PX4-Autopilot/docs/ko/flight_controller/svehicle_e2.md

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.

:::info 이 비행 컨트롤러는 제조업체에서 지원합니다. :::

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
• 내장 센서 :
  • Accel/Gyro: BMI088
  • Accel/Gyro: ICM-42688-P
  • Accel/Gyro: ICM-20649
  • Mag: RM3100
  • Barometer: 2x ICP-20100

인터페이스

• 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.

무선 조종

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).

기체와 조종자가 통신하기 위하여 송신기와 수신기를 바인딩하여야 합니다. 송신기와 수신기의 매뉴얼을 참고하십시오.

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.

시리얼 포트 매핑

UART	장치	포트
USART1	/dev/ttyS0	GPS
USART2	/dev/ttyS1	TELEM3
USART3	/dev/ttyS2	디버그 콘솔
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.

펌웨어 빌드

To build PX4 for this target, execute:

make svehicle_e2_default

디버그 포트

The PX4 System Console and SWD Interface operate on the FMU Debug port.

핀	신호	전압
1(red)	5V+	+5V
2 (흑)	DEBUG TX(출력)	+3.3V
3 (흑)	DEBUG TX(입력)	+3.3V
4 (흑)	FMU_SWDIO	+3.3V
5 (흑)	FMU_SWCLK	+3.3V
6 (흑)	GND	GND

For information about using this port see:

• 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.

핀배열

지원 플랫폼 및 기체

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.