|Date de l'affichage||15-févr.-17|
|Adresse||Montreal, QC H4R2G7
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Goals for this iteration of the platform are:
• An integrated, single board / box flight controller.
• Sufficient I/O for most applications without expansion.
• Improved ease-of-use.
• Improved sensor performance.
• Improved microcontroller resources.
• Increased reliability and reduced integration complexity.
• Reduced BoM and manufacturing costs. Key design points
• All-in-one design with integrated FMU and IO and lots of I/O ports.
• Improved manufacturability, designed for simpler mounting and case design.
• Separate power supplies for FMU and IO (see power architecture section).
• On-board battery backup for FMU and IO SRAM / RTC.
• Integration with the standard power brick. Pixhawk FMU Main Board
• STM32F427; flash 2MiB, RAM 256KiB.
• On-board 16KiB SPI FRAM
• MPU9250 or ICM 20xxx integrated accelerometer / gyro.
• MS5611 Baro
• All sensors connected via SPI.
• Micro SD interfaces via SDIO. Vibration Damped IMU board
• LSM303D integrated accelerometer / magnetometer.
• L3GD20 gyro.
• MPU9250 or ICM 20xxx Gyro / Accel
• MS5611 Baro
• All sensors connected via SPI. I/O ports
• 14 PWM servo outputs (8 from IO, 6 from FMU).
• R/C inputs for CPPM, Spektrum / DSM and S.Bus.
• Analogue / PWM RSSI input.
• S.Bus servo output.
• 5 general purpose serial ports, 2 with full flow control
• Two I2C ports
• One SPI port (un-buffered, for short cables only not recommended for use).
• Two CAN Bus interface.
• 3 Analogue inputs
• High-powered piezo buzzer driver. (On expansion board)
• High-power RGB LED. (I2C driver compatible Connected externally only)
• Safety switch / LED.
Pixhawk V2 has eight PWM outputs that are connected to IO and can be controlled by IO directly via R/C input and on-board mixing even if FMU is not active (failsafe / manual mode). Multiple update rates can be supported on these outputs in three groups; one group of four and two groups of two. PWM signal rates up to 400Hz can be supported. Six PWM outputs are connected to FMU and feature reduced update latency. These outputs cannot be controlled by IO in failsafe conditions. Multiple update rates can be supported on these outputs in two groups; one group of four and one group of two. PWM signal rates up to 400Hz can be supported. All PWM outputs are ESD-protected, and they are designed to survive accidental misconnection of servos without being damaged. The servo drivers are specified to drive a 50pF servo input load over 2m of 26AWG servo cable. PWM outputs can also be configured as individual GPIOs. Note that these are not high-power outputs – the PWM drivers are designed for driving servos and similar logic inputs only, not relays or LEDs.
Pixhawk V2 Differs from Pixhawk V1 in that all peripherals are connected through a single 80 pin connector, and the peripherals are connected via a baseboard that can be customised for each application
The initial base board features separate connectors for each of the peripheral ports (with a few exceptions. Five serial ports are provided. Serial 1 and 2 feature full flow control. Serial 3 is recommended as the GPS port and has the safety button and (possibly the safety led) as well as I2C for the compass and RGB LED. Serial 4 also has I2C, but on the second bus, thus allowing two compass modules to be connected at the same time. Serial 5 is available as a header underneath the board. Serial ports are 3.3V CMOS logic level, 5V tolerant, buffered and ESD-protected. The SPI port is not buffered; it should only be used with short cable runs. Signals are 3.3V CMOS logic level, but 5V tolerant. SPI is only available to test points on the first base board, along with a CS and INT pin. Analogue 1-3 are protected against inputs up to 12V, but scaled for 0-3.3V inputs. The RSSI input supports either PWM or analogue RSSI. This input shares a pin with S.Bus output - only one may be connected at a time. CPPM, S.Bus and DSM/Spektrum input are unchanged from Pixhawk The CAN ports are standard CAN-Bus; termination for one end of the bus is fixed onboard. Drivers are on-board the FMU The piezo port will drive most piezo elements in the 5 - 300nF range at up to 35V. it is intended to be extremely loud, with the achievable sound pressure level limited by the sensitivity of the piezo element being driven. I2C is direct driven, un-buffered, and pulled up to 3.3v on-board the FMU
All flight sensors in Pixhawk V2 are connected via SPI. On-board we have an MPU9250 or ICM 20xxx Gyro and Accelerometer, and a MS5611 used in SPI mode. On the vibration isolated board, we have the L3GD20 gyro, the LSM303D Accelerometer and magnetometer, another MPU9250 or ICM 20xxx, and MS5611 also used in SPI mode. The board mounted sensors run on a separate bus to the Vibration isolated sensors. Data-ready signals from all sensors are NO LONGER ROUTED
The Pixhawk V2 removes the power management from the FMU, it instead grows on the Pixhawk power by removing the Servo rail as the primary source of backup power for the FMU, and it leaves it there for the IO last chance failsafe. The supply of 3.3v remain the same as Pixhawk 1 • Split digital and analogue power domains for FMU and sensors. • Backup power for IO in the case of FMU power supply failure.
Power management module (separate from the FMU)
Key features of the Pixhawk V2 power architecture: • Single, independent 5V supply for the flight controller and peripherals. • Integration with 2 power bricks or compatible alternative, including current and voltage sensing. • Low power consumption and heat dissipation. • Power distribution and monitoring for peripheral devices. • Protection against common wiring faults; under/over-voltage protection, overcurrent protection, thermal protection. • Brown-out resilience and detection
. FMU and IO Power Supplies
Both FMU and IO operate at 3.3V, and each has its own private dual-channel regulator. As in Pixhawk v1, each regulator features a power-on reset output tied to the regulator’s internal power-up and drop-out sequencing.
Power may be supplied to Pixhawk V2 via USB, via the power brick port, or the second brick port. Each power source is protected against reverse-polarity connections and back-powering from other sources. The FMU + IO power budget is 250mA, including all LEDs and the Piezo buzzer. Peripheral power is limited to 2.5A total.
List of features changed on Pixhawk 2 from Pixhawk 1
three IMU's o these consist of 2 on the IMU board o 1 fixed to the FMU
two onboard compasses o these consist of 1 on the IMU board o 1 Fixed on the FMU two Baros o 1 on the IMU (this Baro will most likely be removed in favour of a dedicated external Barometer. o 1 Fixed on the FMU
Dual Power input o This removes the option of redundancy from the Servo rail and replaces it with a dedicated second power plug o A dedicated power protection Zener diode and Fet have been added to protect from voltages over 5.6v being applied to Aux input 2 o This is only on the "PRO" carrier board mini carrier board still draws the backup from the servo rail.
only 2 FMU PWM out channels on the Mini carrier board. (10 PWM total)
Dual external I2C o This allows for connection of items to either I2C port, potentially allowing two GPS / Mag units to be plugged in without the Mags conflicting.
GPS_Puck with Safety and LED o a single unit GPS / Mag / RGB / Safety button
Pixhawk 2 Hardware ID o I physical Hardware ID has been added to the I/O of the Pixhawk 2. This needs software to identify the board for debug purposes. This is the only nonsoftware method to tell the two Pixhawks apart.
Breathing LED on cube. Comes on solid with default settings on the pin. Is connected to a PWM pin, and as such could be made to Breath,
Power monitoring pins are now routed to the I/O chip, these will allow for the logging of power events during an inflight reboot. o Brick OK, Backup OK, and FMU 3.3V are all connected to a digital pin on the I/O via a 220Ohm resister.