mirror of https://github.com/ArduPilot/ardupilot
507 lines
8.7 KiB
Markdown
507 lines
8.7 KiB
Markdown
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# Pixhawk1 Flight Controller
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The Pixhawk1 flight controller was originally produced by 3DR. A
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number of vendors now sell boards with the same layout as the original
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board.
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## Features
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- STM32F427 microcontroller
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- MPU6000 and LSM303D/L3GD20 IMUs
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- MS5611 SPI barometer
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- builtin SPI LSM303D magnetometer
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- microSD card slot
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- 5 UARTs plus USB
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- 14 PWM outputs
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- I2C and CAN ports
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- Spektrum satellite connector
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- External Buzzer
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- builtin RGB LED
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- external safety Switch
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- external SPI port
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- voltage monitoring for servo rail and Vcc
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- dedicated power input port for external power brick
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- external USB connectors (micro USB and DF13)
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## Pinout
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## UART Mapping
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- SERIAL0 -> USB
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- SERIAL1 -> UART2 (Telem1)
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- SERIAL2 -> UART3 (Telem2)
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- SERIAL3 -> UART4 (GPS)
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- SERIAL4 -> UART8 (GPS2)
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- SERIAL5 -> UART7 (spare)
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The Telem1 and Telem2 ports have RTS/CTS pins, the other UARTs do not
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have RTS/CTS.
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The GPS2/spare port (labelled serial5) has two UARTs on one 6 pin
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connector. The spare port was originally used as a debug console, but
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debug is now on USB, so this port is free for any UART protocol.
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## Connectors
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The original Pixhawk1 uses DF13 connectors, and has 14 ports
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### TELEM1, TELEM2 ports
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<table border="1" class="docutils">
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<tbody>
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<tr>
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<th>Pin </th>
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<th>Signal </th>
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<th>Volt </th>
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</tr>
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<tr>
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<td>1 (red)</td>
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<td>VCC</td>
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<td>+5V</td>
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</tr>
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<tr>
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<td>2 (blk)</td>
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<td>TX (OUT)</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>3 (blk)</td>
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<td>RX (IN)</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>4 (blk)</td>
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<td>CTS</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>5 (blk)</td>
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<td>RTS</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>6 (blk)</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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</tbody>
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</table>
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### GPS port
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<table border="1" class="docutils">
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<tbody>
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<tr>
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<th>Pin</th>
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<th>Signal</th>
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<th>Volt</th>
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</tr>
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<tr>
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<td>1 (red)</td>
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<td>VCC</td>
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<td>+5V</td>
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</tr>
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<tr>
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<td>2 (blk)</td>
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<td>TX (OUT)</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>3 (blk)</td>
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<td>RX (IN)</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>4 (blk)</td>
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<td>CAN2 TX</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>5 (blk)</td>
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<td>CAN2 RX</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>6 (blk)</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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</tbody>
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</table>
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### SERIAL 4/5 port
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<table border="1" class="docutils">
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<tbody>
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<tr>
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<th>Pin</th>
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<th>Signal</th>
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<th>Volt</th>
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</tr>
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<tr>
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<td>1 (red)</td>
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<td>VCC</td>
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<td>+5V</td>
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</tr>
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<tr>
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<td>2 (blk)</td>
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<td>TX (#4)</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>3 (blk)</td>
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<td>RX (#4)</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>4 (blk)</td>
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<td>TX (#5)</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>5 (blk)</td>
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<td>RX (#5)</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>6 (blk)</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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</tbody>
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</table>
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### ADC 6.6V
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<table border="1" class="docutils">
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<tbody>
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<tr>
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<th>Pin</th>
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<th>Signal</th>
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<th>Volt</th>
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</tr>
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<tr>
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<td>1 (red)</td>
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<td>VCC</td>
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<td>+5V</td>
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</tr>
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<tr>
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<td>2 (blk)</td>
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<td>ADC IN</td>
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<td>up to +6.6V</td>
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</tr>
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<tr>
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<td>3 (blk)</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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</tbody>
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</table>
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### ADC 3.3V
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<table border="1" class="docutils">
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<tbody>
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<tr>
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<th>Pin</th>
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<th>Signal</th>
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<th>Volt</th>
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</tr>
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<tr>
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<td>1 (red)</td>
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<td>VCC</td>
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<td>+5V</td>
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</tr>
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<tr>
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<td>2 (blk)</td>
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<td>ADC IN</td>
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<td>up to +3.3V</td>
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</tr>
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<tr>
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<td>3 (blk)</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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<tr>
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<td>4 (blk)</td>
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<td>ADC IN</td>
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<td>up to +3.3V</td>
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</tr>
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<tr>
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<td>5 (blk)</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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</tbody>
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</table>
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### I2C
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<table border="1" class="docutils">
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<tbody>
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<tr>
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<th>Pin</th>
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<th>Signal</th>
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<th>Volt</th>
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</tr>
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<tr>
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<td>1 (red)</td>
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<td>VCC</td>
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<td>+5V</td>
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</tr>
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<tr>
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<td>2 (blk)</td>
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<td>SCL</td>
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<td>+3.3 (pullups)</td>
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</tr>
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<tr>
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<td>3 (blk)</td>
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<td>SDA</td>
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<td>+3.3 (pullups)</td>
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</tr>
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<tr>
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<td>4 (blk)</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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</tbody>
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</table>
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### CAN
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<table border="1" class="docutils">
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<tbody>
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<tr>
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<th>Pin</th>
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<th>Signal</th>
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<th>Volt</th>
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</tr>
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<tr>
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<td>1 (red)</td>
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<td>VCC</td>
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<td>+5V</td>
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</tr>
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<tr>
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<td>2 (blk)</td>
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<td>CAN_H</td>
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<td>+12V</td>
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</tr>
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<tr>
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<td>3 (blk)</td>
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<td>CAN_L</td>
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<td>+12V</td>
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</tr>
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<tr>
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<td>4 (blk)</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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</tbody>
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</table>
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### SPI
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<table border="1" class="docutils">
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<tbody>
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<tr>
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<th>Pin</th>
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<th>Signal</th>
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<th>Volt</th>
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</tr>
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<tr>
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<td>1 (red)</td>
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<td>VCC</td>
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<td>+5V</td>
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</tr>
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<tr>
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<td>2 (blk)</td>
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<td>SPI_SCK</td>
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<td>3.3V</td>
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</tr>
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<tr>
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<td>3 (blk)</td>
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<td>SPI_MISO</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>4 (blk)</td>
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<td>SPI_MOSI</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>5 (blk)</td>
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<td>!SPI_NSS</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>6 (blk)</td>
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<td>!GPIO</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>7 (blk)</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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</tbody>
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</table>
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### POWER
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<table border="1" class="docutils">
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<tbody>
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<tr>
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<th>Pin</th>
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<th>Signal</th>
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<th>Volt</th>
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</tr>
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<tr>
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<td>1 (red)</td>
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<td>VCC</td>
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<td>+5V</td>
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</tr>
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<tr>
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<td>2 (blk)</td>
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<td>VCC</td>
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<td>+5V</td>
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</tr>
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<tr>
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<td>3 (blk)</td>
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<td>CURRENT</td>
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<td>up to +3.3V</td>
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</tr>
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<tr>
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<td>4 (blk)</td>
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<td>VOLTAGE</td>
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<td>up to +3.3V</td>
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</tr>
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<td>5 (blk)</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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<td>6 (blk)</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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</tbody>
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</table>
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### SWITCH
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<table border="1" class="docutils">
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<tbody>
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<tr>
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<th>Pin</th>
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<th>Signal</th>
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<th>Volt</th>
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</tr>
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<tr>
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<td>1 (red)</td>
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<td>VCC</td>
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<td>+3.3V</td>
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||
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|
</tr>
|
||
|
|
<tr>
|
||
|
|
<td>2 (blk)</td>
|
||
|
|
<td>!IO_LED_SAFETY</td>
|
||
|
|
<td>GND</td>
|
||
|
|
</tr>
|
||
|
|
<tr>
|
||
|
|
<td>3 (blk)</td>
|
||
|
|
<td>SAFETY</td>
|
||
|
|
<td>GND</td>
|
||
|
|
</tr>
|
||
|
|
</tbody>
|
||
|
|
</table>
|
||
|
|
|
||
|
|
## RC Input
|
||
|
|
|
||
|
|
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.
|
||
|
|
|
||
|
|
## PWM Output
|
||
|
|
|
||
|
|
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:
|
||
|
|
|
||
|
|
- PWM 1 and 2 in group1
|
||
|
|
- PWM 3 and 4 in group2
|
||
|
|
- PWM 5, 6, 7 and 8 in group3
|
||
|
|
|
||
|
|
The 6 auxillary PWM outputs are in 2 groups:
|
||
|
|
|
||
|
|
- PWM 1, 2, 3 and 4 in group1
|
||
|
|
- PWM 5 and 6 in group2
|
||
|
|
|
||
|
|
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.
|
||
|
|
|
||
|
|
## Battery Monitoring
|
||
|
|
|
||
|
|
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.
|
||
|
|
|
||
|
|
## Compass
|
||
|
|
|
||
|
|
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.
|
||
|
|
|
||
|
|
## GPIOs
|
||
|
|
|
||
|
|
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:
|
||
|
|
|
||
|
|
- AUX1 50
|
||
|
|
- AUX2 51
|
||
|
|
- AUX3 52
|
||
|
|
- AUX4 53
|
||
|
|
- AUX5 54
|
||
|
|
- AUX6 55
|
||
|
|
|
||
|
|
## Analog inputs
|
||
|
|
|
||
|
|
The Pixhawk1 has 6 analog inputs on the FMU, plus servo rail voltage
|
||
|
|
and RSSI monitoring on the IO controller.
|
||
|
|
|
||
|
|
- ADC Pin2 -> Battery Voltage
|
||
|
|
- ADC Pin3 -> Battery Current Sensor
|
||
|
|
- ADC Pin4 -> Vdd 5V supply sense
|
||
|
|
- ADC Pin13 -> ADC 3.3V Port pin1
|
||
|
|
- ADC Pin14 -> ADC 3.3V Port pin2
|
||
|
|
- ADC Pin15 -> ADC 6.6V port
|
||
|
|
- ADC Pin103 -> RSSI voltage monitoring
|
||
|
|
|
||
|
|
## Loading Firmware
|
||
|
|
|
||
|
|
The board comes pre-installed with an ArduPilot compatible bootloader,
|
||
|
|
allowing the loading of *.apj firmware files with any ArduPilot
|
||
|
|
compatible ground station.
|