初识pixhawk2.1软硬件介绍（未完待续）

前言：

         之前没有接触过pixhawk，可能有些地方不准确，但是最后自己入门深了都会回来修正，补充。

一：整体介绍

Key Features168 MHz / 252 MIPS Cortex-M4F //f42714 PWM / Servo outputs (8 with failsafe and manual override, 6 auxiliary, high-power compatible)Abundant connectivity options for additional peripherals (UART, I2C, CAN)Integrated backup system for in-flight recovery and manual override with dedicated processor and stand-alone power supply (fixed-wing use)Backup system integrates mixing, providing consistent autopilot and manual override mixing modes (fixed wing use) Redundant power supply inputs and automatic failover External safety switchMulticolor LED main visual indicatorHigh-power, multi-tone piezo audio indicator  microSD card for high-rate logging over extended periods of time 

PIXHAWK 2: The latest open-source autopilot! PRE-ORDER BATCH 2FIRST BATCH SOLD OUT GLOBALLY VERY FAST! FACTORY REPORTS CAN DELIVER NEXT BATCH IN LATE JANUARY.World's most advanced autopilot for open autonomous unmanned vehicles. Redundant, temperature controlled, isolated. Greatly improved from the previous version Pixhawk in all aspects.- Modular design with total flexibilty on connectivity- Increased reliability and reduced integration complexity- Comes 100% GPS RTK ready. Multiple GPS capability is standard - Pixhawk 2 has a total of 29 MEMS sensors in it - 3 x 3-axis Accelerometers - 3 x 3-axis Gyroscopes- 3 x 3-axis Magnetometers- 2 x Barometers     Connectivity:- 5 serial ports- 2 CAN ports- 2 I2C ports- 2 Power ports- 1 ADC port- 8 dedicated opto capable PWM out- 6 GPIO which can also be used for PWM- Dedicated Spektrum RX port  - S.Bus in and out, PPM inKey design points:1. Separate Cube with carrier board. Let's users develop their own carrier boards.2. Robust interface connectors to make it easy to plug and safer during flight/operation3. Airframes VTOL, plane, multicopter, traditional helicopter, rover, boat, submarine, general robotics4. Heating system to assure reliability in low temperatures5. 3 redundant IMU and up to 3 redundant GPS to make it safer6. Fully support Intel Edison module7. Standard power brick included with the full kit- Modular Cube design- Dampened IMU- 3 x redundancy IMU- Supports Fixed Wings, Multicopters, VTOLs, ROVs, Rovers.- CM level GPS- Multiple GPS system- Open development environnementParts included:Pixhawk 2 Cube and Carrier boardBuzzerSafety switchPower unitCables (Micro USB, specific DH13 and JH-GST cables)DF13 splitterSD Card adapterMounting foamCarrier board has a place for Intel Edison, but the Edison module is not included.

   注： pixhawk 2.1 采用八层板设计，国内的山寨厂商估计做不出来了，及时能抄板，也做不出来，成本太高。

二：局部pcb

   2.1 电源部分

                     芯片采用mic5332，典型应用电路：

     

                         典型layout：

      

                             晚些总结这个芯片的用法，使用场合，及PCB布线。且pixhawk 2.1 供电分成多个部分。

                             值得注意的是，其6轴传感器使用的是mpu6000。正确性以后再研究

三：firmware整体构架

              3.1 px4 飞行模式切换流程 

         

           

                         这里面的最好理解的模式就是auto，其他模式如果不是亲自玩过四旋翼，直升机等，不会有直观的理解

               

               3.2 px4 软件构架

                   

                      每个模块通过uORB(一种协议或者？)连接，且这些模块具有Module的特点，是否和linux module具有一样的特性呢？

               首先Mixer作为航模的知识是需要知道的。（混控）

                       

                         这个不是很好理解，但是mavlink是一种协议，听过modbus的人也许能有类比的理解。一下资料就是出自google的搜索了。

                 

                  

                            

                       反思 从新构思下 该怎么展开记录