Snapdragon Flight Autopilot

Snapdragon Flight Autopilot

The Qualcomm Snapdragon Flight platform is a high-end autopilot / onboard computer which runs the PX4 Flight Stack on the DSP on the QuRT real time operating system using the DSPAL API for POSIX compatibility. In comparison to Pixhawk it adds a camera and WiFi and high-end processing power, and different IO.

More information about the Snapdragon Flight platform is in the official Qualcomm® Snapdragon™ Flight Kit documentation.

总览

System-on-Chip: Snapdragon 801
- CPU: Quad-core 2.26 GHz Krait
- DSP: Hexagon DSP (QDSP6 V5A) – 801 MHz+256KL2 (running the flight code)
- GPU: Qualcomm® Adreno™ 330 GPU
- RAM: 2GB LPDDR3 PoP @931 MHz
Storage: 32GB eMMC Flash
Video: Sony IMX135 on Liteon Module 12P1BAD11
- 4k@30fps 3840×2160 video capture to SD card with H.264 @ 100Mbits (1080p/60 with parallel FPV), 720p FPV
Optic Flow: Omnivision OV7251 on Sunny Module MD102A-200
- 640x480 @ 30/60/90 fps
Wifi: Qualcomm® VIVE™ 1-stream 802.11n/ac with MU-MIMO † Integrated digital core
BT/WiFi: BT 4.0 and 2G/5G WiFi via QCA6234
- 802.11n, 2×2 MIMO with 2 uCOAX connectors on-board for connection to external antenna
GPS: Telit Jupiter SE868 V2 module (use of an external u-Blox module is recommended by PX4 instead)
- uCOAX connector on-board for connection to external GPS patch antenna
- CSR SiRFstarV @ 5Hz via UART
Accelerometer / Gyro / Mag: Invensense MPU-9250 9-Axis Sensor, 3x3mm QFN, on bus SPI1
Baro: Bosch BMP280 barometric pressure sensor, on bus I2C3
Power: 5VDC via external 2S-6S battery regulated down to 5V via APM adapter
Availability: Intrinsyc Store

Connectivity

One USB 3.0 OTG port (micro-A/B)
Micro SD card slot
Gimbal connector (PWB/GND/BLSP)
ESC connector (2W UART)
I2C
60-pin high speed Samtec QSH-030-01-L-D-A-K expansion connector
- 2x BLSP (BAM Low Speed Peripheral)
- USB

Recommended Wiring

针脚定义

Warning Although the Snapdragon uses DF13 connectors, the pinout is different from Pixhawk.

Detailed pinout information can be found here: Qualcomm Developer Network.

WiFi

WLAN0, WLAN1 (+BT 4.0): U.FL connector: Taoglas adhesive antenna (DigiKey)

连接器

The default mapping of the serial ports is as follows:

Device	描述
`/dev/tty-1`	J15 (next to USB)
`/dev/tty-2`	J13 (next to power module connector)
`/dev/tty-3`	J12 (next to J13)
`/dev/tty-4`	J9 (next to J15)

For a custom UART to BAM mapping, create a file called blsp.config and adb push it to /usr/share/data/adsp. For example, to keep the default mapping, your blsp.config should look as follows:

tty-1 bam-9 2-wire  
tty-2 bam-6 2-wire  
tty-3 bam-8 2-wire  
tty-4 bam-2 2-wire

Be sure to include the text “2-wire” at the end of each line to allow the UART to use only the TX and RX pins specified in the tables below. If 2-wire is not specified (or if the file is not present on the target) the UART will default to using 4-wire mode and will require an additional two pins for RTS/CTS flow control.This will cause a problem for any other type of I/O on the same connector, since the pins will be configured as RTS and CTS signals. If, for example, J9 (described below) was being used to connect to both a UART and an I2C device, the I2C signals on pin 4 and pin 6 would be configured as RTS and CTS signals, overriding the I2C SDA and SCL signals.

J9 / GPS

针脚	2-wire UART + I2C	4-wire UART	SPI	Comment
1	3.3V	3.3V	3.3V
2	UART2_TX	UART2_TX	SPI2_MOSI	Output (3.3V)
3	UART2_RX	UART2_RX	SPI2_MISO	Input (3.3V)
4	I2C2_SDA	UART2_RTS	SPI2_CS	(3.3V)
5	GND	GND	GND
6	I2C2_SCL	UART2_CTS	SPI2_CLK	(3.3V)

J12 / Gimbal bus

针脚	2-wire UART + GPIO	4-wire UART	SPI	Comment
1	3.3V	3.3V	3.3V
2	UART8_TX	UART8_TX	SPI8_MOSI	Output (3.3V)
3	UART8_RX	UART8_RX	SPI8_MISO	Input (3.3V)
4	APQ_GPIO_47	UART8_RTS	SPI8_CS	(3.3V)
5	GND	GND	GND
6	APQ_GPIO_48	UART8_CTS	SPI8_CLK	(3.3V)

J13 / ESC bus

针脚	2-wire UART + GPIO	4-wire UART	SPI	Comment
1	5V	5V	5V
2	UART6_TX	UART6_TX	SPI6_MOSI	Output (5V)
3	UART6_RX	UART6_RX	SPI6_MISO	Input (5V)
4	APQ_GPIO_29	UART6_RTS	SPI6_CS	(5V)
5	GND	GND	GND
6	APQ_GPIO_30	UART6_CTS	SPI6_CLK	(5V)