text: (window.webpackJsonp=window.webpackJsonp||[]).push([[131],{1677:function(t,e,r){"use strict";r.r(e);var _=r(19),v=Object(_.a)({},(function(){var t=this,e=t.$createElement,_=t._self._c||e;return _("ContentSlotsDistributor",{attrs:{"slot-key":t.$parent.slotKey}},[_("h1",{attrs:{id:"_3dr-pixhawk-1-flight-controller-discontinued"}},[_("a",{staticClass:"header-anchor",attrs:{href:"#_3dr-pixhawk-1-flight-controller-discontinued"}},[t._v("#")]),t._v(" 3DR Pixhawk 1 Flight Controller (Discontinued)")]),t._v(" "),_("div",{staticClass:"custom-block warning"},[_("p",{staticClass:"custom-block-title"},[t._v("WARNING")]),t._v(" "),_("p",[t._v("This flight controller has been "),_("RouterLink",{attrs:{to:"/en/flight_controller/autopilot_experimental.html"}},[t._v("discontinued")]),t._v(" and is no longer commercially available.\nYou can use the "),_("RouterLink",{attrs:{to:"/en/flight_controller/mro_pixhawk.html"}},[t._v("mRo Pixhawk")]),t._v(" as a drop-in replacement.")],1)]),t._v(" "),_("div",{staticClass:"custom-block warning"},[_("p",{staticClass:"custom-block-title"},[t._v("WARNING")]),t._v(" "),_("p",[t._v("PX4 does not manufacture this (or any) autopilot.\nContact the manufacturer for support or compliance issues.")])]),t._v(" "),_("p",[t._v("The "),_("em",[t._v("3DR Pixhawk"),_("sup",[t._v("®")]),t._v(" 1")]),t._v(" autopilot is a popular general purpose flight controller based on the "),_("a",{attrs:{href:"https://pixhawk.org/",target:"_blank",rel:"noopener noreferrer"}},[t._v("Pixhawk-project"),_("OutboundLink")],1),t._v(" "),_("strong",[t._v("FMUv2")]),t._v(" open hardware design (it combines the functionality of the PX4FMU + PX4IO).\nIt runs PX4 on the "),_("a",{attrs:{href:"https://nuttx.apache.org/",target:"_blank",rel:"noopener noreferrer"}},[t._v("NuttX"),_("OutboundLink")],1),t._v(" OS.")]),t._v(" "),_("p",[_("img",{attrs:{src:r(785),alt:"Pixhawk Image"}})]),t._v(" "),_("p",[t._v("Assembly/setup instructions for use with PX4 are provided here: "),_("RouterLink",{attrs:{to:"/en/assembly/quick_start_pixhawk.html"}},[t._v("Pixhawk Wiring Quickstart")])],1),t._v(" "),_("h2",{attrs:{id:"key-features"}},[_("a",{staticClass:"header-anchor",attrs:{href:"#key-features"}},[t._v("#")]),t._v(" Key Features")]),t._v(" "),_("ul",[_("li",[t._v("Main System-on-Chip: "),_("a",{attrs:{href:"http://www.st.com/web/en/catalog/mmc/FM141/SC1169/SS1577/LN1789",target:"_blank",rel:"noopener noreferrer"}},[t._v("STM32F427"),_("OutboundLink")],1),t._v(" "),_("ul",[_("li",[t._v("CPU: 180 MHz ARM"),_("sup",[t._v("®")]),t._v(" Cortex"),_("sup",[t._v("®")]),t._v(" M4 with single-precision FPU")]),t._v(" "),_("li",[t._v("RAM: 256 KB SRAM (L1)")])])]),t._v(" "),_("li",[t._v("Failsafe System-on-Chip: STM32F100\n"),_("ul",[_("li",[t._v("CPU: 24 MHz ARM Cortex M3")]),t._v(" "),_("li",[t._v("RAM: 8 KB SRAM")])])]),t._v(" "),_("li",[t._v("Wifi: ESP8266 external")]),t._v(" "),_("li",[t._v("GPS: u-blox"),_("sup",[t._v("®")]),t._v(" 7/8 (Hobbyking"),_("sup",[t._v("®")]),t._v(") / u-blox 6 (3D Robotics)")]),t._v(" "),_("li",[t._v("Optical flow: "),_("RouterLink",{attrs:{to:"/en/sensor/px4flow.html"}},[t._v("PX4 Flow unit")])],1),t._v(" "),_("li",[t._v("Redundant power supply inputs and automatic failover")]),t._v(" "),_("li",[t._v("External safety switch")]),t._v(" "),_("li",[t._v("Multicolor LED main visual indicator")]),t._v(" "),_("li",[t._v("High-power, multi-tone piezo audio indicator")]),t._v(" "),_("li",[t._v("microSD card for high-rate logging over extended periods of time")])]),t._v(" "),_("p",[t._v("Connectivity")]),t._v(" "),_("ul",[_("li",[t._v("1x I2C")]),t._v(" "),_("li",[t._v("1x CAN (2x optional)")]),t._v(" "),_("li",[t._v("1x ADC")]),t._v(" "),_("li",[t._v("4x UART (2x with flow control)")]),t._v(" "),_("li",[t._v("1x Console")]),t._v(" "),_("li",[t._v("8x PWM with manual override")]),t._v(" "),_("li",[t._v("6x PWM / GPIO / PWM input")]),t._v(" "),_("li",[t._v("S.BUS / PPM / Spektrum input")]),t._v(" "),_("li",[t._v("S.BUS output")])]),t._v(" "),_("h1",{attrs:{id:"where-to-buy"}},[_("a",{staticClass:"header-anchor",attrs:{href:"#where-to-buy"}},[t._v("#")]),t._v(" Where to Buy")]),t._v(" "),_("p",[t._v("Originally manufactured by 3DR® this board was the original standard microcontroller platform for PX4®. 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"),_("td",[t._v("SPI_EXT_MISO")]),t._v(" "),_("td",[t._v("+3.3")])]),t._v(" "),_("tr",[_("td",[t._v("4 (blk)")]),t._v(" "),_("td",[t._v("SPI_EXT_MOSI")]),t._v(" "),_("td",[t._v("+3.3")])]),t._v(" "),_("tr",[_("td",[t._v("5 (blk)")]),t._v(" "),_("td",[t._v("!SPI_EXT_NSS")]),t._v(" "),_("td",[t._v("+3.3")])]),t._v(" "),_("tr",[_("td",[t._v("6 (blk)")]),t._v(" "),_("td",[t._v("!GPIO_EXT")]),t._v(" "),_("td",[t._v("+3.3")])]),t._v(" "),_("tr",[_("td",[t._v("7 (blk)")]),t._v(" "),_("td",[t._v("GND")]),t._v(" "),_("td",[t._v("GND")])])])]),t._v(" "),_("h4",{attrs:{id:"power"}},[_("a",{staticClass:"header-anchor",attrs:{href:"#power"}},[t._v("#")]),t._v(" POWER")]),t._v(" "),_("table",[_("thead",[_("tr",[_("th",[t._v("Pin")]),t._v(" "),_("th",[t._v("Signal")]),t._v(" "),_("th",[t._v("Volt")])])]),t._v(" "),_("tbody",[_("tr",[_("td",[t._v("1 (red)")]),t._v(" "),_("td",[t._v("VCC")]),t._v(" "),_("td",[t._v("+5V")])]),t._v(" "),_("tr",[_("td",[t._v("2 (blk)")]),t._v(" "),_("td",[t._v("VCC")]),t._v(" "),_("td",[t._v("+5V")])]),t._v(" "),_("tr",[_("td",[t._v("3 (blk)")]),t._v(" "),_("td",[t._v("CURRENT")]),t._v(" "),_("td",[t._v("+3.3V")])]),t._v(" "),_("tr",[_("td",[t._v("4 (blk)")]),t._v(" "),_("td",[t._v("VOLTAGE")]),t._v(" "),_("td",[t._v("+3.3V")])]),t._v(" "),_("tr",[_("td",[t._v("5 (blk)")]),t._v(" "),_("td",[t._v("GND")]),t._v(" "),_("td",[t._v("GND")])]),t._v(" "),_("tr",[_("td",[t._v("6 (blk)")]),t._v(" "),_("td",[t._v("GND")]),t._v(" "),_("td",[t._v("GND")])])])]),t._v(" "),_("h4",{attrs:{id:"switch"}},[_("a",{staticClass:"header-anchor",attrs:{href:"#switch"}},[t._v("#")]),t._v(" SWITCH")]),t._v(" "),_("table",[_("thead",[_("tr",[_("th",[t._v("Pin")]),t._v(" "),_("th",[t._v("Signal")]),t._v(" "),_("th",[t._v("Volt")])])]),t._v(" "),_("tbody",[_("tr",[_("td",[t._v("1 (red)")]),t._v(" "),_("td",[t._v("VCC")]),t._v(" "),_("td",[t._v("+3.3V")])]),t._v(" "),_("tr",[_("td",[t._v("2 (blk)")]),t._v(" "),_("td",[t._v("!IO_LED_SAFETY")]),t._v(" "),_("td",[t._v("GND")])]),t._v(" "),_("tr",[_("td",[t._v("3 (blk)")]),t._v(" "),_("td",[t._v("SAFETY")]),t._v(" "),_("td",[t._v("GND")])])])]),t._v(" "),_("h2",{attrs:{id:"serial-port-mapping"}},[_("a",{staticClass:"header-anchor",attrs:{href:"#serial-port-mapping"}},[t._v("#")]),t._v(" Serial Port Mapping")]),t._v(" "),_("table",[_("thead",[_("tr",[_("th",[t._v("UART")]),t._v(" "),_("th",[t._v("Device")]),t._v(" "),_("th",[t._v("Port")])])]),t._v(" "),_("tbody",[_("tr",[_("td",[t._v("UART1")]),t._v(" "),_("td",[t._v("/dev/ttyS0")]),t._v(" "),_("td",[t._v("IO debug")])]),t._v(" "),_("tr",[_("td",[t._v("USART2")]),t._v(" "),_("td",[t._v("/dev/ttyS1")]),t._v(" "),_("td",[t._v("TELEM1 (flow control)")])]),t._v(" "),_("tr",[_("td",[t._v("USART3")]),t._v(" "),_("td",[t._v("/dev/ttyS2")]),t._v(" "),_("td",[t._v("TELEM2 (flow control)")])]),t._v(" "),_("tr",[_("td",[t._v("UART4")]),t._v(" "),_("td"),t._v(" "),_("td")]),t._v(" "),_("tr",[_("td",[t._v("UART7")]),t._v(" "),_("td",[t._v("CONSOLE")]),t._v(" "),_("td")]),t._v(" "),_("tr",[_("td",[t._v("UART8")]),t._v(" "),_("td",[t._v("SERIAL4")]),t._v(" "),_("td")])])]),t._v(" "),_("h2",{attrs:{id:"debug-ports"}},[_("a",{staticClass:"header-anchor",attrs:{href:"#debug-ports"}},[t._v("#")]),t._v(" Debug Ports")]),t._v(" "),_("h3",{attrs:{id:"console-port"}},[_("a",{staticClass:"header-anchor",attrs:{href:"#console-port"}},[t._v("#")]),t._v(" Console Port")]),t._v(" "),_("p",[t._v("The "),_("RouterLink",{attrs:{to:"/en/debug/system_console.html"}},[t._v("PX4 System Console")]),t._v(" runs on the port labeled "),_("a",{attrs:{href:"#serial-4-5-port"}},[t._v("SERIAL4/5")]),t._v(".")],1),t._v(" "),_("div",{staticClass:"custom-block tip"},[_("p",{staticClass:"custom-block-title"},[t._v("TIP")]),t._v(" "),_("p",[t._v("A convenient way to connect to the console is to use a "),_("a",{attrs:{href:"https://kb.zubax.com/display/MAINKB/Dronecode+Probe+documentation",target:"_blank",rel:"noopener noreferrer"}},[t._v("Dronecode probe"),_("OutboundLink")],1),t._v(", as it comes with connectors that can be used with several different Pixhawk devices.\nSimply connect the 6-pos DF13 1:1 cable on the "),_("a",{attrs:{href:"https://kb.zubax.com/display/MAINKB/Dronecode+Probe+documentation",target:"_blank",rel:"noopener noreferrer"}},[t._v("Dronecode probe"),_("OutboundLink")],1),t._v(" to the Pixhawk "),_("code",[t._v("SERIAL4/5")]),t._v(" port.")]),t._v(" "),_("p",[_("img",{attrs:{src:r(787),alt:"Dronecode probe"}})])]),t._v(" "),_("p",[t._v("The pinout is standard serial pinout, designed to connect to a "),_("a",{attrs:{href:"https://www.digikey.com/product-detail/en/TTL-232R-3V3/768-1015-ND/1836393",target:"_blank",rel:"noopener noreferrer"}},[t._v("3.3V FTDI"),_("OutboundLink")],1),t._v(" cable (5V tolerant).")]),t._v(" "),_("table",[_("thead",[_("tr",[_("th",[t._v("3DR Pixhawk 1")]),t._v(" "),_("th"),t._v(" "),_("th",[t._v("FTDI")])])]),t._v(" "),_("tbody",[_("tr",[_("td",[t._v("1")]),t._v(" "),_("td",[t._v("+5V (red)")]),t._v(" "),_("td")]),t._v(" "),_("tr",[_("td",[t._v("2")]),t._v(" "),_("td",[t._v("S4 Tx")]),t._v(" "),_("td")]),t._v(" "),_("tr",[_("td",[t._v("3")]),t._v(" "),_("td",[t._v("S4 Rx")]),t._v(" "),_("td")]),t._v(" "),_("tr",[_("td",[t._v("4")]),t._v(" "),_("td",[t._v("S5 Tx")]),t._v(" "),_("td",[t._v("5")])]),t._v(" "),_("tr",[_("td",[t._v("5")]),t._v(" "),_("td",[t._v("S5 Rx")]),t._v(" "),_("td",[t._v("4")])]),t._v(" "),_("tr",[_("td",[t._v("6")]),t._v(" "),_("td",[t._v("GND")]),t._v(" "),_("td",[t._v("1")])])])]),t._v(" "),_("p",[t._v("The wiring for an FTDI cable to a 6-pos DF13 1:1 connector is shown in the figure below.")]),t._v(" "),_("p",[_("img",{attrs:{src:r(788),alt:"Console Connector"}})]),t._v(" "),_("p",[t._v("The complete wiring is shown below.")]),t._v(" "),_("p",[_("img",{attrs:{src:r(789),alt:"Console Debug"}})]),t._v(" "),_("div",{staticClass:"custom-block note"},[_("p",{staticClass:"custom-block-title"},[t._v("Note")]),t._v(" "),_("p",[t._v("For information on how to "),_("em",[t._v("use")]),t._v(" the console see: "),_("RouterLink",{attrs:{to:"/en/debug/system_console.html"}},[t._v("System Console")]),t._v(".")],1)]),t._v(" "),_("h3",{attrs:{id:"swd-port"}},[_("a",{staticClass:"header-anchor",attrs:{href:"#swd-port"}},[t._v("#")]),t._v(" SWD Port")]),t._v(" "),_("p",[t._v("The "),_("RouterLink",{attrs:{to:"/en/debug/swd_debug.html"}},[t._v("SWD")]),t._v(" (JTAG) ports are hidden under the cover (which must be removed for hardware debugging).\nThere are separate ports for FMU and IO, as highlighted below.")],1),t._v(" "),_("p",[_("img",{attrs:{src:r(790),alt:"Pixhawk SWD"}})]),t._v(" "),_("p",[t._v("The ports are ARM 10-pin JTAG connectors, which you will probably have to solder.\nThe pinout for the ports is shown below (the square markers in the corners above indicates pin 1).")]),t._v(" "),_("p",[_("img",{attrs:{src:r(791),alt:"ARM 10-Pin connector pinout"}})]),t._v(" "),_("div",{staticClass:"custom-block note"},[_("p",{staticClass:"custom-block-title"},[t._v("Note")]),t._v(" "),_("p",[t._v("All Pixhawk FMUv2 boards have a similar SWD port.")])]),t._v(" "),_("h2",{attrs:{id:"building-firmware"}},[_("a",{staticClass:"header-anchor",attrs:{href:"#building-firmware"}},[t._v("#")]),t._v(" Building Firmware")]),t._v(" "),_("div",{staticClass:"custom-block tip"},[_("p",{staticClass:"custom-block-title"},[t._v("TIP")]),t._v(" "),_("p",[t._v("Most users will not need to build this firmware!\nIt is pre-built and automatically installed by "),_("em",[t._v("QGroundControl")]),t._v(" when appropriate hardware is connected.")])]),t._v(" "),_("p",[t._v("To "),_("RouterLink",{attrs:{to:"/en/dev_setup/building_px4.html"}},[t._v("build PX4")]),t._v(" for this target:")],1),t._v(" "),_("div",{staticClass:"language- extra-class"},[_("pre",{pre:!0,attrs:{class:"language-text"}},[_("code",[t._v("make px4_fmu-v2_default\n")])])]),_("h2",{attrs:{id:"parts-housings"}},[_("a",{staticClass:"header-anchor",attrs:{href:"#parts-housings"}},[t._v("#")]),t._v(" Parts / Housings")]),t._v(" "),_("ul",[_("li",[_("strong",[t._v("ARM MINI JTAG (J6)")]),t._v(": 1.27 mm 10pos header (SHROUDED), for Black Magic Probe: FCI 20021521-00010D4LF ("),_("a",{attrs:{href:"http://www.distrelec.ch/en/Pin-header-SMT-straight-for-IDC-1-27-mm-10-Minitek-127-Pin-header-for-IDC%2C-shrouded%2C-straight%2C-SMT-FCI-20021521-00010D4LF/p/14352308?q=20021521-00010D4LF&page=1&origPos=1&origPageSize=10&simi=99.4",target:"_blank",rel:"noopener noreferrer"}},[t._v("Distrelec"),_("OutboundLink")],1),t._v(", "),_("a",{attrs:{href:"https://www.digikey.com/product-detail/en/20021521-00010T1LF/609-4054-ND/2414951",target:"_blank",rel:"noopener noreferrer"}},[t._v("Digi-Key"),_("OutboundLink")],1),t._v(",) or Samtec FTSH-105-01-F-DV-K (untested) or Harwin M50-3600542 ("),_("a",{attrs:{href:"https://www.digikey.com/products/en?keywords=M50-3600542",target:"_blank",rel:"noopener noreferrer"}},[t._v("Digikey"),_("OutboundLink")],1),t._v(" or "),_("a",{attrs:{href:"http://ch.mouser.com/ProductDetail/Harwin/M50-3600542/?qs=%2fha2pyFadujTt%2fIEz8xdzrYzHAVUnbxh8Ki%252bwWYPNeEa09PYvTkIOQ%3d%3d",target:"_blank",rel:"noopener noreferrer"}},[t._v("Mouser"),_("OutboundLink")],1),t._v(")\n"),_("ul",[_("li",[t._v("JTAG Adapter Option #1: "),_("a",{attrs:{href:"https://1bitsquared.com/products/black-magic-probe",target:"_blank",rel:"noopener noreferrer"}},[t._v("BlackMagic Probe"),_("OutboundLink")],1),t._v(". Note, may come without cables (check with manufacturer).\nIf so, you will need the "),_("strong",[t._v("Samtec FFSD-05-D-06.00-01-N")]),t._v(" cable ("),_("a",{attrs:{href:"http://www.samtec.com/suddenservice/samples/samples.aspx",target:"_blank",rel:"noopener noreferrer"}},[t._v("Samtec sample service"),_("OutboundLink")],1),t._v(" or "),_("a",{attrs:{href:"http://www.digikey.com/product-search/en?x=0&y=0&lang=en&site=us&KeyWords=FFSD-05-D-06.00-01-N",target:"_blank",rel:"noopener noreferrer"}},[t._v("Digi-Key Link: SAM8218-ND"),_("OutboundLink")],1),t._v(") or "),_("a",{attrs:{href:"http://www.tag-connect.com/CORTEXRIBBON10",target:"_blank",rel:"noopener noreferrer"}},[t._v("Tag Connect Ribbon"),_("OutboundLink")],1),t._v(" and a Mini-USB cable.")]),t._v(" "),_("li",[t._v("JTAG Adapter Option #2: "),_("a",{attrs:{href:"https://www.digikey.com/product-detail/en/stmicroelectronics/ST-LINK-V2/497-10484-ND",target:"_blank",rel:"noopener noreferrer"}},[t._v("Digi-Key Link: ST-LINK/V2"),_("OutboundLink")],1),t._v(" / "),_("a",{attrs:{href:"http://www.st.com/internet/com/TECHNICAL_RESOURCES/TECHNICAL_LITERATURE/USER_MANUAL/DM00026748.pdf",target:"_blank",rel:"noopener noreferrer"}},[t._v("ST USER MANUAL"),_("OutboundLink")],1),t._v(", needs an ARM Mini JTAG to 20pos adapter: "),_("a",{attrs:{href:"https://www.digikey.com/products/en?keywords=MDL-ADA2",target:"_blank",rel:"noopener noreferrer"}},[t._v("Digi-Key Link: 726-1193-ND"),_("OutboundLink")],1)]),t._v(" "),_("li",[t._v("JTAG Adapter Option #3: "),_("a",{attrs:{href:"http://www.sparkfun.com/products/8278",target:"_blank",rel:"noopener noreferrer"}},[t._v("SparkFun Link: Olimex ARM-TINY"),_("OutboundLink")],1),t._v(" or any other OpenOCD-compatible ARM Cortex JTAG adapter, needs an ARM Mini JTAG to 20pos adapter: "),_("a",{attrs:{href:"https://www.digikey.com/products/en?keywords=MDL-ADA2",target:"_blank",rel:"noopener noreferrer"}},[t._v("Digi-Key Link: 726-1193-ND"),_("OutboundLink")],1)])])]),t._v(" "),_("li",[_("strong",[t._v("USARTs")]),t._v(": Hirose DF13 6 pos ("),_("a",{attrs:{href:"https://www.digikey.com/products/en?keywords=H3371-ND",target:"_blank",rel:"noopener noreferrer"}},[t._v("Digi-Key Link: DF13A-6P-1.25H(20)"),_("OutboundLink")],1),t._v(")\n"),_("ul",[_("li",[t._v("Mates: Hirose DF13 6 pos housing ("),_("a",{attrs:{href:"https://www.digikey.com/products/en?keywords=H2182-ND",target:"_blank",rel:"noopener noreferrer"}},[t._v("Digi-Key Link: Hirose DF13-6S-1.25C"),_("OutboundLink")],1),t._v(")")])])]),t._v(" "),_("li",[_("strong",[t._v("I2C and CAN")]),t._v(": Hirose DF13 4 pos ("),_("a",{attrs:{href:"https://www.digikey.com/products/en?keywords=H3369-ND",target:"_blank",rel:"noopener noreferrer"}},[t._v("Digi-Key Link: DF13A-4P-1.25H(20)"),_("OutboundLink")],1),t._v(")")])]),t._v(" "),_("h2",{attrs:{id:"supported-platforms-airframes"}},[_("a",{staticClass:"header-anchor",attrs:{href:"#supported-platforms-airframes"}},[t._v("#")]),t._v(" Supported Platforms / Airframes")]),t._v(" "),_("p",[t._v("Any multicopter / airplane / rover or boat that can be controlled with normal RC servos or Futaba S-Bus servos.")])])}),[],!1,null,null,null);e.default=v.exports},785:function(t,e,r){t.exports=r.p+"assets/img/hardware-pixhawk.06e032bf.png"},786:function(t,e,r){t.exports=r.p+"assets/img/pixhawk_connectors.85df793a.png"},787:function(t,e,r){t.exports=r.p+"assets/img/dronecode_probe.faf5435f.jpg"},788:function(t,e,r){t.exports=r.p+"assets/img/console_connector.711a897a.jpg"},789:function(t,e,r){t.exports=r.p+"assets/img/console_debug.a86c2eb3.jpg"},790:function(t,e,r){t.exports=r.p+"assets/img/pixhawk_swd.7b8e982f.jpg"},791:function(t,e,r){t.exports=r.p+"assets/img/arm_10pin_jtag_connector_pinout.c193a85a.jpg"}}]);