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Ȧ¸®ºê·Î ÇȽºÈ£Å© 4 ÇÃ¶ó½ºÆ½ ÄÉÀ̽º + PM06 ÆÄ¿ö¸ðµâ + M8N GPS ÄÞº¸ ¼¼Æ®ÀÔ´Ï´Ù.
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Á¦Ç° ±¸¼ºÇ° 1 : [HOLYBRO] ÇȽºÈ£Å©4 Pixhawk4 ºñÇà ÄÁÆ®·Ñ·¯ ÇÃ¶ó½ºÆ½ ÄÉÀ̽º
º» »óǰÀº ÆÄ¿ö ¸ðµâ°ú GPS ¸ðµâÀÌ ºüÁø ±¸¼ºÀÔ´Ï´Ù.
Holybro ¸ðµç GPS Á¦Ç°°ú ȣȯµË´Ï´Ù.
´ÜÁ¾µÇ¾ú´Ù°¡ Àü¼¼°èÀûÀ¸·Î ã´Â ¼Õ´ÔÀÌ ¸¹¾Æ¼ Àç»ý»ê µÇ¾ú½À´Ï´Ù!
2024³â 3¿ù¿¡ ´Ù½Ã ÀçÃâ½ÃÇÑ ÃֽŻóǰ ÀÔ´Ï´Ù.
Pixhawk¢ç 4´Â STMicroelectronics¢çÀÇ °í±Þ ÇÁ·Î¼¼¼ ±â¼ú, Bosch¢ç, InvenSense¢çÀÇ ¼¾¼ ±â¼ú, NuttX ½Ç½Ã°£ ¿î¿µ üÁ¦¸¦ °®Ãß°í ÀÖ¾î ¸ðµç ÀÚÀ²ÁÖÇàÂ÷ Á¦¾î¸¦ À§ÇÑ ³î¶ó¿î ¼º´É, À¯¿¬¼º ¹× ½Å·Ú¼ºÀ» Á¦°øÇÕ´Ï´Ù. .
Pixhawk 4ÀÇ ¸¶ÀÌÅ©·Î ÄÁÆ®·Ñ·¯¿¡´Â 2MB Ç÷¡½Ã ¸Þ¸ð¸®¿Í 512KB RAMÀÌ ÀÖ½À´Ï´Ù. Çâ»óµÈ Àü·Â ¹× RAM ¸®¼Ò½º¸¦ ÅëÇØ °³¹ßÀÚ´Â °³¹ß ÀÛ¾÷À» ÅëÇØ »ý»ê¼º°ú È¿À²¼ºÀ» ³ôÀÏ ¼ö ÀÖ½À´Ï´Ù. ÀÚµ¿ Á¶Á¾ ÀåÄ¡¿¡¼´Â ´õ º¹ÀâÇÑ ¾Ë°í¸®Áò°ú ¸ðµ¨À» ±¸ÇöÇÒ ¼ö ÀÖ½À´Ï´Ù.
¿Âº¸µå °í¼º´É, ÀúÀâÀ½ IMU´Â ¾ÈÁ¤È ¾ÖÇø®ÄÉÀ̼ǿëÀ¸·Î ¼³°èµÇ¾ú½À´Ï´Ù. ¸ðµç ¼¾¼ÀÇ µ¥ÀÌÅÍ Áغñ ½ÅÈ£´Â ÀÚµ¿ Á¶Á¾ ÀåÄ¡ÀÇ º°µµ ÀÎÅÍ·´Æ® ¹× ŸÀÌ¸Ó Ä¸Ã³ ÇÉÀ¸·Î ¶ó¿ìÆÃµÇ¾î ¼¾¼ µ¥ÀÌÅÍÀÇ Á¤È®ÇÑ Å¸ÀÓ ½ºÅÆÇÁ¸¦ Çã¿ëÇÕ´Ï´Ù. »õ·Ó°Ô ¼³°èµÈ Áøµ¿ Â÷´Ü ±â´ÉÀ» ÅëÇØ ´õ¿í Á¤È®ÇÑ ÆÇµ¶ÀÌ °¡´ÉÇØ Â÷·®ÀÌ Àü¹ÝÀûÀÎ ºñÇà ¼º´ÉÀ» Çâ»ó½Ãų ¼ö ÀÖ½À´Ï´Ù.
2°³ÀÇ ¿ÜºÎ SPI ¹ö½º¿Í 6°³ÀÇ °ü·Ã Ĩ ¼±Åà ¶óÀÎÀ» ÅëÇØ ¼¾¼¿Í SPI ÀÎÅÍÆäÀ̽º ÆäÀ̷ε带 Ãß°¡ÇÒ ¼ö ÀÖ½À´Ï´Ù. ÃÑ 4°³ÀÇ I2C ¹ö½º°¡ ÀÖÀ¸¸ç, 2°³´Â ¿ÜºÎ Àü¿ëÀ̰í 2°³´Â GPS/Compass ¸ðµâ¿ë Á÷·Ä Æ÷Æ®·Î ±×·ìȵǾî ÀÖ½À´Ï´Ù.
¸Þ¸ð:
- M10 GPS¿¡´Â PX4 1.14 ¹× ArduPilot 4.3 ÀÌ»óÀÌ ÇÊ¿äÇÕ´Ï´Ù.
- Àü¿ø ¸ðµâ ºñ±³ Â÷Æ®
±â¼ú »ç¾ç
- ¸ÞÀÎ FMU ÇÁ·Î¼¼¼
- STM32F765 - 32ºñÆ® Arm ¢ç Cortex¢ç -M7, 216MHz, 2MB ¸Þ¸ð¸®, 512KB RAM
- STM32F765 - 32ºñÆ® Arm ¢ç Cortex¢ç -M7, 216MHz, 2MB ¸Þ¸ð¸®, 512KB RAM
- IO ÇÁ·Î¼¼¼
- STM32F100 - 32ºñÆ® Arm ¢ç Cortex¢ç -M3, 24MHz, 8KB SRAM
- STM32F100 - 32ºñÆ® Arm ¢ç Cortex¢ç -M3, 24MHz, 8KB SRAM
- ¿Âº¸µå ¼¾¼
- °¡¼Ó/ÀÚÀÌ·Î: ICM-20689
- °¡¼Ó/ÀÚÀÌ·Î: BMI055/ICM-20602
- ¸Å°ÅÁø: IST8310
- ±â¾Ð°è: MS5611
- °¡¼Ó/ÀÚÀÌ·Î: ICM-20689
Àü±â µ¥ÀÌÅÍ
- Àü¿ø ¸ðµâ Ãâ·Â: 4.9~5.5V
- ÃÖ´ë ÀÔ·Â Àü¾Ð: 6V
- ÃÖ´ë Àü·ù °¨Áö: 120A
- USB Àü¿ø ÀÔ·Â: 4.75~5.25V
- ¼º¸ ·¹ÀÏ ÀÔ·Â: 0~36V
±â°èÀû µ¥ÀÌÅÍ
- Å©±â: 44x84x12mm
- ¹«°Ô(ÇÃ¶ó½ºÆ½ ÄÉÀ̽º): 33.3g
- ¹«°Ô(¾Ë·ç¹Ì´½ ÄÉÀ̽º): 49g
´Ù¿î·Îµå:
Æ÷ÇÔ:
- Pixhawk 4 ºñÇà ÄÁÆ®·Ñ·¯(ÇÃ¶ó½ºÆ½)
- Àü¿ø ¸ðµâ: ¹ÌÆ÷ÇÔ
- ÄÉÀÌºí ¼¼Æ®
![[¾Ë¾¾¹ðÅ©] 20034 [Holybro] ÇȽºÈ£Å©4 + PM06 ÆÄ¿ö¸ðµâ + GPS ÄÞº¸ (ÇÃ¶ó½ºÆ½ ÄÉÀ̽º ver)](https://holybro.com/cdn/shop/products/18036_1800x1800.png?v=1645867625)
![[¾Ë¾¾¹ðÅ©] 20034 [Holybro] ÇȽºÈ£Å©4 + PM06 ÆÄ¿ö¸ðµâ + GPS ÄÞº¸ (ÇÃ¶ó½ºÆ½ ÄÉÀ̽º ver)](https://ecimg.cafe24img.com/pg133b47913354030/droneman/web/upload/NNEditor/20240514/hardware-pixhawk4-connectors.png)
Á¦Ç° ±¸¼ºÇ° 2 : [Holybro] ÇȽºÈ£Å©4 PM06 V2 Àü¿ø ¸ðµâ - (ÃÖ´ë 14S ¾÷±×·¹ÀÌµå »ç¾ç)
¼³¸í:
ÀÌ PM06 Àü¿ø ¸ðµâÀº ¹èÅ͸®¿¡¼ ºñÇà ÄÁÆ®·Ñ·¯·Î ±ú²ýÇÑ 5.2V¸¦ °ø±ÞÇϰí 6ÇÉ JST-GH ÄÉÀ̺íÀ» ÅëÇÑ ¾Æ³¯·Î±× ½ÅÈ£¸¦ ÅëÇØ Àü·ù ¼Òºñ ¹× ¹èÅ͸® Àü¾Ð ÃøÁ¤À» Á¦°øÇϸç 4°³ÀÇ ESC¿¡ ´ëÇÑ ÅëÇÕ Àü·Â ºÐ¹èµµ Á¦°øÇÕ´Ï´Ù. »çÀü ³³¶«µÈ Àü¼±, Ä¿ÆÐ½ÃÅÍ ¹× XT60 Ä¿³ØÅͰ¡ ÇÔ²² Á¦°øµË´Ï´Ù.
¸í¼¼¼:
- ÀÔ·Â Àü¾Ð(14S ¹öÀü): 2S-14S
- PCB Cont. Àü·ù Á¤°Ý: 70A
- PCB ¹ö½ºÆ® Àü·ù Á¤°Ý: 120A(<60ÃÊ)
- Ãâ·Â: DC 5.2V & 3A ÃÖ´ë
- Ãâ·Â ÃÖ´ë Àü·Â : 18W
- Àü¾Ð ºÐ¹è±â: 18.182
- º¼Æ®´ç ¾ÏÆä¾î: 36.364
Âü°í»çÇ×:
- º¸µå¿¡ ¹Ì¸® ³³¶«µÈ XT60 Ç÷¯±×¿Í 12AWG ¿ÍÀ̾î´Â 30A ¿¬¼Ó Àü·ù¿Í 60A ¹ö½ºÆ® Àü·ù(< 60ÃÊ)¿¡ ´ëÇÑ Á¤°ÝÀÔ´Ï´Ù. ´õ ³ôÀº Àü·ù¸¦ »ç¿ëÇÏ´Â °æ¿ì Ç÷¯±× À¯Çü°ú ¿ÍÀ̾î Å©±â¸¦ ±×¿¡ µû¶ó º¯°æÇØ¾ß ÇÕ´Ï´Ù. ÂüÁ¶ÇÒ ¼ö ÀÖ½À´Ï´Ù. ÀÌ Â÷Æ® Âü°í·Î.
- ÀÌ PM02 Àü·Â ¸ðµâÀº ¾Æ³¯·Î±× µ¥ÀÌÅÍ Ãâ·ÂÀ» »ç¿ëÇϸç Pixhawk 5X ¹× 6X¿Í ȣȯµÇÁö ¾Ê½À´Ï´Ù(PM02D¿Í °°Àº µðÁöÅÐ PMÀÌ ÇÊ¿äÇÔ).
±â°èÀû »ç¾ç:
- Å©±â: 35x35x5mm
- ÀåÂø±¸¸Û : 30.5mm*30.5mm
- ¹«°Ô : 24g
ÇÉ ¸Ê:
![[¾Ë¾¾¹ðÅ©] 20034 [Holybro] ÇȽºÈ£Å©4 + PM06 ÆÄ¿ö¸ðµâ + GPS ÄÞº¸ (ÇÃ¶ó½ºÆ½ ÄÉÀ̽º ver)](https://docs.px4.io/v1.11/assets/hardware/power_module/holybro_pm06/pm06_pin_map.jpg)
PX4 ¹× Ardupilot¿¡ ´ëÇÑ ¼³Á¤ °¡À̵å´Â ´ÙÀ½¿¡¼ ãÀ» ¼ö ÀÖ½À´Ï´Ù. Holybro Doc here.
ÆÐŰÁö Æ÷ÇÔ »çÇ×
- 1x PM06 Àü¿ø ¸ðµâ1x JST GHR 6ÇÉ 1.25mm ÇÇÄ¡ ÄÉÀ̺í
Á¦Ç° ±¸¼ºÇ° 3 : [HOLYBRO] ÇȽºÈ£Å©4, 5X, 6X, 6C M8N GPS ¸ðµâ Pixhawk 4 GPS Module
![[¾Ë¾¾¹ðÅ©] 20034 [Holybro] ÇȽºÈ£Å©4 + PM06 ÆÄ¿ö¸ðµâ + GPS ÄÞº¸ (ÇÃ¶ó½ºÆ½ ÄÉÀ̽º ver)](https://falconshop.synology.me:8000/editor/1649062414.jpg)
![[¾Ë¾¾¹ðÅ©] 20034 [Holybro] ÇȽºÈ£Å©4 + PM06 ÆÄ¿ö¸ðµâ + GPS ÄÞº¸ (ÇÃ¶ó½ºÆ½ ÄÉÀ̽º ver)](https://dronewe.com/web/upload/NNEditor/20210127/1bd425a889c46e8d037a7f72dd4de0bd.jpg)
![[¾Ë¾¾¹ðÅ©] 20034 [Holybro] ÇȽºÈ£Å©4 + PM06 ÆÄ¿ö¸ðµâ + GPS ÄÞº¸ (ÇÃ¶ó½ºÆ½ ÄÉÀ̽º ver)](https://dronewe.com/web/upload/NNEditor/20210127/905575ee3246a32d7a1483e013c07346.jpg)
![[¾Ë¾¾¹ðÅ©] 20034 [Holybro] ÇȽºÈ£Å©4 + PM06 ÆÄ¿ö¸ðµâ + GPS ÄÞº¸ (ÇÃ¶ó½ºÆ½ ÄÉÀ̽º ver)](https://dronewe.com/web/upload/NNEditor/20210127/87ebf2d6d328bda4a6f4f76c23af18c0.jpg)
![[¾Ë¾¾¹ðÅ©] 20034 [Holybro] ÇȽºÈ£Å©4 + PM06 ÆÄ¿ö¸ðµâ + GPS ÄÞº¸ (ÇÃ¶ó½ºÆ½ ÄÉÀ̽º ver)](https://dronewe.com/web/upload/NNEditor/20210127/d0f842189890f6789b1650daf7517158.jpg)
![[¾Ë¾¾¹ðÅ©] 20034 [Holybro] ÇȽºÈ£Å©4 + PM06 ÆÄ¿ö¸ðµâ + GPS ÄÞº¸ (ÇÃ¶ó½ºÆ½ ÄÉÀ̽º ver)](https://dronewe.com/web/upload/NNEditor/20210127/d5ead99bef707d3d14258fe3fcc3b7fa.jpg)
![[¾Ë¾¾¹ðÅ©] 20034 [Holybro] ÇȽºÈ£Å©4 + PM06 ÆÄ¿ö¸ðµâ + GPS ÄÞº¸ (ÇÃ¶ó½ºÆ½ ÄÉÀ̽º ver)](https://dronewe.com/web/upload/NNEditor/20210127/e9893d75ed9e2234a2ef4a812b964c4f.jpg)
![[¾Ë¾¾¹ðÅ©] 20034 [Holybro] ÇȽºÈ£Å©4 + PM06 ÆÄ¿ö¸ðµâ + GPS ÄÞº¸ (ÇÃ¶ó½ºÆ½ ÄÉÀ̽º ver)](https://dronewe.com/web/upload/NNEditor/20210127/7440639b255c2b737cde026255fd3811.jpg)