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- ÈÙº£À̽º: ¹Ù´Ú ÆÇ
- ±â¼ú ÆĶó¹ÌÅÍ: °ª 2
- ¸ðµ¨ ¹øÈ£: Matek AP_Periph M10-L4-3100 GPS
- Â÷·® À¯Çü: ºñÇà±â
- °ø±¸ ¿ëÇ°: Á¶¸³ Ŭ·¡½º
- »ç·û±¸µ¿ Ư¼º: Á¶¸³½Ä
- ¿ø°Ý Á¦¾î ÁÖº¯±â±â/ÀåÄ¡: ¹èÅ͸®
- ¿ø°Ý Á¦¾î Àå³²°¨ ºÎÇ° ¹× ¾Ç¼¼»ç¸®: Å©¸®½ºÅ»
- Àç·á: º¹ÇÕ Àç·á
- ±Ù¿ø: CN (Á¤Ç°)
- Ãßõ ³ªÀÌ: 12 + y,14 + y
- »ç¿ë: Â÷·® & ¿ø°Ý Á¦¾î Àå³°¨
M10-L4-3100 arudpilosÀÇ AP_Periph Æß¿þ¾î¸¦ ±â¹ÝÀ¸·Î, CAN/DroneCAN ¹× UART/mspÀÎÅÍÆäÀ̽º°¡ÀÖ´Â GNSS + COMPASS + ±â¾Ð°è ÁÖº¯±â±âÀÔ´Ï´Ù. M10-L4-3100 u-blox MAX-M10S ÀÇÇØ ±¸µ¿µÇ´Â ´ÙÁß º°ÀÚ¸® gnss¸¦ »ç¿ëÇÕ´Ï´Ù, MAX-M10S ¿©·¯ GNSS ½Ã½ºÅÛÀ» ¼ö½ÅÇÏ°í ÃßÀû ÇÒ ¼öÀÖ´Â µ¿½Ã GNSS ¼ö½Å±âÀÔ´Ï´Ù. ´ÙÁß ´ë¿ª RF ÇÁ·±Æ® ¿£µå ¾ÆÅ°ÅØó ´öºÐ¿¡ 4 °³ÀÇ ÁÖ¿ä GNSS º°ÀÚ¸®, GPS,Galileo, GLONASS ¹× BeiDou ¸ðµÎ µ¿½Ã¿¡ ¼ö½Å ÇÒ ¼ö ÀÖ½À´Ï´Ù. M10-L4-3100 »ê¾÷ µî±Þ ³ªÄ§¹Ý PNI RM3100 À» ÅëÇÕÇÏ¿© °íÇØ»óµµ, ÀúÀü·Â ¼Òºñ, È÷½ºÅ׸®½Ã½º ¾øÀ½, Å« µ¿Àû ¹üÀ§ ¹× ³ôÀº »ùÇøµ ¼Óµµ¸¦ Á¦°øÇÕ´Ï´Ù.
»ç¾ç±â¾Ð°è SPL06-001 ÆÐÄ¡ GNSS ¾ÈÅ׳ª 25*25*4mm MCU STM32L431RCT6 UART3, ¿Âº¸µå MAX-M10S UART2(TX2 RX2), mspÇÁ·ÎÅäÄÝ CAN, µå·Ð ÇÁ·ÎÅäÄÝ ¿ÜºÎ AirSpeed ¼¾¼ I2C JST-GH Ä¿³ØÅÍ ÁöµµÇÏ´Â ºÎÆ®·Î´õ ÇÒ ¼ö ÀÖ½À´Ï´Ù, ÆĶû ºü¸¥ ±ô¹ÚÀÓ, ºÎÆà ´À¸° ±ô¹ÚÀÓ, ÀÛµ¿
GNSS PPS LED, ³ì»ö 3.3V LED, »¡°£»ö ÀÔ·Â Àü¾Ð ¹üÀ§: 4.5 ~ 5.3V (5V Æеå/ÇÉ) ¼Òºñ Àü·Â: 60mA ÀÛµ¿ ¿Âµµ:-20 ~ 80 °C
Æß¿þ¾îÆ÷ÇÔ1x M10-L4-3100 2x JST-GH-4P to JST-GH-4P 20cm ½Ç¸®ÄÜ ¿ÍÀÌ¾î ¸¶¿îÆú£À̽º (1x PCB Ç÷¹ÀÌÆ®, 4x ½Ç¸®ÄÜ ±×·Î¹Ô, 4x ³ªÀÏ·Ð ½ºÅÄµå ¿ÀÇÁ M3x7, 4x ³ªÀÏ·Ð ³ª»ç M3 * 8)
ÆÁ ¹× ³ëÆ®M10-F4-3100, 3 °³ÀÇ ¸¶±×³×ƽ ÄÚÀÏÀº "±â¿ïÀ̱â" ÇÏ´Â °ú·®À» ÇÇÇϱâ À§ÇØ ³³¶« ÆäÀ̽ºÆ®°¡ °ÅÀÇ ¾øÀ¸¹Ç·Î ³ªÄ§¹ÝÀÇ ºÎÁ¤È®¼ºÀ» ÀÐÀ» ¼ö ÀÖ½À´Ï´Ù. °·ÂÇÑ Ãæ°ÝÀº ƯÈ÷ "Å° Å« ÄÚÀÏ" Sen-Z-f. Pls´ÂÀÌ Á¤¹Ð ¸ðµâÀ» ÁÖÀÇÇÏ¿© »ç¿ëÇÕ´Ï´Ù. Ublox FW5.1 MAX-M10S ±âº» ±¸¼ºÀº QZSS ¹× sbas°¡ È°¼ºÈµÈ GPS, Galileo ¹× BeiDou B1I µ¿½Ã ¼ö½ÅÀÔ´Ï´Ù. Glonass´Â ±âº»ÀûÀ¸·Î ºñÈ°¼ºÈµË´Ï´Ù. Beidou B1I (1561.098 MHz) ¹× glonass¸¦ µ¿½Ã¿¡ »ç¿ëÇÒ ¼ö ¾ø½À´Ï´Ù. Beidou B1C (1575.42 MHz) ¹× glonass¸¦ µ¿½Ã¿¡ »ç¿ëÇÒ ¼ö ÀÖ½À´Ï´Ù. ºñÇà ÄÁÆ®·Ñ·¯ Æß¿þ¾î (INAV, Betaflight, ArduPilot) ´Â Áö±ÝÀº Beidou B1C ¸¦ Áö¿øÇÏÁö ¾Ê½À´Ï´Ù. GPS, Galileo, BeiDou B1I ¸¦ »ç¿ëÇϸé QZSS ¹× sbas°¡ °¡´ÉÇϸç, MAX-M10s 30 °³ ÀÌ»óÀÇ sats¸¦ hdop·Î 0.55 ±îÁö ¼ö½Å ÇÒ ¼ö ÀÖ½À´Ï´Ù. U-blox GNSS FW3.01 ºÎÅÍ ½ÃÀÛ, timepulse´Â UTC ½Ã°£°ú Á¤·Ä, ±× ½Ã°£Àº µµ¾à Ãʸ¦ ´Ù¿î·Îµå ÇÑ ÈÄ¿¡ ¸¸ À¯È¿ÇÏ°Ô ¼³Á¤µË´Ï´Ù. ÃÖ´ë 12.5 ºÐÀÌ ¼Ò¿äµÉ ¼ö ÀÖ½À´Ï´Ù. ¾Æ¸¶µµ gps°¡ 3D °íÁ¤ µÈ Á÷ÈÄ¿¡ PPS led°¡ ±ô¹ÚÀÌÁö ¾ÊÀ» °ÍÀÔ´Ï´Ù.
CAN (UAVCAN ÇÁ·ÎÅäÄÝ) ¿¬°áM10-L4-3100 5V - FC 4.5V ~ 5.3V M10-L4-3100 CAN-H FC CAN High M10-L4-3100 CAN-L FC CAN Low M10-L4-3100 G FC GND
FC UAVCAN ¸Å°³ º¯¼ö (¾ÆµÎÆÄÀÏ·µ)------------------------- I2C airspeed ¼¾¼¸¦ I2C Æ÷Æ® M10-L4-3100 ¿¬°áÇÏ´Â °æ¿ì ARSPD_TYPE -> 8 (UAVCAN) ARSPD_USE -> 1
M10-L4-3100 I2C Æ÷Æ®¿¡ ¿¬°áµÈ airspeed ¼¾¼ÀÇ CAN ³ëµå ¸Å°³ º¯¼ö¸¦ ¼³Á¤ÇØ¾ß ÇÕ´Ï´Ù. ¹Ì¼Ç Ç÷¡³Ê> Ãʱ⠼³Á¤> ¿É¼Ç Çϵå¿þ¾î> UAVCAN > SLCan ¸ðµå CAN1> ¸Å°³ º¯¼ö ------------------------- 2812LED dinÀ» PWM5 Æе忡 ¿¬°áÇÏ´Â °æ¿ì SLCan ¸ðµå CAN1> ¸Å°³ º¯¼ö OUT5_FUNCTION 120 NTF_LED_TYPES 455
UART (mspÇÁ·ÎÅäÄÝ) ¿¬°áArduPilot (4.1.x ÀÌÈÄ) FC ¸Å°³ º¯¼öSerialx_ÇÁ·ÎÅäÄÝ = 32 (msp), x´Â ÀÚµ¿ Á¶Á¾ ÀåÄ¡¿¡ ¿¬°áÇÏ´Â µ¥ »ç¿ëµÇ´Â Á÷·Ä Æ÷Æ® ÀÔ´Ï´Ù. Serialx_BAUD = 115 x´Â ÀÚµ¿ Á¶Á¾ ÀåÄ¡¿¡¼ ¿¬°áÇÏ´Â µ¥ »ç¿ëµÇ´Â Á÷·Ä Æ÷Æ® ÀÔ´Ï´Ù. GPS À¯Çü = 19 (MSP) BARO_PROBE_EXT = 4096 (mspbaro) Baro_primain = 1 (mspbaro¸¦ ±âº» baro·Î »ç¿ëÇÏ·Á´Â °æ¿ì, ±×·¸Áö ¾ÊÀ¸¸é ±âº»°ªÀ¸·Î ³²°ÜÁÖ¼¼¿ä) COMPASS_TYPEMASK 0 (¶Ç´Â MSP ºñÆ®°¡ È®ÀεÇÁö ¾Ê¾Ò´ÂÁö È®ÀÎÇϽʽÿÀ)
INAV (2.6 ÀÌÈÄ) FC ¸Å°³ º¯¼öM10-L4-3100 ¿©ºÐ uart¸¦ ÅëÇØ inav°¡ Áö¿øÇÏ´Â ¸ðµç ºñÇà ÄÁÆ®·Ñ·¯¿Í ȣȯµË´Ï´Ù. Æ÷Æ® ÅÇ¿¡¼ ¿¬°áµÈ M10-L4-3100 ÇØ´ç uart¿¡¼ msp¸¦ »ç¿ëÇϵµ·Ï ¼³Á¤ÇÏ°í, uart¿¡¼ "GPS" ¸¦ »ç¿ëÇÏÁö ¸¶½Ê½Ã¿À.ÇâÇÕ´Ï´Ù 115200.. ±â´É GPS Gps_provider = MSP ¼³Á¤ Mag_hardware = MSP ¼³Á¤ Baro_hardware = msp·Î ¼³Á¤ Align_mag = CW90 À» ¼³Á¤ÇÏ¸é ³ªÄ§¹ÝÀÌ ¾ÕÀ» ÇâÇÑ È»ìÇ¥·Î ÆòÆòÇÏ°Ô ÀåÂøµÇ°í ºñÇà ÄÁÆ®·Ñ·¯ È»ìÇ¥µµ ¾ÕÀ» ÇâÇÏ°í ÀÖ½À´Ï´Ù.
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