 ans | |
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README.md | il y a 2 ans | |
hwdef-bl.dat | il y a 2 ans | |
hwdef.dat | il y a 2 ans | |
pixracer_r09_bot_pinouts.jpg | il y a 2 ans | |
pixracer_r09_top_pinouts.jpg | il y a 2 ans |
The Pixracer flight controller is sold by mRobotics
The full schematics of the board are available here:
https://github.com/ArduPilot/Schematics/tree/master/mRobotics
The Telem1 and Telem2 ports have RTS/CTS pins, the other UARTs do not have RTS/CTS.
Unless noted otherwise all connectors are JST GH
Pin | Signal | Volt |
---|---|---|
1 (red) | VCC | +5V |
2 (blk) | TX (OUT) | +3.3V |
3 (blk) | RX (IN) | +3.3V |
4 (blk) | CTS (IN) | +3.3V |
5 (blk) | RTS (OUT) | +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) | I2C1 SCL | +3.3V |
5 (blk) | I2C1 SDA | +3.3V |
6 (blk) | GND | GND |
This UART is inverted by default. You can disable the inverter by setting SERIAL4_OPTIONS=2 if you want to use it with a non-inverted protocol.
PIN | SIGNAL | VOLT |
---|---|---|
1 (red) | VCC | +5V |
2 (blk) | TX (OUT) | +3.3V |
3 (blk) | RX (IN) | +3.3V |
4 (blk) | GND | GND |
PIN | SIGNAL | VOLT |
---|---|---|
1 (red) | VCC | +5V |
2 (blk) | RC IN | +3.3V |
3 (blk) | RSSI IN | +3.3V |
4 (blk) | VDD 3V3 | +3.3V |
5 (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) | VCC | +5V |
3 (blk) | CURRENT | +3.3V |
4 (blk) | VOLTAGE | +3.3V |
5 (blk) | GND | GND |
6 (blk) | GND | GND |
PIN | SIGNAL | VOLT |
---|---|---|
1 (red) | SAFETY | GND |
2 (blk) | !IO_LED_SAFETY | GND |
3 (blk) | CURRENT | +3.3V |
4 (blk) | BUZZER- | - |
5 (blk) | BUZZER+ | - |
Note that in ArduPilot the debug UART is available as a general purpose UART.
PIN | SIGNAL | VOLT |
---|---|---|
1 (red) | VCC TARGET SHIFT | +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) | GND | GND |
RC input is via a RC input cable. That cable comes in two forms, one for Spektrum satellite receivers and another for all other receiver types.
Both cables support all protocols with ArduPilot, but you need to use the Spektrum cable if you want to be able to bind the receiver using the ArduPilot binding support as only the Spektrum cable gives ArduPilot the ability to control the power on the Spektrum satellite receiver.
FrSky Telemetry is supported using SERIAL4, on the port marked as FrSky. You need to set the following parameters to enable support for FrSky S.PORT. You also need to cross-connect the TX and RX pins by creating a cable that connects both the TX and RX pins of the FrSky port to the FrSky S.Port pin on your receiver.
The Pixracer supports up to 6 PWM outputs. All 6 outputs can support DShot as well as all PWM protocols.
The 6 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 dedicated power monitor port on a 6 pin connector. The correct battery setting parameters are dependent on the type of power brick which is connected.
The Pixracer has two builtin compasses. One is a HMC5843 and the other is a part of the MPU9250 IMU. 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 Pixracer has 4 analog inputs
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 mRobotics and the PX4 project for images