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PIXHACK RACER V1.0 USER MANUAL
The Pixracer (formerly called XRacer) is fully supported by the Arducopter and PX4 community. It’s a genuine open source project, already running with PX 4 stack software / QGroundControl (QGC), as well with Arducopter / Mission Planner (MP). The Pixracer is fully compatible to Ardupilot and Mission Planner as well to the great alternative PX4 Flight stack and QGroundControl (QGC). Furthermore it’s fully compatible to all Pixhawk and to most APM externals as Telemetry units, OSD, GPS, Sonar, Lidar, Airspeed sensors. Since all connectors and wiring is included with the Pixracer, it’s easy to build adapter cables for 3rd party stuff as well, with the charts shown below
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Specifications: MCU - STM32F427VIT6 rev.3 FRAM - FM25V02-G LDO Ultra low noise LDOs for sensors and FMU MPU9250 , ICM20608 , baro MS5611, mag HMC5983 Connectors - GPS+I2C, RC-IN, PPM-IN, RSSI, SBus-IN, Spektrum-IN, USART3 ( TxD, RxD, CTS, RTS ), USART2 ( TxD, RxD, CTS, RTS ), FRSky-IN, FRSky-OUT, CAN, USART8 ( TxD, RxD ), ESP8266 ( full set ), SERVO1-SERVO6, USART7 ( TxD, RxD ), JTAG ( SWDIO, SWCLK ), POWER-BRICK ( VDD, Voltage, Current, GND ), BUZZER-LED_BUTTON MicroSD card reader RGB LED Micro USB WiFi ESP8266 802.11bgn ( Included !) . This popular add on is a very versatile solution. For more information visit site http://www.esp8266.com/wiki/doku.php...th-the-esp8266. The included Wi-Fi Module is ready to use. JST GH series connectors for easy and robust peripheral connections. Dimensions - 36 x 36mm with 30.5 x 30.5mm hole grid with 3.2mm holes Weight - Pixracer - ( includes micro SD and Wi-Fi ) - app. 10.9g, ACSP4 - 7.86g ACSP5 app. 2.32g Full set of professional flexible silicone cables for almost any peripheral module included. Power supply - 5-5.5VDC from USB or Power Brick connector.
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Pixhack Racer connection diagram
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Refer Pin out diagram below
Power Module options: 1. ACSP4 (36 x 36mm power distribution, current, voltage sensor with 5V/2.5A ultra low noise buck and 12V/2A ultra low noise buck) companion is available as well. The former 3DR Power module is working as well, but don´t use cheap clones with reversed connectors w/o checking the pin out. (See image below)
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ACSP4 specs : Battery voltage Up to 8-9S , 10S burst Current - 90A tested, 120A airflow cooled burst ( not tested ) 5.3V 3A BEC for the FC ( current +voltage sensing ) 12V 2A BEC for video, etc. 12V power cable supplied ( 2 x power cables supplied with Pixracer V1 ) Dimensions - 36x36mm, weight 7.86g, 30.5x30.5 screw grid with 3.2mm dia holes JST GH connectors for 5.3V, current and voltage sensing JST GH connector for 12V Features: DC-DC Buck regulators - LT8610AB (ultralow ripple/noise with ECO power saving burst mode with light loads) 2. ACSP5 ( Small version w/o PDB, 17 x 17mm, current, voltage sensor with 5V/2A ultra low noise buck is available as well. The former 3DR Power module is working as well, but don´t use cheap clones with reversed connectors w/o checking the pin out. ACSP5 specs : Battery voltage Up to 8-9S , 10S burst Current - 90A tested. 5.3V 2A BEC for the FC ( current+voltage sensing ) 12V power cable supplied ( 2 x power cables supplied with Pixracer V1 ) Dimensions - 17x17mm, weight 2.32gramms JST GH connectors for 5.3V, current and voltage sensing Features: DC-DC Buck regulators - LT8610AB (ultralow ripple/noise with ECO power saving burst mode with light loads)
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ESP8266 ESP-01 Wifi Board plugged in. It’s included! The ESP8266 is working already with QGC (QGroundControl) and Android out-of-the-box, there´s no need for another radio. The only thing which doesn´t work yet is Firmware update via Android. For the download of the QGC Android App https://play.google.com/apps/testing...qgroundcontrol it’s required to sign up @ QGC user group https://groups.google.com/forum/#!forum/qgroundcontrol ESP8266 ESP-01 Wi-Fi Board plugged in
Pins marked with Red Cross are for future use. Do not connect ESP-01 there! 7
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1. TOP CONNECTIONS
TOP CONNECTORS a. FRs (FrSky connector)
1. VDD_5V_PERIPH 2. FrSky_OUT 3. FrSky_IN 4. GND b. RC ( Receiver connector )
1. 2. 3. 4.
VDD_5V_RECEIVER RC_INPUT ( PPM, SPEKTRUM, SBus ) RSSI_IN VDD_3V3_SPEKTRUM 5. GND
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c. TL2 (Telemetry 2 connector)
1. 2. 3. 4. 5.
VDD_5V_PERIPH FMU_USART3_TxD FMU_USART3_RxD FMU_USART3_CTS FMU_USART3_RTS 6. GND
d. USB USB connector e. TL1 (Telemetry 1 connector)
1. 2. 3. 4. 5. 6.
VDD_5V_PERIPH FMU_USART2_TxD FMU_USART2_RxD FMU_USART2_CTS FMU_USART2_RTS GND
f. SERVO CHANNELS CH1 – CH6 are the servo channels. NOTE! The VDD_SERVO rail is NOT connected to the Pixracer power! Servos require their own 5V BEC!
g. ESP8266 INTERFACE
1. FMU_USART1_RxD 2. GND 3. ESP8266_PD ( power down ) 4. ESP8266_GPIO2 5. ESP8266_RESET 6. ESP8266_GPIO0 7. VDD_3V3_PERIPH 8. FMU_USART1_TxD 9. ESP8266_RTS ( not implemented on ESP-01 module ) 10.ESP8266_CTS ( not implemented on ESP-01 module ) 9
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BOTTOM SIDE CONNECTIONS
2. BOTTOM CONNECTORS a. DEBUG CONNECTOR
1. 2. 3. 4. 5. 6.
FMU_VDD_3V3 FMU_UART7_TxD FMU_UART7_RxD FMU_SWDIO FMU_SWCLK GND b. PWR (Power CONNECTOR)
1. 2. 3. 4. 5. 6.
POWER_5V_IN POWER_5V_IN CURRENT_SENSE VOLTAGE_SENSE GND GND
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NOTE! PWR (POWER SUPPLY) must be between 5.0VDC and 5.5VDC! Voltages from VOLTAGE and CURRENT sensing should be 3.3VDC max!
c. BTBZ (buzzer / button connector)
1. 2. 3. 4. 5.
SAFETY_SWITCH BUT/BUZZ ( button and buzzer common ) FMU_VDD_3V3 BUZZER – BUZZER +
d. GPS (GPS connector)
1. 2. 3. 4. 5. 6.
VDD_5V_PERIPH FMU_USART4_TxD FMU_USART4_RxD FMU_I2C1_SCL ( 3.3V tolerant ) FMU_I2C1_SDA ( 3.3V tolerant ) GND
3. JTAG The JTAG interface is implemented on a JST SM06B-SRSS 1mm pitch connector. Very useful device for debugging is the Black Sphere Debugger (http://www.tagconnect.com/BLACK-SPHERE-DBG ). For flashing the bootloader, firmware and debugging, the cheap STM32 Nucleo or STM LINK-V2 boards can be used (http://mbed.org/platforms/?tvend=10 ). The Pixracer V1 board is supplied with FMU bootloader flashed, so one doesn’t need to flash it again.
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4. LEDS and SAFETY SWITCH There are 2 LEDs on the Pixracer V1 board –Power LED (GREEN) and RGB status LED. LED STATUS TABLE GREEN = Power LED = always ON SAFETY SWITCH STATUS ON = FMU ARMED SLOW BLINK = Ready to arm FAST BLINK = Error / Refusing to arm 5. POWERING Pixracer V1 There are two power inputs – USB (only for programming and testing) and Power from the Power connector.
NOTE! The Power must be between 5.0VDC to 5.5VDC! The VDD_SERVO rail is NOT connected to the Pixracer power! VERY IMPORTANT NOTE! THE MAX ALLOWABLE TOTAL CURRENT CONSUMPTION FOR ALL PERIPHERALS IS 1A! Don’t connect the VCC of servos or High Power Telemetry/OSD modules.
Setup for Frsky receiver using S.port
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Below diagram shows GPS connections.
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Please refer below for ACSP4 setup.
Refer image below for ACSP5 setup.
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Important: When using ACSP4 / ACSP5 > 6S + battery without spark-free connector, please solder an Aluminum electrolytic capacitor of 100uF 63V right to the battery solder pads. Capacitor (+) to battery (+), and capacitor (-) to battery (-). This is because non spark-free connectors may cause voltage overshoots if long battery wires are used. Software 1. PX4 Stack discussions https://groups.google.com/forum/#!forum/px4users 2. Ardupilot discussions http://diydrones.com/forum/topics/pi...age=1#comments Hardware Manual 1. Manual V1 https://drive.google.com/file/d/0BwG...dTYkhOZ3c/view 2. Wiring https://drive.google.com/file/d/0BwG...NrT29fSWc/view Manual add ons GPS Wiring / FrSky Port How-to Connect: See attachment
Setup videos Pixracer Flight Controller Overview https://youtu.be/mpb6Cq023N8 PixRacer - Introduction and overview https://youtu.be/5oIrj_vwlLY PixRacer - Software, Firmware and Connections https://youtu.be/-GlnAPqbIrY
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Please refer below image for Basic quad setup.
Pixracer pages by pixhawk.org https://pixhawk.org/modules/pixracer http://discuss.px4.io/ Further links Groundstation / Telemetry http://qgroundcontrol.org/ https://groups.google.com/forum/#!forum/qgroundcontrol
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