# mRo Pixhawk Flight Controller (Pixhawk 1)

:::warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://store.mrobotics.io/) for hardware support or compliance issues.
:::

The _mRo Pixhawk<sup>&reg;</sup>_ is a hardware compatible version of the original [Pixhawk 1](../flight_controller/pixhawk.md). It runs PX4 on the [NuttX](https://nuttx.apache.org/) OS.

:::tip
The controller can be used as a drop-in replacement for the 3DR<sup>&reg;</sup> [Pixhawk 1](../flight_controller/pixhawk.md).
The main difference is that it is based on the [Pixhawk-project](https://pixhawk.org/) **FMUv3** open hardware design, which corrects a bug that limited the original Pixhawk 1 to 1MB of flash.
:::

![mRo Pixhawk Image](../../assets/flight_controller/mro/mro_pixhawk.jpg)

Assembly/setup instructions for use with PX4 are provided here: [Pixhawk Wiring Quickstart](../assembly/quick_start_pixhawk.md)

:::tip
This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md) by the PX4 maintenance and test teams.
:::

## Key Features

- Microprocessor:
  - 32-bit STM32F427 Cortex<sup>&reg;</sup> 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<sup>&reg;</sup> 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<sup>&reg;</sup> 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](https://store.mrobotics.io/Genuine-PixHawk-1-Barebones-p/mro-pixhawk1-bb-mr.htm) - Just the board (useful as a 3DR Pixhawk replacement)
- [mRo Pixhawk 2.4.6 Essential Kit!](https://store.mrobotics.io/Genuine-PixHawk-Flight-Controller-p/mro-pixhawk1-minkit-mr.htm) - Everything except for telemetry radios
- [mRo Pixhawk 2.4.6 Cool Kit! (Limited edition)](https://store.mrobotics.io/product-p/mro-pixhawk1-fullkit-mr.htm) - 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](../dev_setup/building_px4.md) for this target:

```
make px4_fmu-v3_default
```

## Debug Ports

See [3DR Pixhawk 1 > Debug Ports](../flight_controller/pixhawk.md#debug-ports)

## Pinouts

See [3DR Pixhawk 1 > Pinouts](../flight_controller/pixhawk.md#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    |

<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->

## Schematics

The board is based on the [Pixhawk-project](https://pixhawk.org/) **FMUv3** open hardware design.

- [FMUv3 schematic](https://github.com/pixhawk/Hardware/raw/master/FMUv3_REV_D/Schematic%20Print/Schematic%20Prints.PDF) -- Schematic and layout

::: info
As a CC-BY-SA 3.0 licensed Open Hardware design, all schematics and design files are [available](https://github.com/pixhawk/Hardware).
:::
