mirror of https://github.com/ArduPilot/ardupilot
437 lines
7.8 KiB
Markdown
437 lines
7.8 KiB
Markdown
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## PixSurveyA1-IND Flight Controller
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The PixSurveyA1-IND flight controller is an upgrade to PixSurveyA1, with better sensors and a better power solution; added a custom serial port. It is sold by a range of resellers listed on the makeflyeasy(http://www.makeflyeasy.com)
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## Features
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• STM32F427VIT6 and STM32F103C8T6 microcontroller
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• Three IMUs, two ICM42688-P(SPI), one ICM40605(SPI)
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• internal heater for IMUs temperature control
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• internal Soft Rubber Damping Column isolation for All internal IMUs
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• Two barometers, MS5611(SPI) x2
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• builtin IST8310 magnetometer(internal I2C)
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• builtin RAMTRON(SPI)
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• microSD card slot(SPI)
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• 5 UARTs
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• USB(Type-C)
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• PPM & S.Bus input
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• 14 PWM outputs
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• tow I2C ports and two FDCAN ports
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• one S.Bus output
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• External Buzzer
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• two voltage & current monitoring
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• servo rail BEC independent power input for servos
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• external safety Switch
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• 12V Power Output
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## Pinout
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UART Mapping
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============
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- SERIAL0 -> console (primary mavlink, usually USB)
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- SERIAL1 -> USART2 (telem1, DMA-enabled)
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- SERIAL2 -> USART3 (Telem2, DMA-enabled)
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- SERIAL3 -> UART4 (GPS1)
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- SERIAL4 -> UART8 (GPS2, DMA-enabled)
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- SERIAL5 -> UART7 (USER)
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Connector pin assignments
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=========================
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TELEM1, TELEM2 ports
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--------------------
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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</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</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</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</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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I2C1, I2C2 ports
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----------------
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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</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</td>
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<td>SCL</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</td>
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<td>SDA</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</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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CAN1, CAN2 ports
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----------------
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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</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</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</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</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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Safety port
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-----------
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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</td>
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<td>VCC</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>2</td>
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<td>LED</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</td>
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<td>SAFKEY</td>
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<td>+3.3V</td>
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</tr>
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</tbody>
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</table>
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GPS1/I2C1, GPS2/I2C2 ports
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--------------------------
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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</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</td>
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<td>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>3</td>
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<td>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>4</td>
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<td>SCL</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</td>
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<td>SDA</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</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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Serial5 port
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------------
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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</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</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</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</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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Power1, Power2 ports
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--------------------
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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</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</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</td>
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<td>CURRENT</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</td>
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<td>VOLTAGE</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</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>6</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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12V Power Output port
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---------------------
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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</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>2</td>
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<td>VCC</td>
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<td>+12V</td>
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</tr>
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<tr>
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<td>3</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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S.BUS Output port
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------------
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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</td>
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<td>SBUS.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>2</td>
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<td>NC</td>
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<td>NC</td>
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</tr>
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<tr>
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<td>3</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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RC Input
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--------
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All compatible RC protocols can be decoded by attaching the Receiver's output to the SBUS input pin next to the Servo/Output VCC input connector. Note that some protocols such as CRSF or FPort including telemetry, require connection to, and setup of, one of the UARTs instead of this pin.
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Compass
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-------
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The PixSurveyA1-IND has a built-in compass. Due to potential interference, the autopilot is usually used with an external I2C compass as part of a GPS/Compass combination.
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PWM Output
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----------
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The PixSurveyA1-IND supports up to 14 PWM outputs. First first 8 outputs (labelled 1 to 8) are controlled by a dedicated STM32F103 IO controller. These 8
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outputs support all PWM output formats, but not DShot.
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The remaining 6 outputs (labelled 9 to 14) are the "auxiliary"
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outputs. These are directly attached to the STM32F427 and support all
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PWM protocols as well as DShot.
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The 8 main PWM outputs are in 3 groups:
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- PWM 1 and 2 in group1
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- PWM 3 and 4 in group2
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- PWM 5, 6, 7 and 8 in group3
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The 6 auxiliary PWM outputs are in 2 groups:
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- PWM 1, 2, 3 and 4 in group1
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- PWM 5 and 6 in group2
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Channels within the same group need to use the same output rate. If
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any channel in a group uses DShot then all channels in the group need
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to use DShot.
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Battery Monitor Settings
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========================
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These should already be set by default. However, if lost or changed:
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Enable Battery monitor with these parameter settings :
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:ref:`BATT_MONITOR<BATT_MONITOR>` =4
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Then reboot.
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:ref:`BATT_VOLT_PIN<BATT_VOLT_PIN>` 2
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:ref:`BATT_CURR_PIN<BATT_CURR_PIN>` 3
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:ref:`BATT_VOLT_MULT<BATT_VOLT_MULT>` 18.0
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:ref:`BATT_AMP_PERVLT<BATT_AMP_PERVLT>` 24.0
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:ref:`BATT2_VOLT_PIN<BATT2_VOLT_PIN>` 14
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:ref:`BATT2_CURR_PIN<BATT2_CURR_PIN>` 13
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:ref:`BATT2_VOLT_MULT<BATT2_VOLT_MULT>` 18.0
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:ref:`BATT2_AMP_PERVLT<BATT2_AMP_PERVLT>` 24.0
|
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DroneCAN capability
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===================
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There are 2 CAN ports that allow connecting two independent CAN bus outputs. Each of these can have multiple CAN peripheral devices connected.
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Where to Buy
|
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============
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`makeflyeasy <http://www.makeflyeasy.com>`_
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[copywiki destination="plane,copter,rover,blimp"]
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