mirror of https://github.com/ArduPilot/ardupilot
98 lines
2.8 KiB
Markdown
98 lines
2.8 KiB
Markdown
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# CM4PILOT Integrated Flight Controller
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The CM4PILOT is a low-cost and compact flight controller which integrated a Raspberry Pi CM4 in the cockpit.
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<div align=left><img width="600" src=CM4pilot_inshell.jpg/></div>
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<div align=left><img width="500" src=CM4Pilot_structure.jpg/></div>
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## Features
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- Raspberry Pi CM4 + Ardupilot, Companion Computers in cockpit structure
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- Small Footprint and Lightweight, 58mm X 50mm X 18mm，26g(without shell)
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- Broadcom BCM2711, quad-core Cortex-A72 (ARM v8) 64-bit SoC @ 1.5GHz
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- STM32F405 microcontroller
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- IMU: BMI088
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- Mag: LIS3MDLTR
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- Baro: BMP280
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- RTC: PCF85063
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- 2 2-lane MIPI CSI camera ports
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- 2 microSD card slot port
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- 1 power ports(Analog)
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- 6 UARTs and USB ports for FMU
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- 2 UARTs and 4 USB2.0 and 1 OTG for CM4
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- 1 I2C port
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- 1 CAN port
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- 1 SBUS input and 8 PWM output (all support DShot)
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- External SPI port
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- Buzzer on board
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- RBG LED on board
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- 128M flash on board for logging
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## UART Mapping
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- SERIAL0 -> USB(OTG1)
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- SERIAL1 -> USART1(Telem1)(DMA capable)
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- SERIAL2 -> USART3 (CM4)(DMA capable)
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- SERIAL3 -> UART4 (GPS)(DMA capable)
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- SERIAL4 -> UART6 (GPS2)(DMA capable)
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- SERIAL5 -> USART2 (SBUS)(RC input, no DMA capable)
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## RC Input
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RC input is configured on the SBUS pin (UART2_RX). It supports all RC protocols except serial protocols
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## PWM Output
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The CM4PILOT supports up to 8 PWM outputs. All outputs support DShot (No BDshot).
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The PWM is in 4 groups:
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- PWM 1~4 in group1
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- PWM 5,6 in group2
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- PWM 7,8 in group3
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- Buzzer on board in group4
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## GPIOs
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All 8 PWM channels can be used for GPIO functions.
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The pin numbers for these PWM channels in ArduPilot are shown below:
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| PWM Channels | Pin | PWM Channels | Pin |
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| ------------ | ---- | ------------ | ---- |
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| PWM1 | 50 | PWM8 | 57 |
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| PWM2 | 51 |
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| PWM3 | 52 |
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| PWM4 | 53 |
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| PWM5 | 54 |
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| PWM6 | 55 |
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| PWM7 | 56 |
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## Battery Monitoring
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The correct battery setting parameters are set by default and are:
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- BATT_MONITOR 4
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- BATT_VOLT_PIN 11
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- BATT_CURR_PIN 12
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- BATT_VOLT_SCALE 10.1
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- BATT_CURR_SCALE 17.0
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## Compass
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The CM4PILOT has one built-in compass LIS3MDLTR, you can also attach an external compass using I2C on the SDA and SCL pads.
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## Loading Firmware
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Firmware for these boards can be found at https://firmware.ardupilot.org in sub-folders labeled “ACNS-CM4PILOT”.
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Initial firmware load can be done with DFU by plugging in USB with the
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boot button pressed. Then you should load the "xxx_bl.hex"
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firmware, using your favorite DFU loading tool.
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Subsequently, you can update the firmware with Mission Planner.
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## Pinout and Size
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<div align=left><img width="600" src=CM4Pilot_Pinout.jpg/></div>
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<div align=left><img width="500" src=CM4pilot_size.jpg/></div>
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