• The team discussed current capabilities of the spec
• The most significant change from v5x is the move to H7

• Are the current interfaces outlined enough?

• Pixhwak Reference Doc
• PX4 hardware support categories
• Pixhawk Payload

• ✅ Published RFC for FMUv6X
• Please take a moment to review the FMUv6X spec with your team and bring feedback forward.
• Please review the PX4 board support categories doc. 
• 👀 The Pixhawk Payload proposal from Yuneec was added to the document for discussion. Please review before the next meeting. [pixhawk.org] Pixhawk Payload Bus Standard

Team, please review the meeting minutes for the previous two minutes, we are making good progress on all fronts, please feel free to ping me if anything is unclear, or misrepresented below.

I am looking forward to our next meeting next week.

Feel free to forward this email to any co-worker/partner and invite them to subscribe to our mailing list. https://lists.dronecode.org/g/pixhawk/

Pixhawk Discussion

FMUv6 Spec

Changes to the spec discussed on the call

• A key differentiator from v6X is the addition of features considered non-essential for commercial adopters, but necessary for educational / developer adopters.

• Pinout will include high-speed USB

• TODO: Pinout proposal by @David and @Lorenz until April 21st

FMUv6X Spec

We are executing faster on this spec, and we want to improve from the v5x timeline and align with the development of future products.

Timeline

• FMUv5X

• Set a timeframe for two weeks, for final signoff

• FMUv6

• Next stable proposal in 5 weeks.

Pixhawk Smart Battery

Connector

Proposed connectors:

• Prolanv high-current connector
  https://www.prolanv.com/index.php?m=content&c=index&a=show&catid=23&id=46

• The Prolanv connector is the preferred option

• Molex EXTreme Ten60 Power Hybrid (discussed on a previous call)
  https://www.literature.molex.com/SQLImages/kelmscott/Molex/PDF_Images/987650-1981.PDF

• Molex connector is considered rather large and bulky.

Interface and Pinout

• Freefly introduced an interface design with a connector pinout and a schematic related to the connector interface. See the image below. 

• TODO: @Community to review this design and prepare feedback for the next call. In particular, @Iain, @Alex, and @Jacob.

• DJI Compatibility
• The group agrees that the connector is not compatible with the DJI battery system

• The ID pin enables designs that have a button on the battery or the vehicle to power on the system. In case of a multi-battery vehicle, the power-on has to be managed and properly sequenced

• TODO: @Alex and @Raul to prepare a sequence diagram for the scenario that the button is either on the battery or the vehicle side

Resources

• NXP part from the discussion

Pixhawk Payload

• Review Yuneec connector on Onshape

• Changes from the original proposal

• VCC pins only (not as much current, smaller payloads)

• TODO: Review mechanical, coming up to final position individually

• TODO: See if the strategy reaches consensus

Plan of Action

• Lighter payload X-connector

• Heavier payload Dovetail-connector

• Adapter board X-connector to Dovetail

Connectors

The connector of choice is, in both cases, the KEL DY series. We have to specify the exact part number to make sure the community can order it.

• TODO: @Raul R Specify connector part number for Dovetail design
• TODO: @Alessandro Specify connector part number for X-Connector design
  

Designs

X-connector by Yuneec

https://wikifactory.cn/@alessandro-simovic/yuneec-x-connector/files

Dovetail connector by Freefly

https://wikifactory.cn/+pixhawk/pixhawk-payload-bus/file/QR%20Dovetail%20Receiver%20Standalone.STEP

Standardization Release Process

• We are publishing the 3D files and accompanying documentation, and sharing with the community as part of the Pixhawk project.

• The standardization will benefit if the plans are available to purchase as a standalone component. This way, adopters could integrate a payload without manufacturing the mechanical parts themselves or do an initial prototype based on available parts.

• TODO: Clarify licensing on the next call

Pixhawk Discussion

FMUv6X

• @TODO: Dugan/David do a review of the docs and submit to the mailing list for final review.

• @TODO: Follow-up from above, ask for feedback from workgroup members.

Recommended default sensors

• ICM4XXX

• BMI088

• Discrete Baro

• https://www.bosch-sensortec.com/products/motion-sensors/imus/bmi088.html

• BMI150

• Discrete Mag

• https://www.bosch-sensortec.com/products/motion-sensors/magnetometers-bmm150/

Payload Discussion

Connector Part numbers

The 40-pin connector is automotive grade, low-cost, vibration resilient and allows very high density assemblies.

• KEL DY Series: Product page

• DY01-040S

• DY11-040L

Yuneec Building Dev Kits

• Can provide dev kit for early adopters

Payload trigger

• Normal trigger mechanism is to use 2 pwm aux pins

• Function list as a trigger and capture

• Question: What signals are here?

• Publish map information for backwards compatibility

• “Expected standard use cases” →

Smart Battery

Spec presentation

• Tightly integrated package where the batteries don’t have to boot each individual battery up

• No need to have a pixhawk to booth a battery

• Pin 1 is ID

• Up to 8 different batteries

• You always know which slot battery is connected to

• Pin 2 wake up signal to battery

• One button turns on all batteries on aircraft

• All batteries need a button to wake-up

• Battery state diagram

• Hot swapping / Hot plugging 

• Buffer with resistance?

• @TODO: Need to handle the case were the battery shuts off and the FMU CPU resets and turns the battery back on (FET on pin 2) (edited) 

Pixhawk Standard

@David: highlights the need for detailed  version control on the spec.

Feature Request

• Up to the pin level change history

• Consensus

• Sortable By functionality and type

• Versioning

Default Sensors

ICM4XXX 4-series on paper looks better, lower temp

• @TODO: Ray: follow-up feedback from ModalAI

Payload

How to make this complete

• Datasheet with all of the specs

• Defined the mechanical and electrical properties

• Description of what pins are and how they are used

• Typical test arrangements for those pins

• Part number breakdown glossary

• Description of how to use this reference

How to name connectors

• How to differentiate between

• The documentation doesn’t specify 

• Group agrees tying it to a physical feature would be the best way to go

Options

By number of pins (# Pins)

PX-PB-40

PX-PB-35

R/D

PP-40D

PP-40R

Power and Watts

PP-PB XW

PP-PB XW

Options

• # Pins

• R/D

• Power and Watts

Payload DevKit 

Group agrees a DevKit with a breakout board would be really useful

• Yuneec will make one available

• Minimal working kit for the connector

• Hoping to release it in May

@TODO: Yuneec needs a prototype of the dovetail.

Discussion regarding connector which one should be in the vehicle vs camera (female / male)

@TODO: is it too late to swapp Yuneec.

@TODO: Document data sheets of pins, from a protocol use standpoint, max min voltage, gpps as output/input, ppm compatible

@TODO: Who is going to be a provider of DoveTail design Dev Kits?

Smart Battery

Ark Electronics BMS Prototype by Alex K.

• Shared photos of the 1st prototype already working

• Gettings quotes for prices

• BOM ~$100 USD

@TODO: add state diagram to main doc and link

How to make this complete

• Datasheet with all of the specs

• Defined the mechanical and electrical properties

• Description of what pins are and how they are used

• Typical test arrangements for those pins

@TODO: Question; Part numbering? Voltage related standard

Starting with a single mechanical interface

Battery info, Capacity, Number of cells

Uavcan v0 capacity is available

Public data types should be part of the standard

@TODO: Alex, what are all the things we want to get out of the battery for UAVCAN v1.0

Iain G. @ NXP 

Proposes UMP connector by TE Connectivity

• Data sheet PDF

• Next version of the board is available now with published schematics