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|
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# Pixhawk4 Flight Controller |
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|
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The Pixhawk4 flight controller is sold by [Holybro](http://www.holybro.com/product/pixhawk-4) |
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|
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## Features |
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|
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- STM32F765 microcontroller |
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- Two IMUs: ICM20689 and BMI055 |
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- MS5611 SPI barometer |
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- builtin I2C IST8310 magnetometer |
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- microSD card slot |
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- 6 UARTs plus USB |
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- 14 PWM outputs |
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- Four I2C and two CAN ports |
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- External Buzzer |
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- external safety Switch |
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- voltage monitoring for servo rail and Vcc |
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- two dedicated power input ports for external power bricks |
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|
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## Pinout |
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|
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 |
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|
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## UART Mapping |
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|
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- SERIAL0 -> USB |
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- SERIAL1 -> UART2 (Telem1) |
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- SERIAL2 -> UART3 (Telem2) |
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- SERIAL3 -> UART1 (GPS) |
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- SERIAL4 -> UART4 (GPS2) |
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- SERIAL5 -> UART6 (spare) |
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- SERIAL6 -> UART7 (spare, debug) |
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|
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The Telem1 and Telem2 ports have RTS/CTS pins, the other UARTs do not |
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have RTS/CTS. |
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|
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The UART7 connector is labelled debug, but is available as a general |
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purpose UART with ArduPilot. |
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|
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### TELEM1, TELEM2 ports |
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|
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<table border="1" class="docutils"> |
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<tbody> |
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<tr> |
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<th>Pin </th> |
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<th>Signal </th> |
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<th>Volt </th> |
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</tr> |
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<tr> |
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<td>1 (red)</td> |
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<td>VCC</td> |
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<td>+5V</td> |
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</tr> |
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<tr> |
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<td>2 (blk)</td> |
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<td>TX (OUT)</td> |
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<td>+3.3V</td> |
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</tr> |
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<tr> |
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<td>3 (blk)</td> |
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<td>RX (IN)</td> |
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<td>+3.3V</td> |
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</tr> |
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<tr> |
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<td>4 (blk)</td> |
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<td>CTS</td> |
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<td>+3.3V</td> |
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</tr> |
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<tr> |
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<td>5 (blk)</td> |
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<td>RTS</td> |
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<td>+3.3V</td> |
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</tr> |
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<tr> |
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<td>6 (blk)</td> |
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<td>GND</td> |
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<td>GND</td> |
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</tr> |
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</tbody> |
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</table> |
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|
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|
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### GPS port |
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|
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<table border="1" class="docutils"> |
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<tbody> |
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<tr> |
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<th>Pin </th> |
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<th>Signal </th> |
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<th>Volt </th> |
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</tr> |
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<tr> |
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<td>1 (red)</td> |
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<td>VCC</td> |
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<td>+5V</td> |
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</tr> |
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<tr> |
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<td>2 (blk)</td> |
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<td>SERIAL3 TX (OUT)</td> |
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<td>+3.3V</td> |
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</tr> |
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<tr> |
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<td>3 (blk)</td> |
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<td>SERIAL3 RX (IN)</td> |
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<td>+3.3V</td> |
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</tr> |
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<tr> |
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<td>4 (blk)</td> |
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<td>SCL</td> |
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<td>+3.3 (pullups)</td> |
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</tr> |
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<tr> |
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<td>5 (blk)</td> |
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<td>SDA</td> |
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<td>+3.3 (pullups)</td> |
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</tr> |
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<tr> |
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<td>6 (blk)</td> |
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<td>SafetyButton</td> |
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<td>+3.3V</td> |
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</tr> |
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<tr> |
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<td>7 (blk)</td> |
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<td>SafetyLED</td> |
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<td>+3.3V</td> |
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</tr> |
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<tr> |
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<td>8 (blk)</td> |
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<td>VDD 3.3 (OUT)</td> |
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<td>+3.3V</td> |
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</tr> |
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<tr> |
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<td>9 (blk)</td> |
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<td>Buzzer</td> |
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<td>+3.3V</td> |
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</tr> |
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<tr> |
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<td>10 (blk)</td> |
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<td>GND</td> |
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<td>GND</td> |
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</tr> |
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</tbody> |
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</table> |
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|
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## RC Input |
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|
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RC input is configured on the port marked DSM/SBUS RC. This connector |
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supports all RC protocols. Two cables are available for this port. To |
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use software binding of Spektrum satellite receivers you need to use |
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the Spektrum satellite cable. |
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|
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## PWM Output |
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|
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The Pixhawk4 supports up to 16 PWM outputs. First first 8 outputs (labelled |
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"MAIN") are controlled by a dedicated STM32F100 IO controller. These 8 |
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outputs support all PWM output formats, but not DShot. |
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|
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The remaining 8 outputs (labelled AUX1 to AUX8) are the "auxillary" |
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outputs. These are directly attached to the STM32F765 and support all |
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PWM protocols. The first 6 of the auxillary PWM outputs support DShot. |
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|
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The 8 main PWM outputs are in 3 groups: |
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|
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- PWM 1 and 2 in group1 |
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- PWM 3 and 4 in group2 |
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- PWM 5, 6, 7 and 8 in group3 |
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|
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The 8 auxillary PWM outputs are in 2 groups: |
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|
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- PWM 1, 2, 3 and 4 in group1 |
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- PWM 5 and 6 in group2 |
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- PWM 7 and 8 in group3 |
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|
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Channels within the same group need to use the same output rate. If |
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any channel in a group uses DShot then all channels in the group need |
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to use DShot. |
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|
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## Battery Monitoring |
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|
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The board has two dedicated power monitor ports on 6 pin |
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connectors. The correct battery setting parameters are dependent on |
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the type of power brick which is connected. |
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|
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## Compass |
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|
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The Pixhawk4 has a builtin IST8310 compass. Due to potential |
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interference the board is usually used with an external I2C compass as |
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part of a GPS/Compass combination. |
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|
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## GPIOs |
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|
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The 6 PWM ports can be used as GPIOs (relays, buttons, RPM etc). To |
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use them you need to limit the number of these pins that is used for |
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PWM by setting the BRD_PWM_COUNT to a number less than 6. For example |
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if you set BRD_PWM_COUNT to 4 then PWM5 and PWM6 will be available for |
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use as GPIOs. |
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|
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The numbering of the GPIOs for PIN variables in ArduPilot is: |
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|
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- AUX1 50 |
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- AUX2 51 |
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- AUX3 52 |
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- AUX4 53 |
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- AUX5 54 |
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- AUX6 55 |
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|
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## Analog inputs |
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|
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The Pixhawk4 has 7 analog inputs |
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|
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- ADC Pin0 -> Battery Voltage |
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- ADC Pin1 -> Battery Current Sensor |
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- ADC Pin2 -> Battery Voltage 2 |
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- ADC Pin3 -> Battery Current Sensor 2 |
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- ADC Pin4 -> ADC port pin 2 |
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- ADC Pin14 -> ADC port pin 3 |
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- ADC Pin10 -> ADC 5V Sense |
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- ADC Pin11 -> ADC 3.3V Sense |
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- ADC Pin103 -> RSSI voltage monitoring |
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|
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## I2C Buses |
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|
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- the internal I2C port is bus 0 in ArduPilot (I2C3 in hardware) |
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- the port labelled I2CA is bus 3 in ArduPilot (I2C4 in hardware) |
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- the port labelled I2CB is bus 2 in ArduPilot (I2c2 in hardware) |
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- the port labelled GPS is bus 1 in ArduPilot (I2c1 in hardware) |
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|
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### Pinout for I2CA |
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|
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<table border="1" class="docutils"> |
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<tbody> |
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<tr> |
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<th>Pin</th> |
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<th>Signal</th> |
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<th>Volt</th> |
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</tr> |
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<tr> |
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<td>1 (red)</td> |
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<td>VCC</td> |
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<td>+5V</td> |
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</tr> |
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<tr> |
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<td>2 (blk)</td> |
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<td>SCL</td> |
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<td>+3.3 (pullups)</td> |
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</tr> |
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<tr> |
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<td>3 (blk)</td> |
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<td>SDA</td> |
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<td>+3.3 (pullups)</td> |
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</tr> |
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<tr> |
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<td>4 (blk)</td> |
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<td>GND</td> |
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<td>GND</td> |
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</tr> |
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</tbody> |
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</table> |
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|
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### Pinout for I2CB+UART |
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|
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<table border="1" class="docutils"> |
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<tbody> |
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<tr> |
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<th>Pin</th> |
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<th>Signal</th> |
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<th>Volt</th> |
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</tr> |
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<tr> |
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<td>1 (red)</td> |
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<td>VCC</td> |
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<td>+5V</td> |
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</tr> |
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<tr> |
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<td>2 (blk)</td> |
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<td>SERIAL4 TX (OUT)</td> |
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<td>+3.3V</td> |
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</tr> |
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<tr> |
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<td>3 (blk)</td> |
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<td>SERIAL4 RX (IN)</td> |
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<td>+3.3V</td> |
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</tr> |
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<tr> |
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<td>4 (blk)</td> |
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<td>SCL</td> |
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<td>+3.3 (pullups)</td> |
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</tr> |
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<tr> |
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<td>5 (blk)</td> |
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<td>SDA</td> |
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<td>+3.3 (pullups)</td> |
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</tr> |
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<tr> |
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<td>6 (blk)</td> |
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<td>GND</td> |
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<td>GND</td> |
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</tr> |
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</tbody> |
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</table> |
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|
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## CAN |
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|
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The Pixhawk4 has two independent CAN buses, with the following pinouts. |
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|
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### CAN1&2 |
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|
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<table border="1" class="docutils"> |
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<tbody> |
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<tr> |
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<th>Pin</th> |
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<th>Signal</th> |
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<th>Volt</th> |
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</tr> |
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<tr> |
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<td>1 (red)</td> |
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<td>VCC</td> |
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<td>+5V</td> |
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</tr> |
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<tr> |
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<td>2 (blk)</td> |
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<td>CAN_H</td> |
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<td>+12V</td> |
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</tr> |
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<tr> |
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<td>3 (blk)</td> |
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<td>CAN_L</td> |
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<td>+12V</td> |
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</tr> |
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<tr> |
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<td>4 (blk)</td> |
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<td>GND</td> |
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<td>GND</td> |
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</tr> |
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</tbody> |
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</table> |
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|
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## Debug |
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|
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The Pixhawk4 supports SWD debugging on the debug port |
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|
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<table border="1" class="docutils"> |
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<tbody> |
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<tr> |
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<th>Pin </th> |
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<th>Signal </th> |
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<th>Volt </th> |
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</tr> |
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<tr> |
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<td>1 (red)</td> |
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<td>FMU VDD 3.3</td> |
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<td>+3.3V</td> |
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</tr> |
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<tr> |
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<td>2 (blk)</td> |
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<td>UART TX Debug (OUT)</td> |
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<td>+3.3V</td> |
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</tr> |
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<tr> |
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<td>3 (blk)</td> |
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<td>UART RX Debug (IN)</td> |
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<td>+3.3V</td> |
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</tr> |
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<tr> |
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<td>4 (blk)</td> |
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<td>SWDIO</td> |
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<td>+3.3V</td> |
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</tr> |
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<tr> |
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<td>5 (blk)</td> |
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<td>SWCLK</td> |
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<td>+3.3V</td> |
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</tr> |
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<tr> |
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<td>6 (blk)</td> |
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<td>GND</td> |
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<td>GND</td> |
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</tr> |
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</tbody> |
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</table> |
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|
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|
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## Loading Firmware |
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|
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The board comes pre-installed with an ArduPilot compatible bootloader, |
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allowing the loading of *.apj firmware files with any ArduPilot |
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compatible ground station. |
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|
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## Acknowledgements |
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|
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Thanks to |
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[PX4](https://docs.px4.io/en/flight_controller/pixhawk4.html) for |
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images used under the [CC-BY 4.0 license](https://creativecommons.org/licenses/by/4.0/) |
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|
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# Pixhawk4 does not have hw flow control on radios |
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#NOTE: 2020/8/26 18:26:32 Frame : PID 1.4.4 |
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ACRO_BAL_PITCH 1 |
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ACRO_BAL_ROLL 1 |
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ACRO_RP_EXPO 0.3 |
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ACRO_RP_P 4.5 |
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ACRO_THR_MID 0 |
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ACRO_TRAINER 2 |
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ACRO_Y_EXPO 0 |
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ACRO_YAW_P 3 |
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ARMING_CHECK 1 |
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ARMING_DELAY 5 |
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ARMING_MIS_ITEMS 0 |
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ARMING_RUDDER 2 |
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ARMING_VPERC 90 |
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ATC_ACCEL_P_MAX 110000 |
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ATC_ACCEL_R_MAX 110000 |
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ATC_ACCEL_Y_MAX 27000 |
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ATC_ANG_LIM_TC 1 |
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ATC_ANG_PIT_P 4.5 |
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ATC_ANG_RLL_P 4.5 |
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ATC_ANG_YAW_P 6 |
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ATC_ANGLE_BOOST 1 |
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ATC_INPUT_TC 0.15 |
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ATC_RAT_PIT_D 0.0036 |
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ATC_RAT_PIT_FF 0 |
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ATC_RAT_PIT_FLTD 20 |
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ATC_RAT_PIT_FLTE 0 |
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ATC_RAT_PIT_FLTT 20 |
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ATC_RAT_PIT_I 0.19 |
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ATC_RAT_PIT_IMAX 0.5 |
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ATC_RAT_PIT_P 0.22 |
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ATC_RAT_RLL_D 0.0036 |
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ATC_RAT_RLL_FF 0 |
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ATC_RAT_RLL_FLTD 20 |
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ATC_RAT_RLL_FLTE 0 |
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ATC_RAT_RLL_FLTT 20 |
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ATC_RAT_RLL_I 0.19 |
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ATC_RAT_RLL_IMAX 0.5 |
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ATC_RAT_RLL_P 0.22 |
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ATC_RAT_YAW_D 0 |
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ATC_RAT_YAW_FF 0 |
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ATC_RAT_YAW_FLTD 0 |
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ATC_RAT_YAW_FLTE 2.5 |
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ATC_RAT_YAW_FLTT 20 |
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ATC_RAT_YAW_I 0.04 |
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ATC_RAT_YAW_IMAX 0.5 |
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ATC_RAT_YAW_P 0.45 |
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ATC_RATE_FF_ENAB 1 |
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ATC_RATE_P_MAX 0 |
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ATC_RATE_R_MAX 0 |
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ATC_RATE_Y_MAX 0 |
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ATC_SLEW_YAW 6000 |
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ATC_THR_MIX_MAN 0.1 |
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ATC_THR_MIX_MAX 0.5 |
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ATC_THR_MIX_MIN 0.1 |
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AVOID_ANGLE_MAX 1000 |
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AVOID_BEHAVE 0 |
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AVOID_DIST_MAX 1 |
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AVOID_ENABLE 0 |
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AVOID_MARGIN 7 |
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BATT_AMP_OFFSET 0 |
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BATT_AMP_PERVLT 20.7 |
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BATT_ARM_MAH 0 |
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BATT_ARM_VOLT 0 |
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BATT_CAPACITY 16000 |
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BATT_CRT_MAH 0 |
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BATT_CRT_VOLT 0 |
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BATT_CURR_PIN 1 |
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BATT_FS_CRT_ACT 0 |
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BATT_FS_LOW_ACT 2 |
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BATT_FS_VOLTSRC 0 |
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BATT_LOW_MAH 0 |
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BATT_LOW_VOLT 20.5 |
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BATT_LOW_TIMER 10 |
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BATT_MONITOR 4 |
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BATT_SERIAL_NUM -1 |
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BATT_VOLT_PIN 0 |
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BATT2_MONITOR 13 |
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BRD_PWM_COUNT 0 |
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BRD_RTC_TYPES 1 |
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BRD_RTC_TZ_MIN 0 |
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BRD_SAFETYENABLE 0 |
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BRD_SAFETYOPTION 3 |
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BRD_SBUS_OUT 0 |
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BRD_SD_SLOWDOWN 0 |
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BRD_SER1_RTSCTS 0 |
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BRD_SER2_RTSCTS 0 |
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BRD_SERIAL_NUM 0 |
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BRD_TYPE 24 |
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BRD_VBUS_MIN 4.3 |
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BRD_VSERVO_MIN 0 |
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BTN_ENABLE 0 |
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CAM_AUTO_ONLY 1 |
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CAM_DURATION 3 |
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CAM_FEEDBACK_PIN -1 |
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CAM_FEEDBACK_POL 0 |
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CAM_MAX_ROLL 0 |
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CAM_MIN_INTERVAL 0 |
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CAM_RELAY_ON 1 |
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CAM_SERVO_OFF 1100 |
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CAM_SERVO_ON 1900 |
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CAM_TRIGG_DIST 0 |
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CAM_TRIGG_TYPE 2 |
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CAM_TYPE 0 |
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CAN_D1_PROTOCOL 1 |
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CAN_D1_UC_ESC_BM 0 |
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CAN_D1_UC_NODE 10 |
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CAN_D1_UC_SRV_BM 0 |
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CAN_D1_UC_SRV_RT 50 |
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CAN_D2_PROTOCOL 1 |
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CAN_P1_BITRATE 1000000 |
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CAN_P1_DRIVER 1 |
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CAN_P2_BITRATE 1000000 |
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CAN_P2_DRIVER 1 |
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CAN_SLCAN_CPORT 0 |
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CAN_SLCAN_SERNUM -1 |
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CAN_SLCAN_TIMOUT 0 |
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CHUTE_ENABLED 0 |
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CIRCLE_RADIUS 1000 |
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CIRCLE_RATE 20 |
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COMPASS_USE 1 |
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COMPASS_USE2 0 |
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COMPASS_USE3 0 |
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DEV_OPTIONS 0 |
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DISARM_DELAY 2 |
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EK2_MAG_I_GATE 800 |
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EK2_YAW_I_GATE 800 |
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FLTMODE_CH 5 |
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FLTMODE1 2 |
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FLTMODE2 2 |
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FLTMODE3 5 |
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FLTMODE4 5 |
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FLTMODE5 5 |
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FLTMODE6 5 |
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FRAME_CLASS 1 |
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FRAME_TYPE 1 |
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FS_CRASH_CHECK 1 |
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FS_EKF_ACTION 1 |
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FS_EKF_THRESH 0.8 |
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FS_GCS_ENABLE 0 |
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FS_OPTIONS 0 |
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FS_THR_ENABLE 0 |
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FS_THR_VALUE 975 |
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FS_VIBE_ENABLE 1 |
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GND_EFFECT_COMP 1 |
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GND_EXT_BUS -1 |
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GND_FLTR_RNG 0 |
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GND_PRIMARY 0 |
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GND_PROBE_EXT 0 |
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GND_TEMP 0 |
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GPS_AUTO_CONFIG 1 |
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GPS_AUTO_SWITCH 1 |
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GPS_BLEND_MASK 5 |
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GPS_BLEND_TC 10 |
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GPS_DELAY_MS 0 |
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GPS_DELAY_MS2 0 |
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GPS_GNSS_MODE 0 |
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GPS_GNSS_MODE2 0 |
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GPS_HDOP_GOOD 90 |
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GPS_INJECT_TO 127 |
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GPS_MIN_DGPS 100 |
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GPS_MIN_ELEV -100 |
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GPS_NAVFILTER 8 |
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GPS_NUM_SW 5 |
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GPS_POS1_X 0 |
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GPS_POS1_Y 0 |
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GPS_POS1_Z 0 |
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GPS_POS2_X 0 |
||||
GPS_POS2_Y 0 |
||||
GPS_POS2_Z 0 |
||||
GPS_RATE_MS 200 |
||||
GPS_RATE_MS2 200 |
||||
GPS_RAW_DATA 0 |
||||
GPS_SAVE_CFG 2 |
||||
GPS_SBAS_MODE 2 |
||||
GPS_SBP_LOGMASK -256 |
||||
GPS_TYPE 1 |
||||
GPS_TYPE2 5 |
||||
LAND_ALT_LOW 5000 |
||||
LAND_LOCK_ALT 40 |
||||
LAND_LOCK_RPY 1 |
||||
LAND_REPOSITION 1 |
||||
LAND_SL_2ND_ALT 1500 |
||||
LAND_SL_3ND_ALT 3000 |
||||
LAND_SPEED 150 |
||||
LAND_SPEED_2ND 50 |
||||
LAND_SPEED_3ND 100 |
||||
LAND_SPEED_HIGH 0 |
||||
MOT_BAT_CURR_MAX 0 |
||||
MOT_BAT_CURR_TC 5 |
||||
MOT_BAT_IDX 0 |
||||
MOT_BAT_VOLT_MAX 0 |
||||
MOT_BAT_VOLT_MIN 0 |
||||
MOT_BOOST_SCALE 0 |
||||
MOT_HOVER_LEARN 2 |
||||
MOT_PWM_MAX 0 |
||||
MOT_PWM_MIN 0 |
||||
MOT_PWM_TYPE 0 |
||||
MOT_SAFE_DISARM 0 |
||||
MOT_SAFE_TIME 1 |
||||
MOT_SLEW_DN_TIME 0 |
||||
MOT_SLEW_UP_TIME 0 |
||||
MOT_SPIN_ARM 0.1 |
||||
MOT_SPIN_MAX 0.95 |
||||
MOT_SPIN_MIN 0.15 |
||||
MOT_SPOOL_TIME 0.5 |
||||
MOT_THST_EXPO 0.65 |
||||
MOT_THST_HOVER 0.35 |
||||
MOT_YAW_HEADROOM 200 |
||||
NTF_BUZZ_ENABLE 1 |
||||
NTF_BUZZ_ON_LVL 1 |
||||
NTF_BUZZ_PIN 0 |
||||
NTF_BUZZ_VOLUME 100 |
||||
NTF_DISPLAY_TYPE 0 |
||||
NTF_LED_BRIGHT 3 |
||||
NTF_LED_OVERRIDE 4 |
||||
NTF_LED_TYPES 38 |
||||
NTF_OREO_THEME 0 |
||||
OA_TYPE 0 |
||||
PHLD_BRAKE_ANGLE 3000 |
||||
PHLD_BRAKE_RATE 8 |
||||
PILOT_ACCEL_Z 250 |
||||
PILOT_DN2_ALT 100 |
||||
PILOT_SPEED_DN 250 |
||||
PILOT_SPEED_DN2 100 |
||||
PILOT_SPEED_UP 250 |
||||
PILOT_THR_BHV 0 |
||||
PILOT_THR_FILT 0 |
||||
PILOT_TKOFF_ALT 0 |
||||
PLND_ENABLED 0 |
||||
PRX_TYPE 4 |
||||
PRX_YAW_CORR 0 |
||||
RALLY_INCL_HOME 1 |
||||
RALLY_LIMIT_KM 0.3 |
||||
RALLY_TOTAL 0 |
||||
RC7_OPTION 9 |
||||
RC8_OPTION 0 |
||||
RC9_OPTION 4 |
||||
RELAY_PIN 50 |
||||
RELAY_PIN2 53 |
||||
RELAY_PIN3 52 |
||||
RELAY_PIN4 54 |
||||
RELAY_PIN5 -1 |
||||
RELAY_PIN6 -1 |
||||
RNGFND_GAIN 0.8 |
||||
RNGFND1_ADDR 11 |
||||
RNGFND1_FUNCTION 0 |
||||
RNGFND1_GNDCLEAR 10 |
||||
RNGFND1_MAX_CM 500 |
||||
RNGFND1_MIN_CM 20 |
||||
RNGFND1_OFFSET 0 |
||||
RNGFND1_ORIENT 25 |
||||
RNGFND1_PIN -1 |
||||
RNGFND1_POS_X 0 |
||||
RNGFND1_POS_Y 0 |
||||
RNGFND1_POS_Z 0 |
||||
RNGFND1_PWRRNG 0 |
||||
RNGFND1_RMETRIC 1 |
||||
RNGFND1_SCALING 3 |
||||
RNGFND1_STOP_PIN -1 |
||||
RNGFND1_TYPE 24 |
||||
RNGFND2_ADDR 1 |
||||
RNGFND2_FUNCTION 0 |
||||
RNGFND2_GNDCLEAR 10 |
||||
RNGFND2_MAX_CM 3500 |
||||
RNGFND2_MIN_CM 50 |
||||
RNGFND2_OFFSET 0 |
||||
RNGFND2_ORIENT 0 |
||||
RNGFND2_PIN -1 |
||||
RNGFND2_POS_X 0 |
||||
RNGFND2_POS_Y 0 |
||||
RNGFND2_POS_Z 0 |
||||
RNGFND2_PWRRNG 0 |
||||
RNGFND2_RMETRIC 1 |
||||
RNGFND2_SCALING 3 |
||||
RNGFND2_STOP_PIN -1 |
||||
RNGFND2_TYPE 24 |
||||
RTL_ALT_FINAL 1500 |
||||
RTL_CLIMB_MIN 0 |
||||
RTL_CONE_SLOPE 3 |
||||
RTL_LOIT_TIME 5000 |
||||
RTL_SPEED 0 |
||||
SCHED_DEBUG 0 |
||||
SCHED_LOOP_RATE 400 |
||||
SCR_ENABLE 0 |
||||
SERIAL_PASS1 0 |
||||
SERIAL_PASS2 -1 |
||||
SERIAL_PASSTIMO 15 |
||||
SERIAL0_BAUD 115 |
||||
SERIAL0_PROTOCOL 2 |
||||
SERIAL1_BAUD 57 |
||||
SERIAL1_OPTIONS 0 |
||||
SERIAL1_PROTOCOL 1 |
||||
SERIAL2_BAUD 115 |
||||
SERIAL2_OPTIONS 0 |
||||
SERIAL2_PROTOCOL 24 |
||||
SERIAL3_BAUD 38 |
||||
SERIAL3_OPTIONS 0 |
||||
SERIAL3_PROTOCOL 5 |
||||
SERIAL4_BAUD 115 |
||||
SERIAL4_OPTIONS 0 |
||||
SERIAL4_PROTOCOL 5 |
||||
SERIAL5_BAUD 57 |
||||
SERIAL5_OPTIONS 0 |
||||
SERIAL5_PROTOCOL -1 |
||||
SERIAL6_BAUD 57 |
||||
SERIAL6_OPTIONS 0 |
||||
SERIAL6_PROTOCOL -1 |
||||
SERIAL7_BAUD 115200 |
||||
SERIAL7_OPTIONS 0 |
||||
SERIAL7_PROTOCOL 2 |
||||
WP_YAW_BEHAVIOR 1 |
||||
WPNAV_ACCEL 100 |
||||
WPNAV_ACCEL_Z 100 |
||||
WPNAV_FAST_WP 0 |
||||
WPNAV_RADIUS 200 |
||||
WPNAV_RFND_USE 1 |
||||
WPNAV_SPEED 800 |
||||
WPNAV_SPEED_DN 150 |
||||
WPNAV_SPEED_UP 350 |
||||
ZR_RTL_DELAY 15 |
||||
ZR_TK_DELAY 5 |
||||
ZR_TK_REQ_ALT 600 |
||||
@ -0,0 +1,4 @@
@@ -0,0 +1,4 @@
|
||||
# hw definition file for processing by chibios_hwdef.py |
||||
# for Pixhawk4 bootloader |
||||
|
||||
include ../fmuv5/hwdef-bl.dat |
||||
@ -0,0 +1,11 @@
@@ -0,0 +1,11 @@
|
||||
# hw definition file for processing by chibios_hwdef.py |
||||
# for Holybro Pixhawk4 hardware. |
||||
|
||||
include ../fmuv5/hwdef.dat |
||||
|
||||
# setup for supplied power brick |
||||
undef HAL_BATT_VOLT_SCALE |
||||
define HAL_BATT_VOLT_SCALE 18.182 |
||||
undef HAL_BATT_CURR_SCALE |
||||
define HAL_BATT_CURR_SCALE 36.364 |
||||
|
||||
|
After Width: | Height: | Size: 358 KiB |
Loading…
Reference in new issue