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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. :::

mRo Pixhawk Image

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. :::

主要特性

  • 微处理器：

    • 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

  • 传感器：

    • 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 气压计

  • 接口：

    • 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

  • 电源系统

    • 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

  • 重量和尺寸:

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

访问链接

编译固件

:::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

针脚定义

See 3DR Pixhawk 1 > Pinouts

Serial Port Mapping

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

原理图

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

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