6.4 KiB
S-Vehicle E2
:::warning PX4 не розробляє цей (або будь-який інший) автопілот. :::
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.
:::info These flight controllers are manufacturer supported. :::
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
- Сенсори на платі
- Акселератор/гіроскоп: BMI088
- Accel/Gyro: ICM-42688-P
- Accel/Gyro: ICM-20649
- Mag: RM3100
- Барометр: 2x ICP-20100
Інтерфейси
- 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.
Радіоуправління
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).
Вам буде потрібно вибрати сумісний передавач/приймач та потім зв'язати їх, щоб вони взаємодіяли (прочитайте інструкції, що додаються до вашого конкретного передавача/приймача).
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.
Налаштування послідовного порту
| UART | Пристрій | Порт |
|---|---|---|
| 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.
Електричні дані
- Номінальна напруга:
- Максимальна вхідна напруга: 5,7 В
- Вхід USB Power: 4.75~5.25V
- Вхід на серворейку: 0~9.9В
- Номінальний струм:
- Комбінований обмежувач вихідного струму TELEM1 і GPS2: 1,5 А
- Комбінований обмежувач вихідного струму всіх інших портів: 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.
Збірка прошивки
To build PX4 for this target, execute:
make svehicle_e2_default
Відладочний порт
The PX4 System Console and SWD Interface operate on the FMU Debug port.
| Pin | Сигнал | Вольтаж |
|---|---|---|
| 1 (red) | 5V+ | +5V |
| 2 (blk) | DEBUG TX (OUT) | +3.3V |
| 3 (blk) | DEBUG RX (IN) | +3.3V |
| 4 (blk) | FMU_SWDIO | +3.3V |
| 5 (blk) | FMU_SWCLK | +3.3V |
| 6 (blk) | GND | GND |
Інформацію про використання цього порту див:
- SWD Debug Port
- PX4 System Console (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.
Схема розташування виводів
Підтримувані платформи / Конструкції
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.