pixracer.md

mRo Pixracer

:::warning PX4 does not manufacture this (or any) autopilot. Contact the manufacturer for hardware support or compliance issues. :::

The Pixhawk^® XRacer board family is optimized for small racing quads and planes. In contrast to Pixfalcon and Pixhawk it has in-built Wifi, new sensors, convenient full servo headers, CAN and supports 2M flash.

:::tip This autopilot is supported by the PX4 maintenance and test teams. :::

主要特性

• Main System-on-Chip: STM32F427VIT6 rev.3
  • CPU: 180 MHz ARM Cortex^® M4 with single-precision FPU
  • RAM: 256 KB SRAM (L1)
• Standard FPV form factor: 36x36 mm with standard 30.5 mm hole pattern
• Invensense^® ICM-20608 Accel / Gyro (4 KHz) / MPU9250 Accel / Gyro / Mag (4 KHz)
• HMC5983 magnetometer with temperature compensation
• Measurement Specialties MS5611 barometer
• JST GH connectors
• microSD (logging)
• Futaba S.BUS and S.BUS2 / Spektrum DSM2 and DSMX / Graupner SUMD / PPM input / Yuneec ST24
• FrSky^® telemetry port
• OneShot PWM out (configurable)
• Optional: Safety switch and buzzer

在哪里买

Pixracer is available from the mRobotics.io.

Accessories include:

• 数字空速传感器
• HKPilot Transceiver Telemetry Radio Set V2 (915Mhz - US Telemetry)
• Hobbyking^® OSD + EU Telemetry (433 MHz)

Kit

The Pixracer is designed to use a separate avionics power supply. This is necessary to avoid current surges from motors or ESCs to flow back to the flight controller and disturb its delicate sensors.

• Power module (with voltage and current sensing)
• I2C splitter (supporting AUAV, Hobbyking and 3DR^® peripherals)
• Cable kit for all common peripherals

Wifi (no USB required)

One of the main features of the board is its ability to use Wifi for flashing new firmware, system setup and in-flight telemetry. This frees it of the need of any desktop system.

::note ToDo Setup and telemetry are already available, firmware upgrade is already supported by the default bootloader but not yet enabled :::

• ESP8266 Wifi
• Custom ESP8266 MAVLink firmware

Wiring Diagrams

连接器

All connectors follow the Pixhawk connector standard. Unless noted otherwise all connectors are JST GH.

针脚定义

TELEM1, TELEM2+OSD ports

针脚	信号	电压
2	VCC	+5V
2	TX (OUT)	+3.3V
3	RX (IN)	+3.3V
4（黑）	CTS (IN)	+3.3V
6	RTS (OUT)	+3.3V
6	GND	GND

GPS 接口

针脚	信号	电压
1（红）	VCC	+5V
2（黑）	TX (OUT)	+3.3V
3	RX (IN)	+3.3V
4（黑）	I2C1 SCL	+3.3V
6	I2C1 SDA	+3.3V
6	GND	GND

FrSky Telemetry / SERIAL4

针脚	信号	电压
2	VCC	+5V
2	TX (OUT)	+3.3V
3	RX (IN)	+3.3V
4（黑）	GND	GND

RC Input (accepts PPM / S.BUS / Spektrum / SUMD / ST24)

针脚	信号	电压
2	VCC	+5V
2	RC IN	+3.3V
3	RSSI IN	+3.3V
4（黑）	VDD 3V3	+3.3V
6	GND	GND

CAN

针脚	信号	电压
2	VCC	+5V
2	CAN_H	+12V
3	CAN_L	+12V
4（黑）	GND	GND

POWER

针脚	信号	电压
2	VCC	+5V
2	VCC	+5V
3	电流	+3.3V
4（黑）	电压	+3.3V
6	GND	GND
6	GND	GND

SWITCH

针脚	信号	电压
2	SAFETY	GND
2	!IO_LED_SAFETY	GND
3	VCC	+3.3V
4（黑）	BUZZER-	-
6	BUZZER+	-

Debug调试端口

This is a Pixhawk Debug Port (JST SM06B connector).

针脚	信号	电压
2	VCC TARGET SHIFT	+3.3V
2	UART7 Tx	+3.3V
3	UART7 Rx	+3.3V
4（黑）	SWDIO	+3.3V
6	SWCLK	+3.3V
6	GND	GND

For information about wiring and using this port see:

• PX4 System Console (Note, the FMU console maps to UART7).
• SWD (JTAG) Hardware Debugging Interface

Serial Port Mapping

UART	设备	Port
UART1	/dev/ttyS0	WiFi (ESP8266)
USART2	/dev/ttyS1	TELEM1 (flow control)
USART3	/dev/ttyS2	TELEM2 (flow control)
UART4
UART7	CONSOLE
UART8	SERIAL4

原理图

The reference is provided as: Altium Design Files

The following PDF files are provided for convenience only:

• pixracer-rc12-12-06-2015-1330.pdf
• pixracer-r14.pdf - R14 or RC14 is printed next to the SDCard socket

编译固件

:::tip 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 px4_fmu-v4_default

鸣谢

This design was created by Nick Arsov and Phillip Kocmoud and architected by Lorenz Meier, David Sidrane and Leonard Hall.