text: (window.webpackJsonp=window.webpackJsonp||[]).push([[187],{1622:function(t,e,r){"use strict";r.r(e);var a=r(18),o=Object(a.a)({},(function(){var t=this,e=t.$createElement,a=t._self._c||e;return a("ContentSlotsDistributor",{attrs:{"slot-key":t.$parent.slotKey}},[a("h1",{attrs:{id:"pixhawk-4"}},[a("a",{staticClass:"header-anchor",attrs:{href:"#pixhawk-4"}},[t._v("#")]),t._v(" Pixhawk 4")]),t._v(" "),a("div",{staticClass:"custom-block warning"},[a("p",{staticClass:"custom-block-title"},[t._v("WARNING")]),t._v(" "),a("p",[t._v("PX4 does not manufacture this (or any) autopilot.\nContact the "),a("a",{attrs:{href:"https://shop.holybro.com/",target:"_blank",rel:"noopener noreferrer"}},[t._v("manufacturer"),a("OutboundLink")],1),t._v(" for hardware support or compliance issues.")])]),t._v(" "),a("p",[a("em",[t._v("Pixhawk 4")]),a("sup",[t._v("®")]),t._v(" is an advanced autopilot designed and made in collaboration with Holybro"),a("sup",[t._v("®")]),t._v(" and the PX4 team.\nIt is optimized to run PX4 v1.7 and later, and is suitable for academic and commercial developers.")]),t._v(" "),a("p",[t._v("It is based on the "),a("a",{attrs:{href:"https://pixhawk.org/",target:"_blank",rel:"noopener noreferrer"}},[t._v("Pixhawk-project"),a("OutboundLink")],1),t._v(" "),a("strong",[t._v("FMUv5")]),t._v(" open hardware design and runs PX4 on the "),a("a",{attrs:{href:"http://nuttx.org",target:"_blank",rel:"noopener noreferrer"}},[t._v("NuttX"),a("OutboundLink")],1),t._v(" OS.")]),t._v(" "),a("p",[a("img",{attrs:{src:r(770),width:"200px",title:"Pixhawk4 Upright Image"}}),t._v(" "),a("img",{attrs:{src:r(347),width:"420px",title:"Pixhawk4 Image"}})]),t._v(" "),a("div",{staticClass:"custom-block tip"},[a("p",{staticClass:"custom-block-title"},[t._v("TIP")]),t._v(" "),a("p",[t._v("This autopilot is "),a("RouterLink",{attrs:{to:"/en/flight_controller/autopilot_pixhawk_standard.html"}},[t._v("supported")]),t._v(" by the PX4 maintenance and test teams.")],1)]),t._v(" "),a("h2",{attrs:{id:"quick-summary"}},[a("a",{staticClass:"header-anchor",attrs:{href:"#quick-summary"}},[t._v("#")]),t._v(" Quick Summary")]),t._v(" "),a("ul",[a("li",[t._v("Main FMU Processor: STM32F765\n"),a("ul",[a("li",[t._v("32 Bit Arm® Cortex®-M7, 216MHz, 2MB memory, 512KB RAM")])])]),t._v(" "),a("li",[t._v("IO Processor: STM32F100\n"),a("ul",[a("li",[t._v("32 Bit Arm® Cortex®-M3, 24MHz, 8KB SRAM")])])]),t._v(" "),a("li",[t._v("On-board sensors:\n"),a("ul",[a("li",[t._v("Accel/Gyro: ICM-20689")]),t._v(" "),a("li",[t._v("Accel/Gyro: BMI055")]),t._v(" "),a("li",[t._v("Magnetometer: IST8310")]),t._v(" "),a("li",[t._v("Barometer: MS5611")])])]),t._v(" "),a("li",[t._v("GPS: u-blox Neo-M8N GPS/GLONASS receiver; integrated magnetometer IST8310")]),t._v(" "),a("li",[t._v("Interfaces:\n"),a("ul",[a("li",[t._v("8-16 PWM outputs (8 from IO, 8 from FMU)")]),t._v(" "),a("li",[t._v("3 dedicated PWM/Capture inputs on FMU")]),t._v(" "),a("li",[t._v("Dedicated R/C input for CPPM")]),t._v(" "),a("li",[t._v("Dedicated R/C input for Spektrum / DSM and S.Bus with analog / PWM RSSI input")]),t._v(" "),a("li",[t._v("Dedicated S.Bus servo output")]),t._v(" "),a("li",[t._v("5 general purpose serial ports")]),t._v(" "),a("li",[t._v("3 I2C ports")]),t._v(" "),a("li",[t._v("4 SPI buses")]),t._v(" "),a("li",[t._v("Up to 2 CANBuses for dual CAN with serial ESC")]),t._v(" "),a("li",[t._v("Analog inputs for voltage / current of 2 batteries")])])]),t._v(" "),a("li",[t._v("Power System:\n"),a("ul",[a("li",[t._v("Power module output: 4.9~5.5V")]),t._v(" "),a("li",[t._v("USB Power Input: 4.75~5.25V")]),t._v(" "),a("li",[t._v("Servo Rail Input: 0~36V")])])]),t._v(" "),a("li",[t._v("Weight and Dimensions:\n"),a("ul",[a("li",[t._v("Weight: 15.8g")]),t._v(" "),a("li",[t._v("Dimensions: 44x84x12mm")])])]),t._v(" "),a("li",[t._v("Other Characteristics:\n"),a("ul",[a("li",[t._v("Operating temperature: -40 ~ 85°c")])])])]),t._v(" "),a("p",[t._v("Additional information can be found in the "),a("a",{attrs:{href:"https://github.com/PX4/px4_user_guide/raw/master/assets/flight_controller/pixhawk4/pixhawk4_technical_data_sheet.pdf",target:"_blank",rel:"noopener noreferrer"}},[t._v("Pixhawk 4 Technical Data Sheet"),a("OutboundLink")],1),t._v(".")]),t._v(" "),a("h2",{attrs:{id:"purchase"}},[a("a",{staticClass:"header-anchor",attrs:{href:"#purchase"}},[t._v("#")]),t._v(" Purchase")]),t._v(" "),a("p",[t._v("Order from "),a("a",{attrs:{href:"https://shop.holybro.com/pixhawk-4beta-launch_p1089.html",target:"_blank",rel:"noopener noreferrer"}},[t._v("Holybro"),a("OutboundLink")],1),t._v(".")]),t._v(" "),a("h2",{attrs:{id:"connectors"}},[a("a",{staticClass:"header-anchor",attrs:{href:"#connectors"}},[t._v("#")]),t._v(" Connectors")]),t._v(" "),a("p",[a("img",{attrs:{src:r(771),alt:"Pixhawk 4 connectors"}})]),t._v(" "),a("div",{staticClass:"custom-block warning"},[a("p",{staticClass:"custom-block-title"},[t._v("WARNING")]),t._v(" "),a("p",[t._v("The "),a("strong",[t._v("DSM/SBUS RC")]),t._v(" and "),a("strong",[t._v("PPM RC")]),t._v(" ports are for RC receivers only.\nThese are powered! NEVER connect any servos, power supplies or batteries (or to any connected receiver).")])]),t._v(" "),a("h2",{attrs:{id:"pinouts"}},[a("a",{staticClass:"header-anchor",attrs:{href:"#pinouts"}},[t._v("#")]),t._v(" Pinouts")]),t._v(" "),a("p",[t._v("Download "),a("em",[t._v("Pixhawk 4")]),t._v(" pinouts from "),a("a",{attrs:{href:"http://www.holybro.com/manual/Pixhawk4-Pinouts.pdf",target:"_blank",rel:"noopener noreferrer"}},[t._v("here"),a("OutboundLink")],1),t._v(".")]),t._v(" "),a("div",{staticClass:"custom-block note"},[a("p",{staticClass:"custom-block-title"},[t._v("Note")]),t._v(" "),a("p",[t._v("Connector pin assignments are left to right (i.e. Pin 1 is the left-most pin).\nThe exception is the "),a("a",{attrs:{href:"#debug_port"}},[t._v("debug port(s)")]),t._v(" (pin 1 is the right-most, as shown below).")])]),t._v(" "),a("h2",{attrs:{id:"serial-port-mapping"}},[a("a",{staticClass:"header-anchor",attrs:{href:"#serial-port-mapping"}},[t._v("#")]),t._v(" Serial Port Mapping")]),t._v(" "),a("table",[a("thead",[a("tr",[a("th",[t._v("UART")]),t._v(" "),a("th",[t._v("Device")]),t._v(" "),a("th",[t._v("Port")])])]),t._v(" "),a("tbody",[a("tr",[a("td",[t._v("UART1")]),t._v(" "),a("td",[t._v("/dev/ttyS0")]),t._v(" "),a("td",[t._v("GPS")])]),t._v(" "),a("tr",[a("td",[t._v("USART2")]),t._v(" "),a("td",[t._v("/dev/ttyS1")]),t._v(" "),a("td",[t._v("TELEM1 (flow control)")])]),t._v(" "),a("tr",[a("td",[t._v("USART3")]),t._v(" "),a("td",[t._v("/dev/ttyS2")]),t._v(" "),a("td",[t._v("TELEM2 (flow control)")])]),t._v(" "),a("tr",[a("td",[t._v("UART4")]),t._v(" "),a("td",[t._v("/dev/ttyS3")]),t._v(" "),a("td",[t._v("TELEM4")])]),t._v(" "),a("tr",[a("td",[t._v("USART6")]),t._v(" "),a("td",[t._v("/dev/ttyS4")]),t._v(" "),a("td",[t._v("RC SBUS")])]),t._v(" "),a("tr",[a("td",[t._v("UART7")]),t._v(" "),a("td",[t._v("/dev/ttyS5")]),t._v(" "),a("td",[t._v("Debug Console")])]),t._v(" "),a("tr",[a("td",[t._v("UART8")]),t._v(" "),a("td",[t._v("/dev/ttyS6")]),t._v(" "),a("td",[t._v("PX4IO")])])])]),t._v(" "),a("h2",{attrs:{id:"dimensions"}},[a("a",{staticClass:"header-anchor",attrs:{href:"#dimensions"}},[t._v("#")]),t._v(" Dimensions")]),t._v(" "),a("p",[a("img",{attrs:{src:r(772),alt:"Pixhawk 4 Dimensions"}})]),t._v(" "),a("h2",{attrs:{id:"voltage-ratings"}},[a("a",{staticClass:"header-anchor",attrs:{href:"#voltage-ratings"}},[t._v("#")]),t._v(" Voltage Ratings")]),t._v(" "),a("p",[a("em",[t._v("Pixhawk 4")]),t._v(" can be triple-redundant on the power supply if three power sources are supplied. The three power rails are: "),a("strong",[t._v("POWER1")]),t._v(", "),a("strong",[t._v("POWER2")]),t._v(" and "),a("strong",[t._v("USB")]),t._v(".")]),t._v(" "),a("div",{staticClass:"custom-block note"},[a("p",{staticClass:"custom-block-title"},[t._v("Note")]),t._v(" "),a("p",[t._v("The output power rails "),a("strong",[t._v("FMU PWM OUT")]),t._v(" and "),a("strong",[t._v("I/O PWM OUT")]),t._v(" (0V to 36V) do not power the flight controller board (and are not powered by it).\nYou must supply power to one of "),a("strong",[t._v("POWER1")]),t._v(", "),a("strong",[t._v("POWER2")]),t._v(" or "),a("strong",[t._v("USB")]),t._v(" or the board will be unpowered.")])]),t._v(" "),a("p",[a("strong",[t._v("Normal Operation Maximum Ratings")])]),t._v(" "),a("p",[t._v("Under these conditions all power sources will be used in this order to power the system:")]),t._v(" "),a("ol",[a("li",[a("strong",[t._v("POWER1")]),t._v(" and "),a("strong",[t._v("POWER2")]),t._v(" inputs (4.9V to 5.5V)")]),t._v(" "),a("li",[a("strong",[t._v("USB")]),t._v(" input (4.75V to 5.25V)")])]),t._v(" "),a("p",[a("strong",[t._v("Absolute Maximum Ratings")])]),t._v(" "),a("p",[t._v("Under these conditions the system will not draw any power (will not be operational), but will remain intact.")]),t._v(" "),a("ol",[a("li",[a("strong",[t._v("POWER1")]),t._v(" and "),a("strong",[t._v("POWER2")]),t._v(" inputs (operational range 4.1V to 5.7V, 0V to 10V undamaged)")]),t._v(" "),a("li",[a("strong",[t._v("USB")]),t._v(" input (operational range 4.1V to 5.7V, 0V to 6V undamaged)")]),t._v(" "),a("li",[t._v("Servo input: VDD_SERVO pin of "),a("strong",[t._v("FMU PWM OUT")]),t._v(" and "),a("strong",[t._v("I/O PWM OUT")]),t._v(" (0V to 42V undamaged)")])]),t._v(" "),a("h2",{attrs:{id:"assembly-setup"}},[a("a",{staticClass:"header-anchor",attrs:{href:"#assembly-setup"}},[t._v("#")]),t._v(" Assembly/Setup")]),t._v(" "),a("p",[t._v("The "),a("RouterLink",{attrs:{to:"/en/assembly/quick_start_pixhawk4.html"}},[t._v("Pixhawk 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see:")]),t._v(" "),a("ul",[a("li",[a("RouterLink",{attrs:{to:"/en/debug/system_console.html#pixhawk_debug_port"}},[t._v("System Console > Pixhawk Debug Port")])],1)]),t._v(" "),a("h2",{attrs:{id:"peripherals"}},[a("a",{staticClass:"header-anchor",attrs:{href:"#peripherals"}},[t._v("#")]),t._v(" Peripherals")]),t._v(" "),a("ul",[a("li",[a("a",{attrs:{href:"https://store-drotek.com/848-sdp3x-airspeed-sensor-kit-sdp33.html",target:"_blank",rel:"noopener noreferrer"}},[t._v("Digital Airspeed Sensor"),a("OutboundLink")],1)]),t._v(" "),a("li",[a("RouterLink",{attrs:{to:"/en/telemetry/"}},[t._v("Telemetry Radio Modules")])],1),t._v(" "),a("li",[a("RouterLink",{attrs:{to:"/en/sensor/rangefinders.html"}},[t._v("Rangefinders/Distance sensors")])],1)]),t._v(" "),a("h2",{attrs:{id:"supported-platforms-airframes"}},[a("a",{staticClass:"header-anchor",attrs:{href:"#supported-platforms-airframes"}},[t._v("#")]),t._v(" Supported Platforms / Airframes")]),t._v(" "),a("p",[t._v("Any multicopter / 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