问天M9飞控规格参数表
| 飞控参数 |
|
| 硬件标准 |
FMU v6X
|
| MCU | STM32H753 |
| IO MCU | STM32F103 |
| IMU减震 | 全向三轴减震 |
| 加速计与陀螺仪 | SCH16T（战术级）+ADIS16507（工业级）+IIM42653（工业级）三余度IMU |
| 气压计 | ZeroOne-L30D+ ICP20100 |
| 磁罗盘 | RM3100 |
| PWM继电器 | 有 |
| 遥控器协议输入 | SBUS，CRSF |
| PWM数量 | 16 |
| PWM电平切换 | 支持3.3V与5V之间切换 |
| 电源接口 | 2路总线、6路DroneCAN接口 |
| 伺服电压监测 | 9.9V |
| 工作温度 | -20℃~85℃ |
| 集线器 | |
| 接口明细 | CAN接口×6 、PWM（伺服）接口×16、伺服供电接口×1、 SBUS IN×1、 电源接口×1、电源监测口×2、主供电口×1、Telem-TTL×2、Telem-RS232×1、Telem-RS422×1、GPS1-TTL接口×1、GPS2-TTL接口×1、网口×1、I2C接口×1、ADC接口×1、Type-C接口×1、U盘接口×1 |
| 飞控电压输入 | 12-61V |
| 内置RTK | |
| 卫星频段支持 |
GPS: L1C/A,L1C, L2C, L2PY, L5 |
| 导航刷新率 | 20Hz |
| 特色功能 | 抗干扰 抗诱骗 |
| RTK定位精度 | 水平：0.6 cm + 0.5 ppm 垂直： 1 cm + 1 ppm |
| 单点定位精度 | 水平1.2m 高程1.9m |
| DGNSS定位精度 | 水平0.4 高程0.7m |
| 速度精度 | 3cm/s |
| 定向精度 | 天线距离 1M： 航向 0.15° |
| 授时精度 | xPPS out：5ns 事件精度 < 20 ns |
| 定位时间 | 冷启动 < 45s 热启动< 20s 重新捕获 1s |
| 数据协议 | DroenCAN 协议 SBF NMEA 0183, v2.3, v3.03, V4.0 RTCM v3.x (MSM included) 输入 |
| 内置空速计 | |
| 空速计冗余 | 两组 |
| 空速测量范围 | 0~439.9km/h（122.2m/s） |
| 最大误差带 | ±0.15% |
| 温度补偿 | 有 |
| 线性校正 | 有 |
| 内置数传链路 | |
| 通信频率 | 902-928MHz |
| 传输协议 | 透明传输 |
| 传输技术 | 跳频传输 |
| 通信距离 | 60km（通视，良好电磁环境） |
| 输出功率 | 100mW~1W（20-30dBm）出厂默认1W |
| 空口速率 | 最高276kbps |
| 灵敏度 |
-111dBm @ 57.6kbps -110 dBm @ 115.2 kbps -108 dBm @ 172.8 kbps -107 dBm @ 230.4 kbps -106dBm @278kbps |
;}.cls-2{fill:%230868f7;}.cls-3{fill:url(%23未命名的渐变_44);}.cls-4{fill:%23333;}%3c/style%3e%3clinearGradient%20id='未命名的渐变_8'%20x1='33.73'%20y1='100.61'%20x2='-0.03'%20y2='-1.06'%20gradientUnits='userSpaceOnUse'%3e%3cstop%20offset='0'%20stop-color='%237ae9fb'/%3e%3cstop%20offset='0.67'%20stop-color='%232b90f8'/%3e%3cstop%20offset='1'%20stop-color='%230868f7'/%3e%3c/linearGradient%3e%3clinearGradient%20id='未命名的渐变_44'%20x1='27.86'%20y1='18.67'%20x2='68.36'%20y2='22.22'%20gradientUnits='userSpaceOnUse'%3e%3cstop%20offset='0'%20stop-color='%235ac7f2'/%3e%3cstop%20offset='1'%20stop-color='%230868f7'/%3e%3c/linearGradient%3e%3c/defs%3e%3cpath%20class='cls-1'%20d='M29,28.74V81.91l-9.51-3.68v0L8.52,74A7.17,7.17,0,0,1,4,67.32V24.54A3.76,3.76,0,0,1,9.08,21Z'/%3e%3cpath%20class='cls-2'%20d='M68.09,78.07a13.15,13.15,0,0,1-17.9,12.06L29,81.91h0V28.74L50.19,37A13.17,13.17,0,0,0,68.08,25.3h0Z'/%3e%3cpath%20class='cls-3'%20d='M68.08,25.3a13.19,13.19,0,0,1-6.73,10.87A13.09,13.09,0,0,1,50.19,37L29,28.74V6A3.76,3.76,0,0,1,34.1,2.52l25.59,9.91A13.22,13.22,0,0,1,68.08,25.3Z'/%3e%3cpath%20class='cls-4'%20d='M129.06,81.76a4.33,4.33,0,0,1-3.19-1.31,4.4,4.4,0,0,1-1.31-3.24V56.86H97.65V77.21a4.36,4.36,0,0,1-1.35,3.2A4.68,4.68,0,0,1,93,81.76a4.32,4.32,0,0,1-3.19-1.31,4.37,4.37,0,0,1-1.32-3.24V27.27A4.58,4.58,0,0,1,89.83,24a4.59,4.59,0,0,1,7.82,3.27V48.15h26.91V27.27A4.58,4.58,0,0,1,125.91,24a4.59,4.59,0,0,1,7.82,3.27V77.21a4.37,4.37,0,0,1-1.36,3.2A4.65,4.65,0,0,1,129.06,81.76Z'/%3e%3cpath%20class='cls-4'%20d='M163.77,81.66c-6.57,0-11.76-1.92-15.44-5.7s-5.54-9.07-5.54-15.74a26.76,26.76,0,0,1,2.09-10.43,17.72,17.72,0,0,1,6.67-8.06,19.15,19.15,0,0,1,10.68-2.95,19,19,0,0,1,10.46,2.8,18.7,18.7,0,0,1,6.55,7.36,22.53,22.53,0,0,1,2.36,10.28A4.51,4.51,0,0,1,177,63.77H152.23a10.8,10.8,0,0,0,3.49,6.65c2,1.68,4.88,2.52,8.66,2.52a22.25,22.25,0,0,0,7.54-1.21c.74-.3,1.55-.67,2.37-1.07a3.75,3.75,0,0,1,1.84-.4,4.09,4.09,0,0,1,3,1.15,4,4,0,0,1,1.12,3,4.38,4.38,0,0,1-2.58,3.82,32.34,32.34,0,0,1-6.36,2.61A28.67,28.67,0,0,1,163.77,81.66ZM172.4,55.9a9.72,9.72,0,0,0-1.63-4.56A9.9,9.9,0,0,0,167,48a10.38,10.38,0,0,0-4.64-1.14,12,12,0,0,0-4.77,1.06,9.54,9.54,0,0,0-4.89,5.66,11.78,11.78,0,0,0-.51,2.3Z'/%3e%3cpath%20class='cls-4'%20d='M193,81.64a4.49,4.49,0,0,1-4.51-4.55V27.28A4.58,4.58,0,0,1,189.84,24a4.48,4.48,0,0,1,3.28-1.36A4.36,4.36,0,0,1,196.35,24a4.46,4.46,0,0,1,1.31,3.31V77.09a4.34,4.34,0,0,1-1.35,3.2A4.67,4.67,0,0,1,193,81.64Z'/%3e%3cpath%20class='cls-4'%20d='M263.79,81.71a5.7,5.7,0,0,1-4.2-1.74,5.76,5.76,0,0,1-1.73-4.19V27.37a4.58,4.58,0,0,1,1.35-3.27A4.59,4.59,0,0,1,267,27.37V72.53h24a4.58,4.58,0,0,1,3.27,7.82A4.66,4.66,0,0,1,291,81.71Z'/%3e%3cpath%20class='cls-4'%20d='M424.48,81.74a4.71,4.71,0,0,1-2.71-.88,5.43,5.43,0,0,1-1-1l-.07-.09-12.41-17-5.41,5v9.44a4.31,4.31,0,0,1-1.36,3.19,4.66,4.66,0,0,1-3.3,1.36A4.29,4.29,0,0,1,395,80.42a4.36,4.36,0,0,1-1.32-3.23V27.37A4.58,4.58,0,0,1,395,24.1a4.52,4.52,0,0,1,6.58.12,4.54,4.54,0,0,1,1.24,3.15V56.31l17.72-16.38.05,0a4.8,4.8,0,0,1,2.94-1.11,4.4,4.4,0,0,1,3.27,1.2,4.57,4.57,0,0,1,1.2,3.27,4.44,4.44,0,0,1-.77,2.33,7.45,7.45,0,0,1-1.43,1.65l-11,9.64,13.34,17.68a5,5,0,0,1,1,2.71,4.12,4.12,0,0,1-1.36,3.24A4.64,4.64,0,0,1,424.48,81.74Z'/%3e%3cpath%20class='cls-4'%20d='M317.93,81.76a21.5,21.5,0,1,1,21.17-21.5A21.37,21.37,0,0,1,317.93,81.76Zm0-34.1a12.61,12.61,0,1,0,12.42,12.6A12.52,12.52,0,0,0,317.93,47.66Z'/%3e%3cpath%20class='cls-4'%20d='M212.18,101.22a4.12,4.12,0,0,1-3.05-1.26,4.17,4.17,0,0,1-1.26-3.1V43.34a4.37,4.37,0,0,1,1.3-3.14,4.26,4.26,0,0,1,3.13-1.3,4.19,4.19,0,0,1,3.1,1.26,4.32,4.32,0,0,1,1.26,3.16,20.77,20.77,0,0,1,13-4.54,21.51,21.51,0,0,1,0,43,20.51,20.51,0,0,1-13-4.57V96.86a4.15,4.15,0,0,1-1.3,3.06A4.5,4.5,0,0,1,212.18,101.22Zm17.43-53.63c-6.23,0-12.93,4.11-12.93,12.72a12.73,12.73,0,0,0,25.46,0A12.71,12.71,0,0,0,229.61,47.59Z'/%3e%3cpath%20class='cls-4'%20d='M365.76,81.76a21.5,21.5,0,1,1,21.18-21.5A21.37,21.37,0,0,1,365.76,81.76Zm0-34.1a12.61,12.61,0,1,0,12.42,12.6A12.52,12.52,0,0,0,365.76,47.66Z'/%3e%3c/svg%3e)