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X9系列飞控说明书
产品介绍
X9系列飞控是零一飞行专为无人机集成化设计的一款模块化飞控，所有的接口与定义均集成在板板连接器中，用户只需要将外围电子设备，通过简单的pcb连线，即可完成无人机主板的集成，大大简化了无人机集成难度。同时内置多组传感器冗余，并内置减震系统，满足大部分的无人机厂商需求！
产品特点
- 真分离式设计、定制化0门槛
- ±16g抗过载能力 2000°/s角速度测量
- 三余度工业级传感器
- 全向减震设计
产品规格书
| X9 Cube飞控 | X9 Core飞控 | |
|---|---|---|
| 主处理器 | STM32H753 | STM32H753 |
| IO处理器 | STM32F103 | STM32F103 |
| 内置减震 | 有 | 有 |
| 加速计与陀螺仪 | IIM42652×3 ±16g抗过载能力 2000°/s角速度测量 | IIM42652×3 ±16g抗过载能力 2000°/s角速度测量 |
| IMU减震 | 全向减震 | 全向减震 |
| IMU温度补偿 | 10W | 10W |
| 气压计 | ICP-20100×2或BMP581+SPL07 | ICP-20100×2或BMP581+SPL07 |
| 磁罗盘 | RM3100 | RM3100 |
| 接口底板 | CAN×2 GPS1×1 GPS2 ×1 DSM PPM IN×1 ETH ×1 UART 4×1 SBUS IN×1 USB ×1 SPI ×1 AD&IO ×1 I2C ×1 PWM数量×14 | 无接口底板 |
| 工作温度 | -20℃~85℃ | -20℃~85℃ |
| 重量 | 57.5 | 72g |
| 尺寸 | 38.8×38.8×38.8mm | 38.8×38.8×26.5mm |
| 机型支持 | 直升机、多旋翼、固定翼、垂直起降固定翼、无人车、无人船 | 直升机、多旋翼、固定翼、垂直起降固定翼、无人车、无人船 |
| 工作电压 | 4.5V-5.4V | 4.5V-5.4V |
端子型号
X9 CUBE接口板连接器型号如下：
| 连接器 | 连接器型号 |
|---|---|
| TELEM1 | JST-GH 1.25 mm (4-pin) |
| TELEM2 | JST-GH 1.25 mm (4-pin) |
| GPS2 | JST-GH 1.25 mm (4-pin) |
| SBUS | JST-GH 1.25 mm (4-pin) |
| AUX3-AUX6 | JST-GH 1.25 mm (4-pin) |
| ETH | JST-GH 1.25 mm (4-pin) |
| CAN1 | JST-GH 1.25 mm (4-pin) |
| CAN2 | JST-GH 1.25 mm (4-pin) |
| I2C1 | JST-GH 1.25 mm (4-pin) |
| GPS1 | JST-GH 1.25 mm (4-pin) |
| Power1 | Molex 5055650601 (6-pin) |
| Power2 | Molex 5055650601 (6-pin) |
接口定义
UART映射关系
引脚图中UART标记为Rn和Tn，Rn为UARTn的接收引脚，Tn为UARTn的发送引脚。
| 名字 | 功能 | MCU引脚 | DMA |
|---|---|---|---|
| SERIAL0 | OTG1 | USB | - |
| SERIAL1 | Telem1 | UART7 | 已启用 |
| SERIAL2 | Telem2 | UART5 | 已启用 |
| SERIAL3 | GPS1 | USART1 | 已启用 |
| SERIAL4 | GPS2 | UART8 | 已启用 |
| SERIAL5 | Telem3 | USART2 | 已启用 |
| SERIAL6 | UART4 | UART4 | 已启用 |
| SERIAL7 | DEBUG | USART3 | 已启用 |
| SERIAL8 | OTG-SLCAN | USB | - |
X9 CUBE接口定义
X9 CORE DF17连接器接口定义
X9 CORE DF17连接器尺寸图
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