G-A1
The G-A1 is a state-of-the-art universal controller (flight controller) developed based on the Pixhawk Autopilot v6X Standard. It adopts an H7 double-precision floating-point arithmetic unit, Cortex®-M3 coprocessor, independent bus, and power supply. The IMU with its 6-axis inertial sensor, pressure/temperature sensor, and geomagnetic sensor is designed for safety and rich expansion capabilities. With an integrated 10/100M Ethernet Physical Layer (PHY), the G-A1 can also communicate with the mission computer (airborne computer), high-end surveying and mapping cameras, and other UxV-mounted equipment for high-speed communications, meeting the needs of advanced UxV systems.
Product Information
Hardware Summary
| Item | Description |
|---|---|
| FMU Processor | STM32H753IIK (Arm® Cortex®-M7 480MHz) |
| IO Processor | STM32F103 (Arm® Cortex®-M3, 72MHz) |
| Memory | 2 Mbytes of flash and 1 Mbytes RAM |
| IMU |
|
| IO Interface |
|
| SD Card | Not included in the package. |
| Power Requirement | 4.6V to 5.7V |
| Current Ratings |
|
| Operating Temperature | -40°C to +55 °C |
| Storage Temperature | -40°C to +70 °C |
| Operating Humidity | 5% to 95% (Non-condensing) |
| Casing Material | ABS (carrier board), Zinc Alloy (IMU cover) |
| Dimensions | 92.2 (L) x 51.2 (W) x 28.3 (H) mm |
| Weight | 77.6g (carrier board with IMU) |
Pin Definition
Wiring Overview
The diagram below shows G-A1 and the connections to its peripherals.
| Interface | Function |
|---|---|
| POWER C1 | Connect CAN PMU SE to POWER C1, it is connected to the UAVCAN power module |
| POWER C2 | Connect CAN PMU SE to POWER C2, it is connected to the UAVCAN power module |
| POWER 1 | Connect to a SMbus (I2C) power module |
| POWER 2 | Connect to a SMbus (I2C) power module |
| GPS&SAFETY | Connect to a GPS module, which includes GPS, safety switch, and a buzzer interface |
| GPS2 | Connect to a GPS/RTK module |
| UART 4 | Supports user customization |
| TELEM1/TELEM2/TELEM3 | Connect to telemetry or mavlink devices |
| SD CARD | Insert a SD card for log storage |
| A1-A8 | Can be defined as PWM/GPIO. Supports Bdshot, used to connect a camera shutter/hot shoe, servo, etc. |
| M1-M8 | PWM output from IO, connect to ESC and Servo |
| USB | Connect to a computer for communication between the universal controller and the computer, such as loading firmware |
| CAN1/CAN2 | Connect to Dronecan/UAVCAN devices |
| DSM/SUB/RSSI | This is a DSM/SBUS/RSSI signal input interface. It can be connected to DSM satellite receiver, SBUS remote control receiver or RSSI signal strength return module. |
| PPM | Connect to a PPM RC receiver |
| ETH | Connect to Ethernet devices |
| AD&IO | Connect to an analog input (ADC3.3 or ADC6.6), usually not used. |
Serial Port Mapping
| UART | Device | Port |
|---|---|---|
| USART1 | /dev/ttyS0 | GPS |
| USART2 | /dev/ttyS1 | TELEM3 |
| USART3 | /dev/ttyS2 | Debug Console |
| UART4 | /dev/ttyS3 | UART4 |
| UART5 | /dev/ttyS4 | TELEM2 |
| USART6 | /dev/ttyS5 | PX4IO/RC |
| UART7 | /dev/ttyS6 | TELEM1 |
| UART8 | /dev/ttyS7 | GPS2 |
Power Consumption
Voltage
| Parameter | Min | Typical | Max |
|---|---|---|---|
| 4.6V | 5V | 5.4V |
Current
| Parameter | Typical | Max |
|---|---|---|
| Godwit+Components | 3.0Amp | 3.44Amp |
| Godwit Only | 0.44Amp | 0.58Amp |
Quick Start
This quick start shows how to power the universal controller and connect its peripherals. Please refer to the image below to connect sensors and peripherals.
For other operation descriptions, please refer to the links below.
Vehicle Front
Notes:
If the controller cannot be mounted in the recommended/default orientation (e.g. due to space constraints), you will need to configure the autopilot software with the orientation that you actually used.
Preloaded Code
The G-A1 is pre-installed with default binary code at the time of production. If for any reason you need to reload the factory program, please download and install the binary code below.
GPS
We recommend that you use CAN/UAVCAN GPS/RTK and you only need to connect it to the CAN 1/2 interface.Alternatively, you can also use an ordinary GPS/RTK module and connect it to the GPS interface. The GPS module generally integrates GPS, compass, safety switch, buzzer, and a LED status light. When installing the module, it should be mounted on a bracket, positioned away from other electronic devices, and oriented towards the front of the carrier.
Radio Control
Connect the handheld remote control to monitor and control drones in flight. The airborne end of the radio system should be connected to the TELEM1/TELEM2/TELEM3 interface.
For DMS/SBUS receivers, connect them to the DSM/SBUS interface, while PPM receivers should be connected to the PPM interface. For other protocols, refer to the Ardupilot Radio Control System documentation for details.
Power
This universal controller features a CAN PMU module that supports 3 to 14s lithium batteries. To ensure proper connection, attach the module’s 6-pin connector to the flight control Power C1 and Power C2 interface.
When running Ardupilot, the universal controller operates as a plug-and-play device, requiring no further configuration.
SD Card
The SD card is NOT included in the package, you need to prepare the SD card and insert it into the slot.
Motors/Servo
The motor and servo system should be connected to the A1–A8/M1–M8 ports according to the order outlined in the fuselage reference for your carrier.
Servo Power Supply
This universal controller does not provide power to the servos. To power them, an external BEC must be connected to the positive and negative terminals of any A1–A8 or M1–M8 port.