text: (window.webpackJsonp=window.webpackJsonp||[]).push([[283],{2455:function(t,e,r){"use strict";r.r(e);var a=r(18),i=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-mini"}},[a("a",{staticClass:"header-anchor",attrs:{href:"#pixhawk-4-mini"}},[t._v("#")]),t._v(" Pixhawk 4 Mini")]),t._v(" "),a("p",[a("em",[t._v("Pixhawk"),a("sup",[t._v("®")]),t._v(" 4 Mini")]),t._v(" 自动驾驶仪是为想办法利用 "),a("em",[t._v("Pixhawk 4")]),t._v(" 的力量，但是使用的是较小的无人机的工程师和爱好者而设计的。 "),a("em",[t._v("Pixhawk 4 Mini")]),t._v(" 使用 "),a("em",[t._v("Pixhawk 4")]),t._v(" 相同的 FMU 处理器与储存资源，同时砍掉了通常不会使用的接口。 这使得 "),a("em",[t._v("Pixhawk 4 Mini")]),t._v(" 足够小，可以装到 250mm 的穿越机上。")]),t._v(" "),a("p",[a("em",[t._v("Pixhawk 4 Mini")]),t._v(" 由 Holybro"),a("sup",[t._v("®")]),t._v(" 和 Auterion"),a("sup",[t._v("®")]),t._v(" 合作设计开发。 它基于 "),a("a",{attrs:{href:"https://pixhawk.org/",target:"_blank",rel:"noopener noreferrer"}},[t._v("Pixhawk"),a("OutboundLink")],1),t._v(" "),a("strong",[t._v("FMUv5")]),t._v(" 设计标准，并为 PX4 飞行控制软件优化。 This allows the "),a("em",[t._v("Pixhawk 4 Mini")]),t._v(" to be small enough to fit in a 250mm racer drone.")]),t._v(" "),a("p",[a("em",[t._v("Pixhawk 4 Mini")]),t._v(" was designed and developed in collaboration with Holybro"),a("sup",[t._v("®")]),t._v(" and Auterion"),a("sup",[t._v("®")]),t._v(". It is based on the "),a("a",{attrs:{href:"https://pixhawk.org/",target:"_blank",rel:"noopener noreferrer"}},[t._v("Pixhawk"),a("OutboundLink")],1),t._v(" "),a("strong",[t._v("FMUv5")]),t._v(" design standard and is optimized to run PX4 flight control software.")]),t._v(" "),a("p",[a("img",{attrs:{src:r(347),alt:"Pixhawk4 mini"}})]),t._v(" "),a("div",{staticClass:"custom-block tip"},[a("p",{staticClass:"custom-block-title"},[t._v("提示")]),t._v(" "),a("p",[t._v("This autopilot is "),a("RouterLink",{attrs:{to:"/zh/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:"概览"}},[a("a",{staticClass:"header-anchor",attrs:{href:"#概览"}},[t._v("#")]),t._v(" 概览")]),t._v(" "),a("ul",[a("li",[t._v("主 FMU 处理器：STM32F765\n"),a("ul",[a("li",[t._v("32 位 Arm® Cortex®-M7，216MHz，2MB 储存，512KB RAM")])])]),t._v(" "),a("li",[t._v("内置传感器：\n"),a("ul",[a("li",[t._v("加速度计 / 陀螺仪：ICM-20689")]),t._v(" "),a("li",[t._v("加速度计 / 陀螺仪：BMI055")]),t._v(" "),a("li",[t._v("磁力计：IST8310")]),t._v(" "),a("li",[t._v("气压计：MS5611")])])]),t._v(" "),a("li",[t._v("GPS：ublox Neo-M8N GPS/GLONASS 接收器；集成磁力计 IST8310")]),t._v(" "),a("li",[t._v("接口：\n"),a("ul",[a("li",[t._v("8 路 PWM 输出")]),t._v(" "),a("li",[t._v("FMU 上有 4 路专用 PWM/Capture 输入")]),t._v(" "),a("li",[t._v("用于 CPPM 的专用遥控输入")]),t._v(" "),a("li",[t._v("用于 Spektrum / DSM 与 有模拟 / PWM RSSI 的 S.Bus 的专用遥控输入")]),t._v(" "),a("li",[t._v("3个通用串行口")]),t._v(" "),a("li",[t._v("2 路 I2C 总线")]),t._v(" "),a("li",[t._v("3 路 SPI 总线")]),t._v(" "),a("li",[t._v("1 路 CAN 总线用于 CAN 电调")]),t._v(" "),a("li",[t._v("电池电压 / 电流模拟输入口")]),t._v(" "),a("li",[t._v("2 个模拟输入接口")])])]),t._v(" "),a("li",[t._v("电源系统：\n"),a("ul",[a("li",[t._v("Power 接口输入：4.75~5.5V")]),t._v(" "),a("li",[t._v("USB 电源输入：4.75~5.25V")]),t._v(" "),a("li",[t._v("舵机轨道输入：0~24V")]),t._v(" "),a("li",[t._v("最大电流感应：120A")])])]),t._v(" "),a("li",[t._v("重量和尺寸:\n"),a("ul",[a("li",[t._v("Weight: 37.2g")]),t._v(" "),a("li",[t._v("Dimensions: 38x55x15.5mm")])])]),t._v(" "),a("li",[t._v("其它特性:\n"),a("ul",[a("li",[t._v("工作温度：-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/pixhawk4mini/pixhawk4mini_technical_data_sheet.pdf",target:"_blank",rel:"noopener noreferrer"}},[a("em",[t._v("Pixhawk 4 Mini")]),t._v(" Technical Data Sheet"),a("OutboundLink")],1),t._v(".")]),t._v(" "),a("h2",{attrs:{id:"采购"}},[a("a",{staticClass:"header-anchor",attrs:{href:"#采购"}},[t._v("#")]),t._v(" 采购")]),t._v(" "),a("p",[a("a",{attrs:{href:"https://github.com/PX4/px4_user_guide/raw/master/assets/flight_controller/pixhawk4mini/pixhawk4mini_pinouts.pdf",target:"_blank",rel:"noopener noreferrer"}},[t._v("在此下载"),a("OutboundLink")],1),t._v(" "),a("em",[t._v("Pixhawk 4 Mini")]),t._v(" 的 pinout。")]),t._v(" "),a("h2",{attrs:{id:"接口"}},[a("a",{staticClass:"header-anchor",attrs:{href:"#接口"}},[t._v("#")]),t._v(" 接口")]),t._v(" "),a("p",[a("img",{attrs:{src:r(776),alt:"Pixhawk 4 Mini 尺寸"}})]),t._v(" "),a("div",{staticClass:"custom-block warning"},[a("p",{staticClass:"custom-block-title"},[t._v("注意")]),t._v(" "),a("p",[t._v("The "),a("strong",[t._v("RC IN")]),t._v(" and "),a("strong",[t._v("PPM")]),t._v(" ports are for RC receivers only. These are powered! NEVER connect any servos, power supplies or batteries (or to any connected receiver).")])]),t._v(" "),a("h2",{attrs:{id:"针脚定义"}},[a("a",{staticClass:"header-anchor",attrs:{href:"#针脚定义"}},[t._v("#")]),t._v(" 针脚定义")]),t._v(" "),a("p",[t._v("Download "),a("em",[t._v("Pixhawk 4 Mini")]),t._v(" pinouts from "),a("a",{attrs:{href:"https://github.com/PX4/px4_user_guide/raw/master/assets/flight_controller/pixhawk4mini/pixhawk4mini_pinouts.pdf",target:"_blank",rel:"noopener noreferrer"}},[t._v("here"),a("OutboundLink")],1),t._v(".")]),t._v(" "),a("h2",{attrs:{id:"尺寸"}},[a("a",{staticClass:"header-anchor",attrs:{href:"#尺寸"}},[t._v("#")]),t._v(" 尺寸")]),t._v(" "),a("p",[a("img",{attrs:{src:r(777),alt:"Pixhawk 4 Mini Dimensions"}})]),t._v(" "),a("h2",{attrs:{id:"额定电压"}},[a("a",{staticClass:"header-anchor",attrs:{href:"#额定电压"}},[t._v("#")]),t._v(" 额定电压")]),t._v(" "),a("p",[a("em",[t._v("Pixhawk 4 Mini")]),t._v(" can have power supply redundancy — if two power sources are supplied. The power rails are: "),a("strong",[t._v("POWER")]),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("注解")]),t._v(" "),a("p",[t._v("The output power rail of "),a("strong",[t._v("MAIN OUT")]),t._v(" does not power the flight controller board (and is not powered by it). You must "),a("RouterLink",{attrs:{to:"/zh/assembly/quick_start_pixhawk4_mini.html#power"}},[t._v("supply power")]),t._v(" to one of "),a("strong",[t._v("POWER")]),t._v(" or "),a("strong",[t._v("USB")]),t._v(" or the board will be unpowered.")],1)]),t._v(" "),a("p",[a("strong",[t._v("Normal Operation Maximum Ratings")])]),t._v(" "),a("p",[t._v("为此目标 "),a("RouterLink",{attrs:{to:"/zh/dev_setup/building_px4.html"}},[t._v("编译 PX4")]),t._v("：")],1),t._v(" "),a("ol",[a("li",[a("strong",[t._v("POWER")]),t._v("（4.75V 至 5.5V）")]),t._v(" "),a("li",[a("strong",[t._v("USB")]),t._v(" 输入电压（4.75 v 至 5.25 v）")])]),t._v(" "),a("p",[a("strong",[t._v("Absolute Maximum Ratings")])]),t._v(" "),a("p",[t._v("Under these conditions the system will remain intact.")]),t._v(" "),a("ol",[a("li",[a("strong",[t._v("POWER")]),t._v(" 输入（0V 至 6V 不会损坏）")]),t._v(" "),a("li",[a("strong",[t._v("USB")]),t._v(" 输入（0V 至 6V 不会损坏）")]),t._v(" "),a("li",[t._v("舵机输入："),a("strong",[t._v("MAIN OUT")]),t._v(" 的 VDD_SERVO 针脚 （0V 至 24V 不会损坏）")])]),t._v(" "),a("h2",{attrs:{id:"组装-设置"}},[a("a",{staticClass:"header-anchor",attrs:{href:"#组装-设置"}},[t._v("#")]),t._v(" 组装 / 设置")]),t._v(" "),a("p",[t._v("The "),a("RouterLink",{attrs:{to:"/zh/assembly/quick_start_pixhawk4_mini.html"}},[a("em",[t._v("Pixhawk 4 Mini")]),t._v(" Wiring Quick Start")]),t._v(" provides instructions on how to assemble required/important peripherals including GPS, Power Management Board, etc.")],1),t._v(" "),a("h2",{attrs:{id:"编译固件"}},[a("a",{staticClass:"header-anchor",attrs:{href:"#编译固件"}},[t._v("#")]),t._v(" 编译固件")]),t._v(" "),a("p",[t._v("电机和舵机按照 "),a("RouterLink",{attrs:{to:"/zh/airframes/airframe_reference.html"}},[t._v("机架参考")]),t._v(" 中为您的飞机指定的顺序连接至 "),a("strong",[t._v("MAIN OUT")]),t._v(" 端口。 本参考列出了所有支持的空中和地面机架的接口和电机/舵机的映射关系（如果你的机架没有在参考列表里，你可以使用对应类型的“通用（generic）”机架）。\n:::")],1),t._v(" "),a("p",[t._v("To "),a("RouterLink",{attrs:{to:"/zh/dev_setup/building_px4.html"}},[t._v("build PX4")]),t._v(" for this target:")],1),t._v(" "),a("div",{staticClass:"language- extra-class"},[a("pre",[a("code",[t._v("make px4_fmu-v5_default\n")])])]),a("h2",{attrs:{id:"调试接口"}},[a("a",{staticClass:"header-anchor",attrs:{href:"#调试接口"}},[t._v("#")]),t._v(" 调试接口")]),t._v(" "),a("p",[t._v("The "),a("RouterLink",{attrs:{to:"/zh/debug/system_console.html"}},[t._v("PX4 System Console")]),t._v(" and "),a("RouterLink",{attrs:{to:"/zh/debug/swd_debug.html"}},[t._v("SWD interface")]),t._v(" run on the "),a("strong",[t._v("FMU Debug")]),t._v(" port. In order to access these ports, the user must remove the "),a("em",[t._v("Pixhawk 4 Mini")]),t._v(" casing.")],1),t._v(" "),a("p",[a("img",{attrs:{src:r(778),alt:"Pixhawk 4 Mini FMU Debug"}})]),t._v(" "),a("p",[t._v("The port has a standard serial pinout and can be connected to a standard FTDI cable (3.3V, but it's 5V tolerant) or a "),a("a",{attrs:{href:"https://kb.zubax.com/display/MAINKB/Dronecode+Probe+documentation",target:"_blank",rel:"noopener noreferrer"}},[t._v("Dronecode probe"),a("OutboundLink")],1),t._v(". The pinout uses the standard "),a("a",{attrs:{href:"https://pixhawk.org/pixhawk-connector-standard/#dronecode_debug",target:"_blank",rel:"noopener noreferrer"}},[t._v("Pixhawk debug connector"),a("OutboundLink")],1),t._v(" pinout. Please refer to the "),a("RouterLink",{attrs:{to:"/zh/debug/system_console.html"}},[t._v("wiring")]),t._v(" page for details of how to wire up this port.")],1),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("设备")]),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("TX is RC input from SBUS_RC connector")])]),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("Not connected (no PX4IO)")])])])]),t._v(" "),a("h2",{attrs:{id:"外部设备"}},[a("a",{staticClass:"header-anchor",attrs:{href:"#外部设备"}},[t._v("#")]),t._v(" 外部设备")]),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("数字空速传感器"),a("OutboundLink")],1)]),t._v(" "),a("li",[a("RouterLink",{attrs:{to:"/zh/telemetry/"}},[t._v("数传电台模块")])],1),t._v(" "),a("li",[a("RouterLink",{attrs:{to:"/zh/sensor/rangefinders.html"}},[t._v("测距仪/距离传感器")])],1)]),t._v(" "),a("h2",{attrs:{id:"支持的平台"}},[a("a",{staticClass:"header-anchor",attrs:{href:"#支持的平台"}},[t._v("#")]),t._v(" 支持的平台")]),t._v(" "),a("p",[t._v("Motors and servos are connected to the "),a("strong",[t._v("MAIN OUT")]),t._v(" ports in the order specified for your vehicle in the "),a("RouterLink",{attrs:{to:"/zh/airframes/airframe_reference.html"}},[t._v("Airframe Reference")]),t._v('. This reference lists the output port to motor/servo mapping for all supported air and ground frames (if your frame is not listed in the reference then use a "generic" airframe of the correct type).')],1),t._v(" "),a("div",{staticClass:"custom-block warning"},[a("p",{staticClass:"custom-block-title"},[t._v("注意")]),t._v(" "),a("p",[a("em",[t._v("Pixhawk 4 Mini")]),t._v(' does not have AUX ports. The board cannot be used with frames that require more than 8 ports or which use AUX ports for motors or control surfaces. It can be used for airframes that use AUX for non-essential peripherals (e.g. "feed-through of RC AUX1 channel").')])]),t._v(" "),a("h2",{attrs:{id:"更多信息"}},[a("a",{staticClass:"header-anchor",attrs:{href:"#更多信息"}},[t._v("#")]),t._v(" 更多信息")]),t._v(" "),a("ul",[a("li",[a("a",{attrs:{href:"https://github.com/PX4/px4_user_guide/raw/master/assets/flight_controller/pixhawk4mini/pixhawk4mini_technical_data_sheet.pdf",target:"_blank",rel:"noopener noreferrer"}},[a("em",[t._v("Pixhawk 4 Mini")]),t._v(" 技术数据表"),a("OutboundLink")],1)]),t._v(" "),a("li",[a("a",{attrs:{href:"https://docs.google.com/spreadsheets/d/1-n0__BYDedQrc_2NHqBenG1DNepAgnHpSGglke-QQwY/edit#gid=912976165",target:"_blank",rel:"noopener noreferrer"}},[t._v("FMUv5 参考设计 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XLZxG8D8Vten9HLNrGMs5bRVjtjs1vLjFa7rcxq55Ir3GytYllMZ3Cw3d4zrgp7WGX7wPM9T697YSi2l6p7euaobH/McXQlF+N6Y0NvNFbFp8VXxWuq8J9BU7XGHuv+preLN7Ocqfu5cT2rqTOCge12F9vPPu/ZuXfKhZ5rgzx2u7F7ylvz985W2a7bLiUbmHjqooiksZUlQ5noXWZzl4lG6xZ7/VacF0d12s1c5PTgYDtBMWFdIXjz5XteXVE9yOPiz06Z8vKBhYddbLtTNMWmsjLaRBstJqMqG2eRpGS71Ya3aJMJ/v0jDBN0sbXh/ZCOt5Dt+brZdavqBn3NoW7+g71sE2ov6q2WzoPJNjrZZjqIZUyWpIO0awPKQh88SDOWHfps8P7/bQtNtttvrJ/TDNn6McN+GPz/7tl1e+/vBnIl7MBM9V8l2s7ZcwBYvnZzaLK9dGDj7oZ1tX4Uhn77eOFf3/OLA2jQQMUyRdRXqZKOXwLLhmxMAGBOT4NffgvZvt7zDgDnv/7uu++WPvIK56XeDd7r4xXurf+BZa90byNs/WM7Zd8bvjVjkPQ3/m0dYesf21sfWelbdw+SvvLS5bE/lZYEQchy3vRsM0EQKr0tRygIKrZPTRq25eUngywm/HrSsC2t3BCc8fb+Oj9uJTfWudgag5EtOBJtyQ8PQrYP/Ff1j79S155R2X7xCAhORUXnng4+tv6WD+KY0K6ALbHpwea3K+7b9Lqfem3+lmBlm5efEpevBBvbT69P7fHz2ds9a/cHK9ukipSC9qDryxb+6ldv+qlPon4erGyD774sbBj/DmbVvknC1qkVhDgHJciAaIRsP+9TKDea5vCPW01bBpQNlAMyLrhK2A2T7WyvInIXBst2zgMJbUZ1HcpSWXGU8BthTNAZMUvrkXBwMdnGe+CybDmBO0K202wYZCKMAqdPpj8U08W42Y7sp+gIWxhtLRhkbYu6+WHWxUS7KyzkEoADJbf4z3ZRledHVl26mleJk+JPEJIDRUW42frxHCNV1o8taElKQz9bO4uA9KGMowGwbZdwx9XsnXa1CCbhxwRz891RtyPBoVNCHGzjdIcU4zh3wu97hyOIreZMn7SSMlb9dcpsu/tHgZ05rKbPvcXSrnzvqa2jlTHtk53tiShtdIl2eavfbMOR46451iet2GhUQWVb+7J1ovelZRn9owgtUxTxsex6WH6unHVIo0SgvGWXTwPQfHm5LH8MOq7i4vLyRZMvJvh1z5sEh12WqN7tjsbGYlMccLFNVunIS6dDtktLqw4hdek3QLb64rRD6mRmozk+DrLdivJ21cK0vJrVhw5VgR3xh9TykUmThK3QFNh8Qrad5e897dnURqYKMUvcWVaNqsRDrCah1s4yWFxiAfTbq3o2GvebDnZ1CWRbhLJ4bnVj0kFUzpRu46yMmpY92W6j/WS7rJZjczwjLjmRSSnJanD7be+NGqtJtbA1+LlMcQ1fVMDonQX2MvTfupKsTIoM2W5BWaUMm+KwV+4QxWmJXH0cLt5Gr94QmmwblsRYa9wBN9fEMnkRDR6XptV/GiXklbOahxjG9YBFDrsa+q2zeTrbuQyE17A1J47Gdm5SQ4qZra3vROE6nGcecg08MkznQpPtIm1WylZ1DBA+DfZspmOeEVnfvmyehavQIuUl27fCeOsE7RY+I73CwhWADyu5yFyUd5zmRAlbNcfzlem4/CxTqPot2DR9qcu/DPCugdd7heK+4wQ9744P+hbMFpzDd8jIQke780xAZQucB91J9pSOEGUb/tEaXZS8KSsbTy50JvTmJExLda21nhVzm0CuGm7F4/Cmo2IDHOiFJ2WbWAsesJ3NUfPOnQGpLqsmV/lpCaE4V+MahqXZd2niXY6XEdhOSg7ycWQebHC2oID2zNwmRwS0j9acruxGwnYIti2ewZY9wA69dYlwtJWwHYIt+LBNRcvlN5PJrlFmC46aMNryjwm2UWeLB0x8ShOhNoQS0XddR04HzBY0lmpSOwi/oRSVKwjpylB+u55AGrOYMJuQGQW2QfF/PwhbojEcJxARtsHNNrOHaMSav9gn27V3+PHCDNGQum3GzOW+2C78ciW5RxiZGt758nHgiy24tOI733ueNOvh6fmHN2/e/OW2hcA32+YF7z752n6iYem1Pzz5wpN393lbLow05DETYUvYErZEhC1hS9gSEbaELWFLRNhOrP4iwABbKGto2mD8nAAAAABJRU5ErkJggg=="}}]);