diff --git a/docs/zh/SUMMARY.md b/docs/zh/SUMMARY.md index 44eb72121e..570c6aa5db 100644 --- a/docs/zh/SUMMARY.md +++ b/docs/zh/SUMMARY.md @@ -187,6 +187,7 @@ - [Radiolink PIX6](flight_controller/radiolink_pix6.md) - [Sky-Drones AIRLink](flight_controller/airlink.md) - [SPRacing SPRacingH7EXTREME](flight_controller/spracingh7extreme.md) + - [SVehicle E2](flight_controller/svehicle_e2.md) - [ThePeach FCC-K1](flight_controller/thepeach_k1.md) - [ThePeach FCC-R1](flight_controller/thepeach_r1.md) - [Experimental Autopilots](flight_controller/autopilot_experimental.md) diff --git a/docs/zh/config/_autotune.md b/docs/zh/config/_autotune.md index 6a75da6380..c9e2b5bfee 100644 --- a/docs/zh/config/_autotune.md +++ b/docs/zh/config/_autotune.md @@ -102,8 +102,7 @@ The test steps are:
-4. The drone will first start to perform quick roll motions followed by pitch and yaw motions. When [`FW_AT_SYSID_TYPE`](../advanced_config/parameter_reference.md#FW_AT_SYSID_TYPE) is set to linear/logarithmic sine sweep (recommended), the max rates are approximately 45 deg/s for roll and 30 deg/s for pitch and yaw. - The progress is shown in the progress bar, next to the _Autotune_ button. +4. The drone will first start to perform quick roll motions followed by pitch and yaw motions. When [`FW_AT_SYSID_TYPE`](../advanced_config/parameter_reference.md#FW_AT_SYSID_TYPE) is set to linear/logarithmic sine sweep (recommended), the max rates reached during the maneuvers are 75% of the maximum configured roll (`FW_R_RMAX`), pitch (`FW_P_RMAX_NEG`, `FW_P_RMAX_POS`) and yaw (`FW_Y_RMAX`) rates. The progress is shown in the progress bar, next to the _Autotune_ button.
@@ -198,7 +197,7 @@ Increase the [MC_AT_SYSID_AMP](../advanced_config/parameter_reference.md#MC_AT_S
-By default, the autotune maneuvers ensure that a sufficient angular rate is reached for system identification. The target rates are approximately 45 deg/s for roll and 30 deg/s for pitch and yaw. +By default, the autotune maneuvers ensure that a sufficient angular rate is reached for system identification, corresponding to 75% of the configured maximum roll (`FW_R_RMAX`), pitch (`FW_P_RMAX_NEG`, `FW_P_RMAX_POS`) and yaw (`FW_Y_RMAX`) rates. If the signal-to-noise ratio of the vehicle is low, the system identification algorithm might have issues finding the correct coefficients. Ensure that there is no excessive noise and/or platform vibration. diff --git a/docs/zh/flight_controller/autopilot_manufacturer_supported.md b/docs/zh/flight_controller/autopilot_manufacturer_supported.md index 54ba3a753c..d6f07a44fb 100644 --- a/docs/zh/flight_controller/autopilot_manufacturer_supported.md +++ b/docs/zh/flight_controller/autopilot_manufacturer_supported.md @@ -35,5 +35,6 @@ The boards in this category are: - [Radiolink PIX6](../flight_controller/radiolink_pix6.md) - [Sky-Drones AIRLink](../flight_controller/airlink.md) - [SPRacing SPRacingH7EXTREME](../flight_controller/spracingh7extreme.md) +- [Svehicle E2](../flight_controller/svehicle_e2.md) - [ThePeach FCC-K1](../flight_controller/thepeach_k1.md) - [ThePeach FCC-R1](../flight_controller/thepeach_r1.md) diff --git a/docs/zh/flight_controller/svehicle_e2.md b/docs/zh/flight_controller/svehicle_e2.md new file mode 100644 index 0000000000..d34e22e553 --- /dev/null +++ b/docs/zh/flight_controller/svehicle_e2.md @@ -0,0 +1,176 @@ +# S-Vehicle E2 + +:::warning +PX4 does not manufacture this (or any) autopilot. +::: + +The _E2_ is an advanced autopilot manufactured by S-Vehicle®. + +The autopilot is recommended for commercial system integration, but is also suitable for academic research and any other applications. +It brings you ultimate performance, stability, and reliability in every aspect. + +![SVehicle-E2](../../assets/flight_controller/svehicle_e2/main.png) + +:::info +These flight controllers are [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md). +::: + +### Processors & Sensors + +- FMU Processor: STM32H753IIK6 + - 32 Bit Arm® Cortex®-M7, 480MHz, 2MB flash memory, 1MB RAM +- IO Processor: STM32F103 + - 32 Bit Arm® Cortex®-M3, 72MHz, 20KB SRAM +- On-board sensors + - Accel/Gyro: BMI088 + - Accel/Gyro: ICM-42688-P + - Accel/Gyro: ICM-20649 + - Mag: RM3100 + - Barometer: 2x ICP-20100 + +### 接口 + +- 14x PWM Servo Outputs +- 1x Dedicated R/C Input for Spektrum / DSM and S.Bus +- 1x Analog/PWM RSSI Input +- 2x TELEM Ports (with full flow control) +- 1x UART4 Port +- 2x GPS Ports + - 1x Full GPS plus Safety Switch Port (GPS1) + - 1x Basic GPS Port (with I2C, GPS2) +- 1x USB Port (TYPE-C) +- 1x Ethernet Port + - Transformerless application + - 100Mbps +- 3x I2C Bus Ports +- 1x SPI Bus + - 1x Chip Select Line + - 1x Data Ready Line + - 1x SPI Reset Line +- 2x CAN Ports +- 3x Power Input Ports + - ADC Power Input + - I2C Power Input + - DroneCAN/UAVCAN Power Input +- 2x AD Ports + - Analog Input (3.3V) + - Analog Input (6.6V - not supported by PX4) +- 1x Dedicated Debug Port + - FMU Debug + +## Purchase Channels + +Order from [S-Vehicle](https://svehicle.cn/). + +## 遥控器 + +A Radio Control (RC) system is required if you want to manually control your vehicle (PX4 does not require a radio system for autonomous flight modes). + +将 HW\\u PM 模块的6针连接器连接到飞控的电源接口。 + +Spektrum/DSM receivers connect to the DSM/SBUS RC input. +PPM or SBUS receivers connect to the RC IN input port. +CRSF receiver must be wired to a spare port (UART) on the Flight Controller. Then you can bind the transmitter and receiver together. + +## 串口映射 + +| UART | 设备 | Port | +| ------ | ---------- | ------------- | +| USART1 | /dev/ttyS0 | GPS | +| USART2 | /dev/ttyS1 | TELEM3 | +| USART3 | /dev/ttyS2 | Debug Console | +| UART4 | /dev/ttyS3 | UART4 | +| UART5 | /dev/ttyS4 | TELEM2 | +| USART6 | /dev/ttyS5 | PX4IO/RC | +| UART7 | /dev/ttyS6 | TELEM1 | +| UART8 | /dev/ttyS7 | GPS2 | + +## PWM Output + +The E2-Plus flight controller supports up to 14 PWM outputs. +The first 8 outputs (labelled M1 to M8) are controlled by a dedicated STM32F103 IOMCU controller. +The remaining 6 outputs (labelled 9 to 14) are the "auxiliary" outputs. +These are directly attached to the STM32H753 FMU controller . + +The 14 PWM outputs are: + +M1 - M8 are connected to the IOMCU +A1 - A6 are connected to the FMU + +M1 - M8 support DShot and are in 3 groups: + +- M1, M2 in group 1 +- M3, M4 in group 2 +- M5, M6, M7, M8 in group 3 + +The 6 FMU PWM outputs are in 2 groups: + +A1 - A4 are in one group. +A5, A6 are in a 2nd group. + +Channels within the same group need to use the same output rate. +If any channel in a group uses DShot then all channels in the group need to use DShot. + +### Electrical data + +- Voltage Ratings: + - Max input voltage: 5.7V + - USB Power Input: 4.75\~5.25V + - Servo Rail Input: 0\~9.9V +- Current Ratings: + - TELEM1 and GPS2 combined output current limiter: 1.5A + - All other port combined output current limiter: 1.5A + +## Battery Monitoring + +The board has connectors for 3 power monitors. + +- POWER1 -- ADC +- POWER2 -- DroneCAN +- POWER3 -- I2C + +The board is configure by default for a analog power monitor, and also has DroneCAN power monitor and I2C defaults configured which is enabled. + +The default PDB included with the E2+ is analog and must be connected to `POWER1`. + +## 编译固件 + +To [build PX4](../dev_setup/building_px4.md) for this target, execute: + +```sh +make svehicle_e2_default +``` + +## 调试接口 + +The [PX4 System Console](../debug/system_console.md) and [SWD Interface](../debug/swd_debug.md) operate on the **FMU Debug** port. + +| 针脚 | 信号 | 电压 | +| ---- | --------------------------------- | --------------------- | +| 1（红） | 5V+ | +5V | +| 2 | DEBUG TX (OUT) | +3.3V | +| 3 | DEBUG RX (IN) | +3.3V | +| 4（黑） | FMU_SWDIO | +3.3V | +| 6 | FMU_SWCLK | +3.3V | +| 6 | GND | GND | + +For information about using this port see: + +- [SWD Debug Port](../debug/swd_debug.md) +- [PX4 System Console](../debug/system_console.md) (Note, the FMU console maps to USART3). +- All ports use GH1.25 ,power ports use ports on E2 uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/en-us/products/part-detail/5024430670). + +## 针脚定义 + +![SVehicle-E2 Top Down Photo](../../assets/flight_controller/svehicle_e2/top.png) + +![SVehicle-E2 Bottom Photo](../../assets/flight_controller/svehicle_e2/back.jpeg) + +![SVehicle-E2 left Photo](../../assets/flight_controller/svehicle_e2/left.png) + +![SVehicle-E2 right Photo](../../assets/flight_controller/svehicle_e2/right.png) + +## 支持的平台/机身 + +Any multirotor/airplane/rover or boat that can be controlled using normal RC servos or Futaba S-Bus servos. +The complete set of supported configurations can be found in the [Airframe Reference](../airframes/airframe_reference.md).