3DR Pixhawk 1 Flight Controller (Discontinued)

This flight controller has been discontinued and is no longer commercially available. You can use the mRo Pixhawk as a drop-in replacement.

The 3DR Pixhawk^® 1 autopilot is a popular general purpose flight controller based on the Pixhawk-project FMUv2 open hardware design (it combines the functionality of the PX4FMU + PX4IO). It runs PX4 on the NuttX OS.

Assembly/setup instructions for use with PX4 are provided here: Pixhawk Wiring Quickstart

主要特性

Main System-on-Chip: STM32F427
- CPU: 180 MHz ARM^® Cortex^® M4 with single-precision FPU
- RAM: 256 KB SRAM (L1)
Failsafe System-on-Chip: STM32F100
- CPU: 24 MHz ARM Cortex M3
- RAM: 8 KB SRAM
Wifi: ESP8266 external
GPS: U-Blox^® 7/8 (Hobbyking^®) / U-Blox 6 (3D Robotics)
Optical flow: PX4 Flow unit
Redundant power supply inputs and automatic failover
External safety switch
Multicolor LED main visual indicator
High-power, multi-tone piezo audio indicator
microSD card for high-rate logging over extended periods of time

连接性

1x I2C
1x CAN (2x optional)
1x ADC
4x UART (2x with flow control)
1x Console
8x PWM with manual override
6x PWM / GPIO / PWM input
S.BUS / PPM / Spektrum input
S.BUS output

在哪里买

Originally manufactured by 3DR® this board was the original standard microcontroller platform for PX4®. While the board is no longer manufactured by 3DR, you can use the mRo Pixhawk as a drop-in replacement.

Order mRo Pixhawk from:

Bare Bones - Just the board (useful as a 3DR Pixhawk replacement)
mRo Pixhawk 2.4.6 Essential Kit - includes everything except for telemetry radios
mRo Pixhawk 2.4.6 Cool Kit! (Limited edition) - includes everything you need including telemetry radios

产品规格

处理器

32bit STM32F427 Cortex-M4F core with FPU
168 MHz
256 KB RAM
2 MB Flash
32 bit STM32F103 failsafe co-processor

传感器

ST Micro L3GD20H 16 bit gyroscope
ST Micro LSM303D 14 bit accelerometer / magnetometer
Invensense MPU 6000 3-axis accelerometer/gyroscope
MEAS MS5611 barometer

接口

5x UART (serial ports), one high-power capable, 2x with HW flow control
2x CAN (one with internal 3.3V transceiver, one on expansion connector)
Spektrum DSM / DSM2 / DSM-X® Satellite compatible input
Futaba S.BUS® compatible input and output
PPM sum signal input
RSSI (PWM or voltage) input
I2C
SPI
3.3 and 6.6V ADC inputs
Internal microUSB port and external microUSB port extension

Power System and Protection

Ideal diode controller with automatic failover
Servo rail high-power (max. 10V) and high-current (10A+) ready
All peripheral outputs over-current protected, all inputs ESD protected

额定电压

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.

正常运行最大额定值

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)

绝对最大额定值

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)

原理图

FMUv2 + IOv2 schematic -- Schematic and layout

As a CC-BY-SA 3.0 licensed Open Hardware design, all schematics and design files are available.

连接器

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.

针脚定义

TELEM1, TELEM2 ports

针脚	信号	电压
1（红）	VCC	+5V
2（黑）	TX (OUT)	+3.3V
3（黑）	RX (IN)	+3.3V
4（黑）	CTS (IN)	+3.3V
5（黑）	RTS (OUT)	+3.3V
6（黑）	GND	GND

GPS port

针脚	信号	电压
1（红）	VCC	+5V
2（黑）	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

SERIAL 4/5 port

Due to space constraints two ports are on one connector.

针脚	信号	电压
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

ADC 6.6V

针脚	信号	电压
1 (red)	VCC	+5V
2 (blk)	ADC IN	up to +6.6V
3 (blk)	GND	GND

ADC 3.3V

针脚	信号	电压
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

I2C

针脚	信号	电压
1 (red)	VCC	+5V
2 (blk)	SCL	+3.3 (pullups)
3 (blk)	SDA	+3.3 (pullups)
4 (blk)	GND	GND

CAN

针脚	信号	电压
1 (red)	VCC	+5V
2 (blk)	CAN_H	+12V
3 (blk)	CAN_L	+12V
4 (blk)	GND	GND

SPI

针脚	信号	电压
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

针脚	信号	电压
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

针脚	信号	电压
1 (red)	VCC	+3.3V
2 (blk)	!IO_LED_SAFETY	GND
3 (blk)	SAFETY	GND

Serial Port Mapping

UART	Device	Port
UART1	/dev/ttyS0	IO debug
USART2	/dev/ttyS1	TELEM1 (flow control)
USART3	/dev/ttyS2	TELEM2 (flow control)
UART4
UART7	CONSOLE
UART8	SERIAL4

Debug Ports

Console Port

The PX4 System Console runs on the port labeled SERIAL4/5.

A convenient way to connect to the console is to use a Dronecode probe, as it comes with connectors that can be used with several different Pixhawk devices. Simply connect the 6-pos DF13 1:1 cable on the Dronecode probe to the Pixhawk SERIAL4/5 port .

The pinout is standard serial pinout, designed to connect to a 3.3V FTDI cable (5V tolerant).

3DR Pixhawk 1		FTDI
1	+5V (red)		N/C
2	S4 Tx		N/C
3	S4 Rx		N/C
4	S5 Tx	5	FTDI RX (yellow)
5	S5 Rx	4	FTDI TX (orange)
6	GND	1	FTDI GND (black)

The wiring for an FTDI cable to a 6-pos DF13 1:1 connector is shown in the figure below.

The complete wiring is shown below.

For information on how to use the console see: System Console (PX4 Developer Guide)

SWD Port

The SWD (JTAG) ports are hidden under the cover (which must be removed for hardware debugging). There are separate ports for FMU and IO, as highlighted below.

The ports are ARM 10-pin JTAG connectors, which you will probably have to solder. The pinout for the ports is shown below (the square markers in the corners above indicates pin 1).

All Pixhawk FMUv2 boards have a similar SWD port.

Building Firmware

Most users will not need to build this firmware! It is pre-built and automatically installed by QGroundControl when appropriate hardware is connected.

To build PX4 for this target:

make px4_fmu-v2_default

Parts / Housings

ARM MINI JTAG (J6): 1.27 mm 10pos header (SHROUDED), for Black Magic Probe: FCI 20021521-00010D4LF (Distrelec, Digi-Key,) or Samtec FTSH-105-01-F-DV-K (untested) or Harwin M50-3600542 (Digikey or Mouser)
- JTAG Adapter Option #1: BlackMagic Probe. Note, may come without cables (check with manufacturer). If so, you will need the Samtec FFSD-05-D-06.00-01-N cable (Samtec sample service or Digi-Key Link: SAM8218-ND) or Tag Connect Ribbon and a Mini-USB cable.
- JTAG Adapter Option #2: Digi-Key Link: ST-LINK/V2 / ST USER MANUAL, needs an ARM Mini JTAG to 20pos adapter: Digi-Key Link: 726-1193-ND
- JTAG Adapter Option #3: SparkFun Link: Olimex ARM-TINY or any other OpenOCD-compatible ARM Cortex JTAG adapter, needs an ARM Mini JTAG to 20pos adapter: Digi-Key Link: 726-1193-ND
USARTs: Hirose DF13 6 pos (Digi-Key Link: DF13A-6P-1.25H(20))
- Mates: Hirose DF13 6 pos housing (Digi-Key Link: Hirose DF13-6S-1.25C)
I2C and CAN: Hirose DF13 4 pos (Digi-Key Link: DF13A-4P-1.25H(20))

Supported Platforms / Airframes

Any multicopter / airplane / rover or boat that can be controlled with normal RC servos or Futaba S-Bus servos.

3DR Pixhawk 1 (FMUv2) (Discontinued)