HardLabs

AutoPilotPi-Hardware

AutopilotPi·AutoPilotPi-Hardware

AutoPilotPi-Hardware PCB layout, top view — open source FPGA board by AutopilotPi

About the AutoPilotPi-Hardware PCB

AutoPilotPi-Hardware is an open source FPGA PCB design by AutopilotPi, published on GitHub under the GPL-3.0 license. It is a 4-layer board measuring 29 × 52 mm, with 97 components from 31 distinct parts.

Its main chip is the GW1N_LV4QN32C6/I5, from the FPGA family. Other key parts include the MKDV4GCL-AB, V3S-ALLWINNER, EA3036, HMC5883L-TR and SPL06-001. By type, the board carries 55 capacitors, 24 resistors, 7 ICs, 4 connectors, 3 inductors and 2 crystals.

From the project

A SBC(Single Board Computer) to run autopilot firmware on linux

AutoPilotPi 是一个能够运行 PX4 等自动驾驶固件的单板计算机(SBC)。与通用的 SBC（如树莓派）不同，AutoPilotPi 集成了多种传感器（IMU、磁罗盘、气压计等），因此无需额外的接线即可使用，对于微型飞行器和电路洁癖患者来说非常友好。

AutoPilotPi 使用 V3s 处理器，虽然 V3s 不是性能强大的处理器，但如果能够证明 PX4 能在这些性能较弱的 Linux 处理器上运行，则对于性能更强的处理器来说更加不在话下了。

与传统基于 MCU 的自动驾驶固件不同，使用 Linux 系统的优势在于支持更多的开发语言和工具链，可以更方便地进行二次开发和调试。同时，开启了软实时后的内核基本可以满足 PX4 的实时性要求。

- ICM20600：六轴惯性测量单元 - QMC5883L：三轴磁罗盘 - SPL06：气压高度传感器 - 3 个串口(U0、U1、U2，其中 U0 用于 Linux 调试) - 1 个 I2C 接口 - 1 个 SPI 接口 - 最多 9 个 PWM 通道

AutoPilotPi-Hardware, from the project README
From the project README

Main components on the AutoPilotPi-Hardware

MKDV4GCL-ABV3S-ALLWINNEREA3036GW1N_LV4QN32C6/I5HMC5883L-TRSPL06-001v3s_flight_controller

AutoPilotPi-Hardware bill of materials (BOM)

97 components, 31 distinct parts.

QtyPartRefs
1
MKDV4GCL-AB
U1
1
V3S-ALLWINNER
U2
1
EA3036
U3
1
GW1N_LV4QN32C6/I5
U4
1
HMC5883L-TR
U5
1
SPL06-001
U6
1
v3s_flight_controller
U7
1
Crystal
Y1
1
Crystal_GND24_Small
Y2
3
Conn_01x04_MountingPin
J1, J2, J3
1
USB_C_Receptacle
J4
1
ICM20600
I1
1
LED
D1
3
2.2uH
L1, L2, L3
40
0.1u
C1, C2, C3, C4, C5, C6, C7, C8 +32
4
18pf
C11, C12, C17, C18
1
1uF
C15
6
4.7u
C31, C32, C33, C40, C41, C50
3
220p
C37, C38, C39
1
0.22uF
C51
Show 11 more
QtyPartRefs
5
47K
R1, R2, R3, R4, R5
4
10K
R6, R11, R12, R24
1
1M
R7
4
NC
R8, R9, R13, R21
1
240R
R10
3
100k
R14, R16, R17
1
150k
R15
1
680k
R18
1
200K
R19
1
0R
R20
2
4.7K
R22, R23

AutoPilotPi-Hardware design files

The KiCad project lives in the AutopilotPi/AutoPilotPi-Hardware repository on GitHub; these links point at the commit this page was built from.

AutoPilotPi-Hardware: common questions

What microcontroller does the AutoPilotPi-Hardware use?

The AutoPilotPi-Hardware is built around the GW1N_LV4QN32C6/I5, from the FPGA family.

How big is the AutoPilotPi-Hardware PCB?

The AutoPilotPi-Hardware measures 29 × 52 mm, has 4 copper layers and is 1.6 mm thick.

How many components are on the AutoPilotPi-Hardware?

97 components, from 31 distinct parts. The full bill of materials is listed on this page.

Where can I download the AutoPilotPi-Hardware design files?

From the AutopilotPi/AutoPilotPi-Hardware repository on GitHub, which has the KiCad layout and the schematic; the links under Design files point to each one.

Can I use the AutoPilotPi-Hardware design in my own project?

Yes, under the terms of its GPL-3.0 license, which AutopilotPi chose for the repository.

Can I test firmware for the AutoPilotPi-Hardware without the hardware?

Yes. HardLabs builds a simulation of the board from its netlist and BOM, so you can run and debug FPGA firmware against it before you order a PCB.

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