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Hamish Willee
2019-05-30 16:59:43 +10:00
committed by Lorenz Meier
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[![Join the chat at https://gitter.im/PX4/Hardware](https://badges.gitter.im/Join%20Chat.svg)](https://gitter.im/PX4/Hardware?utm_source=badge&utm_medium=badge&utm_campaign=pr-badge&utm_content=badge)
[Pixhawk](http://pixhawk.org) is an independent open-hardware project that aims to provide the standard for readily-available, hiqh-quality and low-cost autopilot hardware designs for the academic, hobby and developer communities. Pixhawk supports multiple flight stacks: PX4 ® and ArduPilot ®.
[Pixhawk](http://pixhawk.org) is an independent open-hardware project that aims to provide "the gold standard" for readily-available, hiqh-quality and low-cost autopilot hardware designs for the academic, hobby and developer communities.
Pixhawk supports multiple flight stacks: PX4 ® and ArduPilot ®.
## What is an Open Design?
> **Note** Designs are provided for a number of components used in unmanned vehicles, including: Autopilots (Flight Management Units - FMUs), ESCs (electronic speed controllers), optical flow sensors, etc.
The [Pixhawk project](https://pixhawk.org/) provides open designs following the OSHW 1.1 definition.
## What are Open Hardware Designs?
Designs are (typically) specified in the form of *schematics* that show all included components (CPU, sensors, etc.), how they are connected, and their pin mappings.
They may also include a BOM (bill of materials).
> **Tip** A minimum design must include all information required for a manufacturer to create a hardware product that is *firmware compatible* with other hardware created to the same design.
This might not be a full schematic, but must include a clear pinout definition of all components, information about I2C buses (e.g. which are internally available vs what is attached internally), etc.
The project also delivers *reference hardware* for some open designs.
If created, these are delivered as PCB layout files, and shared under the same [license](#licenses).
Manufacturers are encouraged to take the open designs (and/or open reference hardware) and create firmware-compatible products that are best suited to a particular market or use case (the physical layout/form factor not part of the open specification).
> **Note** While a physical connector standard is not mandated, newer products generally follow the [Dronecode<sup>&reg;</sup> Autopilot Connector Standard](https://wiki.dronecode.org/workgroup/connectors/start).
The [Pixhawk project](https://pixhawk.org/) provides open hardware designs following the [OSHW 1.1 definition](https://www.oshwa.org/definition/).
In essence, this definition allows anyone to freely study, modify, distribute, make, and sell the designs (or hardware based on the designs) under the terms of a particular open source licence (you can find more about the [open source licence](#licensing) we use below).
## Hardware Designs
Hardware designs delivered by the project are listed below.
<span id="fmu_designs"></span>
### FMU (Autopilot) Designs
The project has created a number of different open designs for flight management units (autopilot hardware).
Pixhawk FMU open designs include all information required to create an autopilot hardware product that is *firmware compatible* with other hardware created from the same design.
Manufacturers are encouraged to take the designs and create products that are best suited to a particular market or use case (e.g. for very small vehicles, or those that operate at environmental extremes).
> **Note** While a physical connector standard is not mandated, newer products generally follow the [Pixhawk Connector Standard](https://pixhawk.org/pixhawk-connector-standard/).
#### Design Format
Designs are *usually* specified in the form of *schematics* that show all included components (CPU, sensors, etc.), how they are connected, and their pin mappings.
They may also include a BOM (bill of materials).
> **Note** Not all designs deliver schematics.
#### Reference Hardware
The project provides *reference hardware/layouts* for **some** based on some open designs, in the form of PCB layout files.
These are shared under the same [license](#licenses) as the open design, and hence may be used in the same ways.
#### FMU Versions
The Pixhawk project has evolved the FMU design through a number of verisons.
These are named using the designation: FMUvX (e.g.: FMUv1, FMUv2, FMUv3, FMUv4, etc.).
Higher FMU numbers indicate that the board is more recent, but may not indicate increased capability (versions can be almost identical - differing only in connector wiring).
The designs listed below (with a high level overview of main differences):
The designs listed below (with a high level overview of the main differences).
Version | Description | Design | Hardware | Description
--- | ---
[FMUv1](FMUv1/README.md) & [IOv1](IOv1) | (Discontinued) Original Flight Management Unit and Separate I/O board.
[FMUv2](FMUv2/README.md) | Single board with STM32427VI processor.
[FMUv3](FMUv3_REV_D/README.md)| Identical to FMUv2, but usable flash doubled to 2MB.
[FMUv4](FMUv4/README.md) | Increased RAM. Faster CPU. More serial ports. No IO processor
FMUv4-PRO | Slightly increased RAM. More serial ports. IO processor.
[FMUv5](FMUv5/README.md) | New processor (F7). Much faster. More RAM. More CAN busses. Much more configurable.<br>> **Note** Minimum specification provided (pinout info, but no schematics).
- [FMUv1](FMUv1/README.md) & [IOv1](IOv1) - (Discontinued) Original Flight Management Unit and Separate I/O board.
- [FMUv2](FMUv2/README.md) - Single board with STM32427VI processor.
- [FMUv3](FMUv3_REV_D/README.md) - Identical to FMUv2, but usable flash doubled to 2MB.
- [FMUv4](FMUv4/README.md) - Increased RAM. Faster CPU. More serial ports. No IO processor
- FMUv4-PRO - Slightly increased RAM. More serial ports. IO processor <!-- is this design compatible - is it a reference? -->
- [FMUv5](FMUv5/README.md) - New processor (F7). Much faster. More RAM. More CAN busses. Much more configurable.
> **Note** Minimum specification provided (pinout info, but no schematics).
### Sapog ESC
@@ -53,7 +71,7 @@ The designs listed below (with a high level overview of main differences):
- [PSMv3_REV_C](PSMv3_REV_C)
## Autopilot Products
## Derived Autopilot Products
The following boards are commercial products that are *derived* from the Pixhawk FMU designs above (information is provided here under the terms of the open source license):
@@ -63,15 +81,18 @@ The following boards are commercial products that are *derived* from the Pixhawk
### Licensing and trademarks
<span id="licensing"></span>
### Licensing and Trademarks
Pixhawk project schematics and reference designs are licensed under [CC BY-SA 3](https://creativecommons.org/licenses/by-sa/3.0/legalcode).
The license allows you to use, sell, share, modify and build on the files in almost any way you like - provided that you give credit/attribution, and that you share any changes that you make under the same open source license (see the [human readable version of the license](https://creativecommons.org/licenses/by-sa/3.0/) for a concise summary of the rights and obligations).
> **Note** Boards that are *derived directly* from Pixhawk schematic files (or reference boards) must be open sourced. They can't be commercially licensed as proprietary products.
> **Note** Boards that are *derived directly* from Pixhawk schematic files (or reference boards) must be open sourced.
They can't be commercially licensed as proprietary products.
Manufacturers can create (compatible) *fully independent products* by first generating fresh schematic files that have the same pin mapping/components as the FMU designs. Products that are based on independently created schematics are considered original works, and can be licensed as required.
Manufacturers can create (compatible) *fully independent products* by first generating fresh schematic files that have the same pin mapping/components as the FMU designs.
Products that are based on independently created schematics are considered original works, and can be licensed as required.
Product names/brands can also be trademarked. Trademarked names may not be used without the permission of the owner.