makeflyeasy PixSurveyA2¶
Specifications¶
Processor:
32-bit STM32H743VIT6 ARM Cortex M7 core with FPU
480 Mhz/1 MB RAM/2 MB Flash
32-bit failsafe co-processor (STMF103)
Sensors
Three redundant IMUs (accels, gyros and compass)
Gyro/Accelerometers: two IIM42652 , one ICM-42688-P
Barometers: Two redundant MS5611 barometers
Compass: IST8310
Power
Redundant power supply with automatic failover
Power supply 4V-6V
Interfaces
14x PWM servo outputs (8 from IO, 6 from FMU)
S.Bus servo output
R/C inputs for CPPM, Spektrum / DSM and S.Bus
4x general purpose serial ports
2x I2C ports
2x CAN Bus interface
MicroSD card reader
Type-C USB
High-powered piezo buzzer driver (on expansion board)
Safety switch / LED
12V Power output
Servo rail BEC independent power input for servos
Dimensions
Weight 117g
Size 110mm x 100mm x 23mm
UART Mapping¶
SERIAL0 -> console (primary mavlink, usually USB)
SERIAL1 -> USART2 (telem1,DMA-enabled)
SERIAL2 -> USART3 (Telem2,DMA-enabled)
SERIAL3 -> UART4 (GPS1)
SERIAL4 -> UART8 (GPS2)
Connector pin assignments¶
TELEM1, TELEM2 ports¶
| Pin | Signal | Volt |
|---|---|---|
| 1 | VCC | +5V |
| 2 | TX (OUT) | +3.3V |
| 3 | RX (IN) | +3.3V |
| 4 | GND | GND |
I2C1, I2C2 port¶
| PIN | SIGNAL | VOLT |
|---|---|---|
| 1 | VCC | +5V |
| 2 | SCL | +3.3V |
| 3 | SDA | +3.3V |
| 4 | GND | GND |
CAN1, CAN2 port¶
| PIN | SIGNAL | VOLT |
|---|---|---|
| 1 | VCC | +5V |
| 2 | CAN_H | +12V |
| 3 | CAN_L | +12V |
| 4 | GND | GND |
Safety port¶
| PIN | SIGNAL | VOLT |
|---|---|---|
| 1 | VCC | +5V |
| 2 | LED | +3.3V |
| 3 | SafKey | +3.3V |
GPS1/I2C1, GPS2/I2C2 ports¶
| PIN | SIGNAL | VOLT |
|---|---|---|
| 1 | VCC | +5V |
| 2 | TX | +3.3V |
| 3 | RX | +3.3V |
| 4 | SCL | +3.3V |
| 5 | SDA | +3.3V |
| 6 | GND | GND |
Power1, Power2 ports¶
| PIN | SIGNAL | VOLT |
|---|---|---|
| 1 | VCC | +5V |
| 2 | VCC | +5V |
| 3 | CURRENT | +3.3V |
| 4 | VOLTAGE | +3.3V |
| 5 | GND | GND |
| 6 | GND | GND |
RC Input¶
The PPM/SBus.in pin, which by default is mapped to a timer input, can be used for all ArduPilot supported receiver protocols, except CRSF/ELRS and SRXL2 which require a true UART connection. However, FPort, when connected in this manner, will only provide RC without telemetry.
To allow CRSF and embedded telemetry available in Fport, CRSF, and SRXL2 receivers, a full UART, such as SERIAL4 (UART8) would need to be used for receiver connections. Below are setups using UART4. SERIAL4_PROTOCOL should be set to “23”.
FPort would require SERIAL4_OPTIONS be set to “15”.
CRSF would require SERIAL4_OPTIONS be set to “0”.
SRXL2 would require SERIAL4_OPTIONS be set to “4” and connects only the UART4 TX pin.
Any UART can be used for RC system connections in ArduPilot also, and is compatible with all protocols except PPM. See Radio Control Systems for details.
PWM Output¶
The PixSurveyA2 supports up to 14 PWM outputs. First first 8 outputs (1 to 8) are controlled by a dedicated STM32F103 IO controller. These 8 outputs support all PWM output formats, but not DShot.
The remaining 6 outputs (9 to 14) are the “auxiliary” outputs. These are directly attached to the STM32F427 and support all PWM protocols as well as DShot.
The 8 main PWM outputs are in 3 groups:
PWM 1 and 2 in group1
PWM 3 and 4 in group2
PWM 5, 6, 7 and 8 in group3
The 6 auxiliary PWM outputs are in 2 groups:
PWM 1, 2, 3 and 4 in group1
PWM 5 and 6 in group2
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.
Battery Monitor Settings¶
These should already be set by default. However, if lost or changed:
Enable Battery monitor with these parameter settings :
BATT_MONITOR =4
Then reboot.
Loading Firmware¶
The board comes pre-installed with an ArduPilot compatible bootloader, allowing the loading of xxxxxx.apj firmware files with any ArduPilot compatible ground station.
Firmware for these boards can be found here in sub-folders labeled “PixSurveyA2”.