PX4 User Guide
  • Introduction
  • Getting Started
    • Basic Concepts
    • Vehicles/Frames
    • Flight Controllers
    • Sensors
    • Radio Systems
    • Flight Modes
    • Vehicle Status Notifications
      • LED Meanings
      • Tune/Sound Meanings
      • Preflight Checks
    • Payloads & Cameras
    • Flight Reporting
  • Basic Assembly
    • Mounting the Flight Controller
    • Mounting the GPS/Compass
    • Vibration Isolation
    • Cable Wiring
    • CUAV Pixhawk V6X Wiring QuickStart
    • CUAV V5+ Wiring Quickstart
    • CUAV V5 nano Wiring Quickstart
    • Holybro Pixhawk 6C Wiring Quickstart
    • Holybro Pixhawk 6X Wiring Quickstart
    • Holybro Pixhawk 5X Wiring Quickstart
    • Holybro Pixhawk 4 Wiring Quickstart - Discontinued
    • Holybro Pixhawk 4 Mini Wiring Quickstart - Discontinued
    • Holybro Durandal Wiring Quickstart
    • Holybro Pix32 v5 Wiring Quickstart
    • Cube Wiring Quickstart
    • Pixracer Wiring Quickstart
    • mRo (3DR) Pixhawk Wiring Quickstart
  • Standard Configuration
    • Firmware
    • Airframe
    • Sensor Orientation
    • Compass
    • Gyroscope
    • Accelerometer
    • Airspeed
    • Level Horizon Calibration
    • Radio Setup
    • Joystick Setup
    • Flight Modes
    • Battery
    • Safety
      • Failsafe Simulation
    • ESC Calibration
    • Actuators
    • Autotune
  • Vehicle Types & Setup
    • Multicopters
      • Multicopter Config/Tuning
        • MC Filter/Control Latency Tuning
        • MC PID Tuning (Manual/Basic)
        • MC PID Tuning Guide (Manual/Advanced)
        • MC Setpoint Tuning (Trajectory Generator)
          • MC Jerk-limited Type Trajectory
        • Multicopter Racer Setup
      • X500 v2 (Pixhawk 6C)
      • X500 v2 (Pixhawk 5X)
      • X500 (Pixhawk 4)
      • S500 V2 (Pixhawk 4)
      • DJI F450 (CUAV v5+)
      • DJI F450 (CUAV v5 nano)
      • QAV250 (Pixhawk4 Mini) - Discontinued
      • DJI F450 + RTK (Pixhawk 3 Pro)
      • QAV250 (Pixhawk Mini)
      • QAV-R 5" Racer (Pixracer)
      • Omnicopter
    • Planes
      • Fixed Wing Config/Tuning
        • Fixedwing PID Tuning Guide
        • Fixedwing Advanced Tuning Guide
        • Fixedwing Trimming Guide
      • Reptile Dragon 2 (ARK6X)
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      • Wing Wing Z84 (Pixracer)
    • VTOL
      • VTOL Config/Tuning
        • QuadPlane Configuration
        • Back-transition Tuning
        • VTOL w/o Airspeed Sensor
        • VTOL Weather Vane
      • Standard VTOL
        • FunCub QuadPlane (Pixhawk)
        • Ranger QuadPlane (Pixhawk)
        • Falcon Vertigo QuadPlane (Dropix)
      • Tailsitter VTOL
        • Build: TBS Caipiroshka Tailsitter Build (Pixracer)
      • Tiltrotor VTOL
        • Build: Convergence Tiltrotor (Pixfalcon)
    • Airships (experimental)
    • Autogyros (experimental)
      • ThunderFly Auto-G2 (Holybro pix32)
    • Balloons (experimental)
    • Helicopter (experimental)
      • Helicopter Config/Tuning
    • Rovers (experimental)
      • Traxxas Stampede
    • Submarines (experimental)
      • BlueROV2
    • Airframes Reference
  • Flying
    • First Flight Guidelines
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    • Missions
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    • Flight Modes
      • Position Mode (MC)
      • Altitude Mode (MC)
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      • Position Mode (FW)
      • Altitude Mode (FW)
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      • Takeoff Mode
      • Land Mode
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    • Terrain Following/Holding
  • Flight Log Analysis
    • Log Analysis using Flight Review
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  • Advanced Configuration
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    • Bootloader Flashing onto Betaflight Systems
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    • Serial Port Configuration
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  • Hardware (Drones&Parts)
    • Complete Vehicles
      • ModalAI Starling
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        • MindRacer 210
        • NanoMind 110
      • Holybro Kopis 2
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    • Flight Controllers (Autopilots)
      • Pixhawk Series
        • Silicon Errata
      • Pixhawk Standard Autopilots
        • CUAV Pixhawk V6X (FMUv6X)
        • Holybro Pixhawk 6X (FMUv6X)
        • Holybro Pixhawk 6C (FMUv6C)
        • Holybro Pixhawk 6C Mini(FMUv6C)
        • Holybro Pix32 v6 (FMUv6C)
        • Holybro Pixhawk 5X (FMUv5X)
        • Holybro Pixhawk 4 (FMUv5) - Discontinued
        • Holybro Pixhawk 4 Mini (FMUv5) - Discontinued
        • Drotek Pixhawk 3 Pro (FMUv4pro)
        • mRo Pixracer (FMUv4)
        • Hex Cube Black (FMUv3)
        • mRo Pixhawk (FMUv3)
        • Holybro Pixhawk Mini (FMUv3) - Discontinued
      • Manufacturer-Supported Autopilots
        • AirMind MindPX
        • AirMind MindRacer
        • ARK Electronics ARKV6X
        • CUAV X7
        • CUAV Nora
        • CUAV V5+ (FMUv5)
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        • CubePilot Cube Yellow (CubePilot)
        • Holybro Kakute H7v2
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      • Experimental Autopilots
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      • Pixhawk Autopilot Bus (PAB) & Carriers
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    • Flight Controller Peripherals
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      • ESCs & Motors
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On this page
  • Wiring
  • Checking the Bus and Device Status
  • Common problems
  • Address Clashes
  • Insufficient Transfer Capacity
  • Excessive Wiring Capacitance
  • I2C Bus Accelerators
  • I2C Address Translators
  • I2C Development
  • Further Information
  1. Hardware (Drones&Parts)
  2. Flight Controller Peripherals

I2C Peripherals

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Last updated 1 year ago

is a serial communication protocol that is commonly used (at least on smaller drones), for connecting peripheral components like rangefinders, LEDs, Compass, etc.

It is recommended for:

  • Connecting offboard components that require low bandwidth and low latency communication, e.g. , , and .

  • Compatibility with peripheral devices that only support I2C.

  • Allowing multiple devices to attach to a single bus, which is useful for conserving ports.

I2C allows multiple master devices to connect to multiple slave devices using only 2 wires per connection (SDA, SCL). in theory a bus can support 128 devices, each accessed via its unique address.

:::note UAVCAN would normally be preferred where higher data rates are required, and on larger vehicles where sensors are be mounted further from the flight controller. :::

Wiring

I2C uses a pair of wires: SDA (serial data) and SCL (serial clock). The bus is of open-drain type, meaning that devices ground the data line. It uses a pullup resistor to push it to log.1 (idle state) - every wire has it usually located on the bus terminating devices. One bus can connect to multiple I2C devices. The individual devices are connected without any crossing.

For connection (according to dronecode standard) 4-wire cables equipped with JST-GH connectors are used. To ensure reliable communication and to reduce crosstalk it is advised to apply recommendations concerning and pullup resistors placement.

Checking the Bus and Device Status

The tool can be run in the PX4 terminal with the following command:

i2cdetect -b 1

where the bus number is specified after -b parameter

Common problems

Address Clashes

If two I2C devices on a bus have the same ID there will be a clash, and neither device will not work properly (or at all). This usually occurs because a user needs to attach two sensors of the same type to the bus, but may also happen if devices use duplicate addresses by default.

Particular I2C devices may allow you to select a new address for one of the devices to avoid the clash. Some devices do not support this option, or do not have broad options for the addresses that can be used (i.e. cannot be used to avoid a clash).

Insufficient Transfer Capacity

There are several ways to reduce the problem:

  • Dividing the devices into groups, each with approximately the same number of devices and connecting each group to one autopilot port

  • Increase bus speed limit (usually set to 100kHz for external I2C bus)

Excessive Wiring Capacitance

The electrical capacity of bus wiring increases as more devices/wires are added. The exact decrease depends on total length of bus wiring and wiring specific capacitance. The problem can be analyzed using an oscilloscope, where we see that the edges of SDA/SCL signals are no longer sharp.

There are several ways to reduce the problem:

  • Dividing the devices into groups, each with approximately the same number of devices and connecting each group to one autopilot port

  • Using the shortest and the highest quality I2C cables possible

  • Separating the devices with a weak open-drain driver to smaller bus with lower capacitance

I2C Bus Accelerators

I2C bus accelerators are separate circuits that can be used to support longer wiring length on an I2C bus. They work by physically dividing an I2C network into 2 parts and using their own transistors to amplify I2C signals.

Available accelerators include:

    • This has Dronecode connectors and is hence very easy to add to a Pixhawk I2C setup.

    • The module has no settings (it works out of the box).

I2C Address Translators

I2C Address Translators can be used to prevent I2C address clashes in systems where there is no other way to assign unique addresses. The work by listening for I2C communication and transforming the address when a slave device is called (according to a preset algorithm).

Supported I2C Address Translators include:

I2C Development

Further Information

A useful tool for bus analysis is . This lists available I2C devices by their addresses. It can be used to find out if a device on the bus is available and if the autopilot can communicate with it.

If you can't change the addresses, one option is to use an .

The bandwidth available for each individual device generally decreases as more devices are added. The exact decrease depends on the bandwidth used by each individual device. Therefore it is possible to connect many low bandwidth devices, like . If too many devices are added, it can cause transmission errors and network unreliability.

:

Software development for I2C devices is described in .

(Wikipedia)

(learn.sparkfun.com)

tachometers
Thunderfly TFI2CADT01
I2C Bus (Development Overview)
I2C
I2C Comparative Overview
Driver Framework
I2C Address Translator
I2C Bus Accelerators
I2C
rangefinders
magnetometers
airspeed sensors
tachometers
Thunderfly TFI2CEXT01
i2cdetect
cable twisting
Cable twisting
I2C bus extender