## PixSurveyA1-IND Flight Controller 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) ## Features • STM32F427VIT6 and STM32F103C8T6 microcontroller • Three IMUs, two ICM42688-P(SPI), one ICM40605(SPI) • internal heater for IMUs temperature control • internal Soft Rubber Damping Column isolation for All internal IMUs • Two barometers, MS5611(SPI) x2 • builtin IST8310 magnetometer(internal I2C) • builtin RAMTRON(SPI) • microSD card slot(SPI) • 5 UARTs • USB(Type-C) • PPM & S.Bus input • 14 PWM outputs • tow I2C ports and two FDCAN ports • one S.Bus output • External Buzzer • two voltage & current monitoring • servo rail BEC independent power input for servos • external safety Switch • 12V Power Output ## Pinout  UART Mapping ============ - SERIAL0 -> console (primary mavlink, usually USB) - SERIAL1 -> USART2 (telem1, DMA-enabled) - SERIAL2 -> USART3 (Telem2, DMA-enabled) - SERIAL3 -> UART4 (GPS1) - SERIAL4 -> UART8 (GPS2, DMA-enabled) - SERIAL5 -> UART7 (USER) Connector pin assignments ========================= TELEM1, TELEM2 ports -------------------- <table border="1" class="docutils"> <tbody> <tr> <th>Pin</th> <th>Signal</th> <th>Volt</th> </tr> <tr> <td>1</td> <td>VCC</td> <td>+5V</td> </tr> <tr> <td>2</td> <td>TX (OUT)</td> <td>+3.3V</td> </tr> <tr> <td>3</td> <td>RX (IN)</td> <td>+3.3V</td> </tr> <tr> <td>4</td> <td>GND</td> <td>GND</td> </tr> </tbody> </table> I2C1, I2C2 ports ---------------- <table border="1" class="docutils"> <tbody> <tr> <th>PIN</th> <th>SIGNAL</th> <th>VOLT</th> </tr> <tr> <td>1</td> <td>VCC</td> <td>+5V</td> </tr> <tr> <td>2</td> <td>SCL</td> <td>+3.3V</td> </tr> <tr> <td>3</td> <td>SDA</td> <td>+3.3V</td> </tr> <tr> <td>4</td> <td>GND</td> <td>GND</td> </tr> </tbody> </table> CAN1, CAN2 ports ---------------- <table border="1" class="docutils"> <tbody> <tr> <th>PIN</th> <th>SIGNAL</th> <th>VOLT</th> </tr> <tr> <td>1</td> <td>VCC</td> <td>+5V</td> </tr> <tr> <td>2</td> <td>CAN_H</td> <td>+12V</td> </tr> <tr> <td>3</td> <td>CAN_L</td> <td>+12V</td> </tr> <tr> <td>4</td> <td>GND</td> <td>GND</td> </tr> </tbody> </table> Safety port ----------- <table border="1" class="docutils"> <tbody> <tr> <th>PIN</th> <th>SIGNAL</th> <th>VOLT</th> </tr> <tr> <td>1</td> <td>VCC</td> <td>+3.3V</td> </tr> <tr> <td>2</td> <td>LED</td> <td>+3.3V</td> </tr> <tr> <td>3</td> <td>SAFKEY</td> <td>+3.3V</td> </tr> </tbody> </table> GPS1/I2C1, GPS2/I2C2 ports -------------------------- <table border="1" class="docutils"> <tbody> <tr> <th>PIN</th> <th>SIGNAL</th> <th>VOLT</th> </tr> <tr> <td>1</td> <td>VCC</td> <td>+5V</td> </tr> <tr> <td>2</td> <td>TX</td> <td>+3.3V</td> </tr> <tr> <td>3</td> <td>RX</td> <td>+3.3V</td> </tr> <tr> <td>4</td> <td>SCL</td> <td>+3.3V</td> </tr> <tr> <td>5</td> <td>SDA</td> <td>+3.3V</td> </tr> <tr> <td>6</td> <td>GND</td> <td>GND</td> </tr> </tbody> </table> Serial5 port ------------ <table border="1" class="docutils"> <tbody> <tr> <th>Pin</th> <th>Signal</th> <th>Volt</th> </tr> <tr> <td>1</td> <td>VCC</td> <td>+5V</td> </tr> <tr> <td>2</td> <td>TX (OUT)</td> <td>+3.3V</td> </tr> <tr> <td>3</td> <td>RX (IN)</td> <td>+3.3V</td> </tr> <tr> <td>4</td> <td>GND</td> <td>GND</td> </tr> </tbody> </table> Power1, Power2 ports -------------------- <table border="1" class="docutils"> <tbody> <tr> <th>PIN</th> <th>SIGNAL</th> <th>VOLT</th> </tr> <tr> <td>1</td> <td>VCC</td> <td>+5V</td> </tr> <tr> <td>2</td> <td>VCC</td> <td>+5V</td> </tr> <tr> <td>3</td> <td>CURRENT</td> <td>+3.3V</td> </tr> <tr> <td>4</td> <td>VOLTAGE</td> <td>+3.3V</td> </tr> <tr> <td>5</td> <td>GND</td> <td>GND</td> </tr> <tr> <td>6</td> <td>GND</td> <td>GND</td> </tr> </tbody> </table> 12V Power Output port --------------------- <table border="1" class="docutils"> <tbody> <tr> <th>Pin</th> <th>Signal</th> <th>Volt</th> </tr> <tr> <td>1</td> <td>GND</td> <td>GND</td> </tr> <tr> <td>2</td> <td>VCC</td> <td>+12V</td> </tr> <tr> <td>3</td> <td>GND</td> <td>GND</td> </tr> </tbody> </table> S.BUS Output port ------------ <table border="1" class="docutils"> <tbody> <tr> <th>Pin</th> <th>Signal</th> <th>Volt</th> </tr> <tr> <td>1</td> <td>SBUS.out</td> <td>+3.3V</td> </tr> <tr> <td>2</td> <td>NC</td> <td>NC</td> </tr> <tr> <td>3</td> <td>GND</td> <td>GND</td> </tr> </tbody> </table> RC Input -------- 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. Compass ------- 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. PWM Output ---------- 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 outputs support all PWM output formats, but not DShot. The remaining 6 outputs (labelled 9 to 14) are the "auxiliary" 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 auxiliary 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 Monitor Settings ======================== These should already be set by default. However, if lost or changed: Enable Battery monitor with these parameter settings : :ref:`BATT_MONITOR<BATT_MONITOR>` =4 Then reboot. :ref:`BATT_VOLT_PIN<BATT_VOLT_PIN>` 2 :ref:`BATT_CURR_PIN<BATT_CURR_PIN>` 3 :ref:`BATT_VOLT_MULT<BATT_VOLT_MULT>` 18.0 :ref:`BATT_AMP_PERVLT<BATT_AMP_PERVLT>` 24.0 :ref:`BATT2_VOLT_PIN<BATT2_VOLT_PIN>` 14 :ref:`BATT2_CURR_PIN<BATT2_CURR_PIN>` 13 :ref:`BATT2_VOLT_MULT<BATT2_VOLT_MULT>` 18.0 :ref:`BATT2_AMP_PERVLT<BATT2_AMP_PERVLT>` 24.0 DroneCAN capability =================== There are 2 CAN ports that allow connecting two independent CAN bus outputs. Each of these can have multiple CAN peripheral devices connected. Where to Buy ============ `makeflyeasy <http://www.makeflyeasy.com>`_ [copywiki destination="plane,copter,rover,blimp"]