Pixhawk 4 Mini

The Pixhawk® 4 Mini autopilot is designed for engineers and hobbyists who are looking to tap into the power of Pixhawk 4 but are working with smaller drones. Pixhawk 4 Mini takes the FMU processor and memory resources from the Pixhawk 4 while eliminating interfaces that are normally unused. This allows the Pixhawk 4 Mini to be small enough to fit in a 250mm racer drone.

Pixhawk 4 Mini was designed and developed in collaboration with Holybro® and Auterion®. It is based on the Pixhawk FMUv5 design standard and is optimized to run PX4 flight control software.

Quick Summary

  • 主处理器:STM32F765
    • 32 Bit Arm® Cortex®-M7, 216MHz, 2MB memory, 512KB RAM
  • 内置传感器:
    • Accel/Gyro: ICM-20689
    • Accel/Gyro: BMI055
    • 指南针:IST8310
    • 气压计: MS5611
  • GPS: ublox Neo-M8N GPS/GLONASS receiver; integrated magnetometer IST8310
  • Interfaces:
    • 8 PWM outputs
    • 4 dedicated PWM/Capture inputs on FMU
    • CPPM专用的RC输入
    • Dedicated R/C input for Spektrum / DSM and S.Bus with analog / PWM RSSI input
    • 3 general purpose serial ports
    • 2 I2C ports
    • 3 SPI buses
    • 1 CANBuses for CAN ESC
    • Analog inputs for voltage / current of battery
    • 2 additional analog input
  • Power System:
    • Power Brick Input: 4.75~5.5V
    • USB Power Input: 4.75~5.25V
    • Servo Rail Input: 0~24V
    • Max current sensing: 120A
  • Weight and Dimensions:
    • Dimensions: 38x55x15.5mm
  • 其它特性:
    • Operating temperature: -40 ~ 85°c

Additional information can be found in the Pixhawk 4 Mini Technical Data Sheet.

采购

Order from Holybro.

Interfaces

Pixhawk 4 Mini interfaces

The RC IN and PPM ports are for RC receivers only. These are powered! NEVER connect any servos, power supplies or batteries (or to any connected receiver).

Pinouts

Download Pixhawk 4 Mini pinouts from here.

Dimensions

Pixhawk 4 Mini Dimensions

额定电压

Pixhawk 4 Mini can have power supply redundancy — if two power sources are supplied. The power rails are: POWER and USB.

The output power rail of MAIN OUT does not power the flight controller board (and is not powered by it). You must supply power to one of POWER or USB or the board will be unpowered.

正常运行最大额定值

在这些条件下,所有电源将按此顺序用于为系统供电:

  1. POWER (4.75V to 5.5V)
  2. USB 输入电压 (4.75 v 至 5.25 v)

Absolute Maximum Ratings

Under these conditions the system will remain intact.

  1. POWER input (0V to 6V undamaged)
  2. USB input (0V to 6V undamaged)
  3. Servo input: VDD_SERVO pin of MAIN OUT (0V to 24V undamaged)

Assembly/Setup

The Pixhawk 4 Mini Wiring Quick Start provides instructions on how to assemble required/important peripherals including GPS, Power Management Board, etc.

编译固件

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 make px4_fmu-v5_default

Debug调试端口

The system's serial console and SWD interface run on the FMU Debug port. In order to access these ports, the user must remove the Pixhawk 4 Mini casing.

Pixhawk 4 Mini FMU Debug

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 Dronecode probe. The pinout uses the standard Dronecode debug connector pinout. Please refer to the wiring page for details of how to wire up this port.

外设

Supported Platforms

Motors and servos are connected to the MAIN OUT ports in the order specified for your vehicle in the Airframe Reference. 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).

Pixhawk 4 Mini 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").

更多信息

© PX4 Dev Team. License: CC BY 4.0            Updated: 2018-12-14 23:19:57

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