Mro Pixhawk

mRo Pixhawk Flight Controller (Pixhawk 1)

:::warning PX4 does not manufacture this (or any) autopilot. Contact the manufacturer for hardware support or compliance issues. :::

The mRo Pixhawk^® is a hardware compatible version of the original Pixhawk 1. It runs PX4 on the NuttX OS.

:::tip The controller can be used as a drop-in replacement for the 3DR^® Pixhawk 1. The main difference is that it is based on the Pixhawk-project FMUv3 open hardware design, which corrects a bug that limited the original Pixhawk 1 to 1MB of flash. :::

Assembly/setup instructions for use with PX4 are provided here: Pixhawk Wiring Quickstart

:::tip This autopilot is supported by the PX4 maintenance and test teams. :::

Key Features

• Microprocessor:
• 32-bit STM32F427 Cortex^® M4 core with FPU
• 168 MHz/256 KB RAM/2 MB Flash
• 32 bit STM32F100 failsafe co-processor
• 24 MHz/8 KB RAM/64 KB Flash
• Sensors:
• ST Micro L3GD20 3-axis 16-bit gyroscope
• ST Micro LSM303D 3-axis 14-bit accelerometer / magnetometer
• Invensense^® MPU 6000 3-axis accelerometer/gyroscope
• MEAS MS5611 barometer
• Interfaces:
• 5x UART (serial ports), one high-power capable, 2x with HW flow control
• 2x CAN
• Spektrum DSM / DSM2 / DSM-X® Satellite compatible input up to DX8 (DX9 and above not supported)
• Futaba^® S.BUS compatible input and output
• PPM sum signal
• RSSI (PWM or voltage) input
• I2C
• SPI
• 3.3 and 6.6V ADC inputs
• External microUSB port

• Power System:

• Ideal diode controller with automatic failover

• Servo rail high-power (7 V) and high-current ready

• All peripheral outputs over-current protected, all inputs ESD protected

• Weight and Dimensions:

• Weight: 38g (1.31oz)
• Width: 50mm (1.96")
• Thickness: 15.5mm (.613")
• Length: 81.5mm (3.21")

Availability

• Bare Bones - Just the board (useful as a 3DR Pixhawk replacement)
• mRo Pixhawk 2.4.6 Essential Kit! - Everything except for telemetry radios
• mRo Pixhawk 2.4.6 Cool Kit! (Limited edition) - Everything you need including telemetry radios

Building Firmware

:::tip Most users will not need to build this firmware! It is pre-built and automatically installed by QGroundControl when appropriate hardware is connected. :::

To build PX4 for this target:

make px4_fmu-v3_default

Debug Ports

See 3DR Pixhawk 1 > Debug Ports

Pinouts

See 3DR Pixhawk 1 > Pinouts

Serial Port Mapping

| UART | Device | Port | | ------ | ---------- | --------------------- | | UART1 | /dev/ttyS0 | IO debug | | USART2 | /dev/ttyS1 | TELEM1 (flow control) | | USART3 | /dev/ttyS2 | TELEM2 (flow control) | | UART4 | | | UART7 | CONSOLE | | UART8 | SERIAL4 |

Schematics

The board is based on the Pixhawk-project FMUv3 open hardware design.

• FMUv3 schematic -- Schematic and layout

::: info As a CC-BY-SA 3.0 licensed Open Hardware design, all schematics and design files are available. :::