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modules:pixhawk [2014/01/06 19:31]
127.0.0.1 external edit
modules:pixhawk [2018/04/09 10:21] (current)
barza
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-~~NOTOC~~+====== Pixhawk Autopilot ======
  
-====== ​PIXHAWK ​Autopilot ​Flight Management Unit ======+//PIXHAWK(r) is a high-performance autopilot-on-module suitable for fixed wing, multi rotors, helicopters,​ cars, boats and any other robotic platform that can move. It is targeted towards high-end research, amateur and industry needs and combines the functionality of the [[:​modules:​px4fmu|PX4FMU]] + [[:​modules:​px4io|PX4IO]]./​/
  
-<note tip>This module is in active development,​ and will be available around late October from 3D Robotics ([[https://​store.3drobotics.com/​products/​3dr-pixhawk/​|3DR]]),​ ([[http://​www.unmannedtechshop.co.uk/​pixhawk-autopilot.html|Unmanned Tech]])([[http://​www.buildyourowndrone.co.uk/​3DR-Pixhawk-p/​3dr-pixhawk.htm|BYOD]]) and ([[http://​www.uav-store.de/​autopilot-1/​pixhawk/#​cc-m-product-8496353793|UAV store]]).</​note>​+{{:modules:pixhawk-logo-view.jpg?450|}}
  
-//PIXHAWK is a high-performance autopilot-on-module suitable for fixed wing, multi rotors, helicopters,​ cars, boats and any other robotic platform that can move. It is targeted towards high-end research, amateur and industry needs and is the all-in-one combination of PX4FMU + PX4IO.// +=== Key Features ===
- +
-{{:​modules:​pixhawk-logo-view.jpg?​450|}} +
-==== Key Features ​====+
  
   * 168 MHz / 252 MIPS [[http://​en.wikipedia.org/​wiki/​ARM_Cortex-M#​Cortex-M4|Cortex-M4F]]   * 168 MHz / 252 MIPS [[http://​en.wikipedia.org/​wiki/​ARM_Cortex-M#​Cortex-M4|Cortex-M4F]]
  
-  * 14 PWM / Servo outputs (8 with failsafe and manual override, 6 auxiliary, +  * 14 PWM / Servo outputs (8 with failsafe and manual override, 6 auxiliary, high-power compatible)
-high-power compatible)+
   * Abundant connectivity options for additional peripherals (UART, I2C, CAN)   * Abundant connectivity options for additional peripherals (UART, I2C, CAN)
-  * Integrated backup system for in-flight recovery and manual override with +  * Integrated backup system for in-flight recovery and manual override with dedicated processor and stand-alone power supply (fixed-wing use) 
-dedicated processor and stand-alone power supply (fixed wing use) +  * Backup system integrates mixing, providing consistent autopilot and manual override mixing modes (fixed wing use)
-  * Backup system integrates mixing, providing consistent autopilot and manual +
-override mixing modes (fixed wing use)+
   * Redundant power supply inputs and automatic failover   * Redundant power supply inputs and automatic failover
   * External safety switch   * External safety switch
Line 25: Line 19:
   * microSD card for high-rate logging over extended periods of time   * microSD card for high-rate logging over extended periods of time
  
-<​html><​iframe width="​700"​ height="​525"​ src="//www.youtube-nocookie.com/embed/gCCC5A-Bvv4?​rel=0"​ frameborder="​0"​ allowfullscreen><​/iframe><​/html>+===== Where to Buy ===== 
 + 
 +Originally manufactured by 3DR(r) this board was the original standard microcontroller platform for PX4(r). While the board is no longer manufactured by 3DR, you can use the [[https://docs.px4.io/​en/​flight_controller/​mro_pixhawk.html|mRo Pixhawk]] as a drop-in replacement. 
 + 
 +Order mRo Pixhawk from: 
 + 
 +  * **[[https://store.mrobotics.io/​Genuine-PixHawk-1-Barebones-p/mro-pixhawk1-bb-mr.htm|Bare Bones]]** - Just the board (useful as a 3DR Pixhawk replacement) 
 +  * **[[https://​store.mrobotics.io/​Genuine-PixHawk-Flight-Controller-p/​mro-pixhawk1-minkit-mr.htm|mRo Pixhawk 2.4.6 Essential Kit]]** - includes everything except for telemetry radios 
 +  * **[[https://​store.mrobotics.io/​product-p/​mro-pixhawk1-fullkit-mr.htm|mRo Pixhawk 2.4.6 Cool Kit! (Limited edition)]]** - includes everything you need including telemetry radios 
 + 
 +If out of stock the software-compatible but not connector-compatible versions can be used: 
 +  * [[http://​www.hobbyking.com/​hobbyking/​store/​__55561__HKPilot32_Autonomous_Vehicle_32Bit_Control_Set_w_Power_Module.html|HKPilot32]]
 ===== Specifications ===== ===== Specifications =====
  
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   * ST Micro L3GD20H 16 bit gyroscope   * ST Micro L3GD20H 16 bit gyroscope
   * ST Micro LSM303D 14 bit accelerometer / magnetometer   * ST Micro LSM303D 14 bit accelerometer / magnetometer
 +  * Invensense MPU 6000 3-axis accelerometer/​gyroscope
   * MEAS MS5611 barometer   * MEAS MS5611 barometer
  
Line 54: Line 60:
   * 3.3 and 6.6V ADC inputs   * 3.3 and 6.6V ADC inputs
   * Internal microUSB port and external microUSB port extension   * Internal microUSB port and external microUSB port extension
 +
 +{{youtube>​gCCC5A-Bvv4?​medium}}
  
 === Power System and Protection === === Power System and Protection ===
Line 62: Line 70:
  
  
-==== Connectors ​====+===== Voltage Ratings ​===== 
 + 
 +Pixhawk can be triple-redundant on the power supply if three power sources are supplied. The three rails are: Power module input, servo rail input, USB input. 
 + 
 +=== Normal Operation Maximum Ratings === 
 + 
 +Under these conditions all power sources will be used in this order to power the system 
 + 
 +  - Power module input (4.8V to 5.4V) 
 +  - Servo rail input (4.8V to 5.4V) **UP TO 10V FOR MANUAL OVERRIDE, BUT AUTOPILOT PART WILL BE UNPOWERED ABOVE 5.7V IF POWER MODULE INPUT IS NOT PRESENT** 
 +  - USB power input (4.8V to 5.4V) 
 + 
 +=== Absolute Maximum Ratings === 
 + 
 +Under these conditions the system will not draw any power (will not be operational),​ but will remain intact. 
 + 
 +  - Power module input (4.1V to 5.7V, 0V to 20V undamaged) 
 +  - Servo rail input (4.1V to 5.7V, 0V to 20V) 
 +  - USB power input (4.1V to 5.7V, 0V to 6V) 
  
-  * **ARM MINI JTAG (J6**, //not populated per default//​**)**:​ 1.27 mm 10pos header (SHROUDED, for Black Magic Probe: Samtec FTSH-105-01-F-DV-K or (untested) or Harwin M50-3600542 ([[http://​www.digikey.com/​product-detail/​en/​M50-3600542/​952-1389-ND/​2264370|Digikey]] or [[http://​ch.mouser.com/​ProductDetail/​Harwin/​M50-3600542/?​qs=%2fha2pyFadujTt%2fIEz8xdzrYzHAVUnbxh8Ki%252bwWYPNeEa09PYvTkIOQ%3d%3d|Mouser]]) 
-    * JTAG Adapter Option #1: [[http://​www.blacksphere.co.nz/​main/​blackmagic|BlackMagic Probe]], comes without cables, needs the **Samtec FFSD-05-D-06.00-01-N** cable ([[http://​www.samtec.com/​suddenservice/​samples/​samples.aspx|Samtec sample service]] or [[http://​www.digikey.com/​product-search/​en?​x=0&​y=0&​lang=en&​site=us&​KeyWords=FFSD-05-D-06.00-01-N|Digi-Key Link: SAM8218-ND]]) and a Mini-USB cable 
-    * JTAG Adapter Option #2: [[http://​search.digikey.com/​us/​en/​cat/​programmers-development-systems/​in-circuit-programmers-emulators-and-debuggers/​2621880?​k=st%20link%20v2|Digi-Key Link: ST-LINK/​V2]] / [[http://​www.st.com/​internet/​com/​TECHNICAL_RESOURCES/​TECHNICAL_LITERATURE/​USER_MANUAL/​DM00026748.pdf|ST USER MANUAL]], needs an ARM Mini JTAG to 20pos adapter: [[http://​search.digikey.com/​us/​en/​products/​MDL-ADA2/​726-1193-ND/​1986451|Digi-Key Link: 726-1193-ND]] 
-    * JTAG Adapter Option #3: [[http://​www.sparkfun.com/​products/​8278|SparkFun Link: Olimex ARM-TINY]] or any other OpenOCD-compatible ARM Cortex JTAG adapter, needs an ARM Mini JTAG to 20pos adapter: [[http://​search.digikey.com/​us/​en/​products/​MDL-ADA2/​726-1193-ND/​1986451|Digi-Key Link: 726-1193-ND]] 
-  * **USARTs**: Hirose DF13 6 pos ([[http://​search.digikey.com/​scripts/​DkSearch/​dksus.dll?​WT.z_header=search_go&​lang=en&​site=us&​keywords=DF13A-5P-1.25H%2820%29&​x=0&​y=0|Digi-Key Link: DF13A-6P-1.25H(20)]]) 
-    * Mates: Hirose DF13 6 pos housing ([[http://​search.digikey.com/​us/​en/​products/​DF13-5S-1.25C/​H2182-ND/​241752|Digi-Key Link: Hirose DF13-6S-1.25C]]) 
-  * **I2C and CAN**: Hirose DF13 4 pos ([[http://​search.digikey.com/​scripts/​DkSearch/​dksus.dll?​WT.z_header=search_go&​lang=en&​site=us&​keywords=DF13A-4P-1.25H%2820%29&​x=0&​y=0|Digi-Key Link: DF13A-4P-1.25H(20)]]) 
-    * Mates: Hirose DF13 4 pos housing ([[http://​search.digikey.com/​us/​en/​products/​DF13-4S-1.25C|Digi-Key Link: Hirose DF13-4S-1.25C]]) 
-  * **USB (J5)**: Micro USB-B 
-    * Mates: Cell phone data / charger cables, e.g. [[http://​search.digikey.com/​us/​en/​products/​AK67421-0.5-R/​AE10418-ND/​2263977|Digi-Key Link: ASSMANN AK67421-0.5-R]] 
 ===== Schematics ===== ===== Schematics =====
  
-  * {{:modules:​px4fmuv2.3.pdf|}} -- Schematic and layout +  * [[https://raw.githubusercontent.com/​PX4/​Hardware/​master/​FMUv2/​PX4FMUv2.4.5.pdf|FMUv2 + IOv2 schematic]] ​-- Schematic and layout 
-===== Peripherals ​=====+  * [[users:​tutorials:​pixhawk_6s_mod]] -- An How-to guide to power PixHawk with >4S LIPO batteries 
 +===== Connectors ​=====
  
-A number of peripherals have been designed ​for PX4 (all autopilots, including Pixhawk ​and FMU).+<note tip>The RC IN port is for RC receivers only and provides power. **NEVER** connect any servos, power supplies or batteries to it or to the receiver connected to it.</​note>​
  
-=== Digital Airspeed Sensor ===+{{:​modules:​pixhawk_connectors.png?​700|}}
  
-  * [[:​modules:​px4airspeed]]+==== Pinouts ====
  
-This digital differential airspeed sensor has a very low offseta high resolution and most importantly:​ Does not suffer from the noise induced by long cables and offsets in the ratiometric output on the old analog airspeed sensors. It features a Measurement Specialties (coincidentally swiss, too) 4525DO sensor, with 1 psi measurement range (roughly up to 100 m/s or 360 km/h or 223 mp/h). Its resolution of 0.84 Pa is quite good, and delivered as 14 bit data from a 24 bit delta-sigma ADC. It also measures temperature to allow to calculate true airspeed from indicated airspeed using the MS5611 static pressure sensor on Pixhawk. As the temperature is not influenced by the heat of nearby processing components, it is much closer to the air temperature than with the previous analog sensor setup. It comes with M3 / 6-32 mounting holes. It is supported on all PX4 autopilot generation boards+TELEM1TELEM2 ports
  
-{{:​modules:​px4airspeed_top.jpg?700|}}+^ 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     |
  
-=== External USB Port ===+GPS port
  
-This port can be mounted on the outside of the plane / copter / rover and provides convenient access.+^ 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     |
  
-{{:​modules:​px4-ext-usb.jpg?260|}}+SERIAL 4/5 port due to space constraints two ports are on one connector.
  
-=== External Multicolor Led ===+^ 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     |
  
-This LED has the same functionality as the in-built led and can be mounted anywhere on the system.+ADC 6.6V
  
-{{:​modules:​px4-ext-led.jpg?300|}}+^ Pin      ^ Signal ​   ^  Volt   ^ 
 +| 1 (red)  | VCC       | +5V     | 
 +| 2 (blk)  | ADC IN    | up to +6.6V   | 
 +| 3 (blk)  | GND       | GND     |
  
-=== I2C Splitter ===+ADC 3.3V
  
-This splitter allows ​to connect multiple peripherals ​to the I2C port, including the external compass on the GPS.+^ 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     |
  
-{{:​modules:​px4-i2c-splitter.jpg?​300|}}+I2C
  
 +^ Pin      ^ Signal ​   ^  Volt   ^
 +| 1 (red)  | VCC       | +5V     |
 +| 2 (blk)  | SCL    | +3.3 (pullups) ​  |
 +| 3 (blk)  | SDA    | +3.3 (pullups) ​  |
 +| 4 (blk)  | GND       | GND     |
  
 +CAN
  
-===== Supported Platforms / Airframes =====+^ Pin      ^ Signal ​   ^  Volt   ^ 
 +| 1 (red)  | VCC       | +5V     | 
 +| 2 (blk)  | CAN_H    | +12V  | 
 +| 3 (blk)  | CAN_L    | +12V   | 
 +| 4 (blk)  | GND       | GND     |
  
-Any multicopter ​airplane ​rover or boat that can be controlled with normal RC servos ​or Futaba S-Bus servosMore details are available on the airframe page.+SPI 
 + 
 +^ Pin      ^ Signal ​   ^  Volt   ^ 
 +| 1 (red)  | VCC       | +5V     | 
 +| 2 (blk)  | SPI_EXT_SCK ​   | +3.3   | 
 +| 3 (blk)  | SPI_EXT_MISO ​   | +3.3   | 
 +| 4 (blk)  | SPI_EXT_MOSI ​      | +3.3     | 
 +| 5 (blk)  | !SPI_EXT_NSS ​      | +3.3     | 
 +| 6 (blk)  | !GPIO_EXT ​      | +3.3     | 
 +| 7 (blk)  | GND       | GND     | 
 + 
 +POWER 
 + 
 +^ 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     | 
 + 
 +SWITCH 
 + 
 +^ Pin      ^ Signal ​   ^  Volt   ^ 
 +| 1 (red)  | VCC       | +3.3V     | 
 +| 2 (blk)  | !IO_LED_SAFETY ​      | GND    | 
 +| 3 (blk)  | SAFETY ​  | GND  | 
 + 
 +==== Console Port ==== 
 + 
 +The system'​s serial console runs on the port labeled SERIAL4/5. The pinout is standard serial pinout, to connect to a standard FTDI cable (3.3V, but its 5V tolerant). 
 + 
 +Please refer to the [[https://​dev.px4.io/​en/​debug/​system_console.html|wiring]] page for details of how to wire up this port. 
 + 
 +==== Parts / Housings ==== 
 + 
 +  * **ARM MINI JTAG (J6**, //not populated per default//​**)**:​ 1.27 mm 10pos header (SHROUDED, for Black Magic Probe: FCI 20021521-00010D4LF ([[http://​www.distrelec.ch/​en/​Pin-header-SMT-straight-for-IDC-1-27-mm-10-Minitek-127-Pin-header-for-IDC%2C-shrouded%2C-straight%2C-SMT-FCI-20021521-00010D4LF/​p/​14352308?​q=20021521-00010D4LF&​page=1&​origPos=1&​origPageSize=10&​simi=99.4|Distrelec]],​ [[http://​www.digikey.com/​product-detail/​en/​20021521-00010T1LF/​609-4054-ND/​2414951|Digi-Key]]) ​or Samtec FTSH-105-01-F-DV-K (untested) ​or Harwin M50-3600542 ([[http://​www.digikey.com/​product-detail/​en/​M50-3600542/​952-1389-ND/​2264370|Digikey]] or [[http://​ch.mouser.com/​ProductDetail/​Harwin/​M50-3600542/?​qs=%2fha2pyFadujTt%2fIEz8xdzrYzHAVUnbxh8Ki%252bwWYPNeEa09PYvTkIOQ%3d%3d|Mouser]]) 
 +    * JTAG Adapter Option #1: [[http://​www.blacksphere.co.nz/​main/​blackmagic|BlackMagic Probe]], comes without cables, needs the **Samtec FFSD-05-D-06.00-01-N** cable ([[http://​www.samtec.com/​suddenservice/​samples/​samples.aspx|Samtec sample service]] or [[http://​www.digikey.com/​product-search/​en?​x=0&​y=0&​lang=en&​site=us&​KeyWords=FFSD-05-D-06.00-01-N|Digi-Key Link: SAM8218-ND]]) or [[http://​www.tag-connect.com/​CORTEXRIBBON10|Tag Connect Ribbon]] and a Mini-USB cable 
 +    * JTAG Adapter Option #2: [[http://​search.digikey.com/​us/​en/​cat/​programmers-development-systems/​in-circuit-programmers-emulators-and-debuggers/​2621880?​k=st%20link%20v2|Digi-Key Link: ST-LINK/​V2]] / [[http://​www.st.com/​internet/​com/​TECHNICAL_RESOURCES/​TECHNICAL_LITERATURE/​USER_MANUAL/​DM00026748.pdf|ST USER MANUAL]], needs an ARM Mini JTAG to 20pos adapter: [[http://​search.digikey.com/​us/​en/​products/​MDL-ADA2/​726-1193-ND/​1986451|Digi-Key Link: 726-1193-ND]] 
 +    * JTAG Adapter Option #3: [[http://​www.sparkfun.com/​products/​8278|SparkFun Link: Olimex ARM-TINY]] or any other OpenOCD-compatible ARM Cortex JTAG adapter, needs an ARM Mini JTAG to 20pos adapter: [[http://​search.digikey.com/​us/​en/​products/​MDL-ADA2/​726-1193-ND/​1986451|Digi-Key Link: 726-1193-ND]] 
 +  * **USARTs**: Hirose DF13 6 pos ([[http://​search.digikey.com/​scripts/​DkSearch/​dksus.dll?​WT.z_header=search_go&​lang=en&​site=us&​keywords=DF13A-6P-1.25H%2820%29&​x=0&​y=0|Digi-Key Link: DF13A-6P-1.25H(20)]]) 
 +    * Mates: Hirose DF13 6 pos housing ([[http://​search.digikey.com/​us/​en/​products/​DF13-6S-1.25C/​H2182-ND/​241752|Digi-Key Link: Hirose DF13-6S-1.25C]]) 
 +  * **I2C and CAN**: Hirose DF13 4 pos ([[http://​search.digikey.com/​scripts/​DkSearch/​dksus.dll?​WT.z_header=search_go&​lang=en&​site=us&​keywords=DF13A-4P-1.25H%2820%29&​x=0&​y=0|Digi-Key Link: DF13A-4P-1.25H(20)]]) 
 +    * Mates: Hirose DF13 4 pos housing ([[http://​www.digikey.com/​product-search/​en?​KeyWords=DF13-4S-1.25C|Digi-Key Link: Hirose DF13-4S-1.25C]]) 
 +  * **USB (J5)**: Micro USB-B 
 +    * Mates: Cell phone data / charger cables, e.g. [[http://​search.digikey.com/​us/​en/​products/​AK67421-0.5-R/​AE10418-ND/​2263977|Digi-Key Link: ASSMANN AK67421-0.5-R]] 
 +===== Peripherals ===== 
 + 
 +  * [[:​peripherals:​sensors:​px4airspeed|Digital airspeed sensor PX4AIRSPEED]] 
 +  * [[https://​store.3drobotics.com/​products/​3dr-gps-ublox-with-compass?​taxon_id=34|u-Blox GPS Module]] 
 +  * [[:​peripherals:​external_usb|External USB port]] 
 +  * [[:​peripherals:​external_led|External multicolor LED]] 
 +  * [[:​peripherals:​i2c_splitter|I2C splitter]] 
 +===== Supported Platforms / Airframes =====
  
-  * [[:airframes:start]]+Any multicopter / airplane / rover or boat that can be controlled with normal RC servos or Futaba S-Bus servos. More details are available on the [[:platforms:|platforms]] page.


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