# MindPX Hardware

::: warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](http://mindpx.net) for hardware support or compliance issues.
:::

The AirMind<sup>&reg;</sup> [MindPX](http://mindpx.net) series is a new generation autopilot system branched from Pixhawk<sup>&reg;</sup>.

![MindPX Controller](../../assets/hardware/hardware-mindpx.png)

::: info
These flight controllers are [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
:::

## Quick Summary

::: info
The main hardware documentation is [here](http://mindpx.net/assets/accessories/Specification9.18_3_pdf.pdf).
:::

MindPX is a new generation autopilot system branched from Pixhawk<sup>&reg;</sup>, has been revised in schematic and structure, and has been further enhanced with new features to make unmanned vehicle more smart and more friendly to use.

MindPX increases total PWM output channels to 16 (8 main outputs + 8 aux outputs).
This means that MindPX can support more complicated VTOL configurations and more fine control.
It is especially meaningful for those FMU-V4 based flight controllers as MindPX implements main and aux output in one single FMU.

![](../../assets/hardware/hardware-mindpx-specs.png)

- Main System-on-Chip: STM32F427
  - CPU: 32bits, 168 MHz ARM Cortex<sup>&reg;</sup> M4 with FPU
  - RAM: 256 KB SRAM
  - 2MB Flash
  - ST Micro LSM303D 14 bit accelerometer/magnetometer
  - MEAS MS5611 barometer
  - InvenSense<sup>&reg;</sup> MPU6500 integrated 6-axis sensors

- Highlighted features:
  - CNC processed aluminum alloy case, light and solid
  - Built-in isolated IMU redundancy
  - Total 16 PWM output channel (8 main + 8 aux)
  - 1 extra I2C port for flow connection.
  - 1 extra USB port for companion computer connection (built-in UART-to-USB converter)
  - Exposed debug port for development

## Quick Start

### Mounting

![MindPX Mounting](../../assets/hardware/hardware-mindpx-mounting.png)

### Wiring

![MindPX Wiring 1](../../assets/hardware/hardware-mindpx-wiring1.png)

![MindPX Wiring 2](../../assets/hardware/hardware-mindpx-wiring2.png)

### Pin

![MindPX Pinout](../../assets/hardware/hardware-mindpx-pin.png)

| Num. |        Description         | Num. |      Description       |
| :--: | :------------------------: | :--: | :--------------------: |
|  1   |           Power            |  9   |    I2C2 (MindFLow)     |
|  2   | Debug (refresh bootloader) |  10  | USB2 (Serial 2 to USB) |
|  3   |  USB1 (refresh firmware)   |  11  |        UART4,5         |
|  4   |           Reset            |  12  |   UART1 (Telemetry)    |
|  5   |        UART3 (GPS)         |  13  |          CAN           |
|  6   |   I2C1(external compass)   |  14  |          ADC           |
|  7   |        TF card slot        |  15  |     Tricolor Light     |
|  8   |  NRF/SPI(Remote Control)   |  16  |         Looper         |

### Radio Receiver

MindPX supports a wide variety of radio receivers (since V2.6) including: PPM/SBUS/DSM/DSM2/DSMX.
MindPX also support FrSky<sup>&reg;</sup> bi-direction telemetry D and S.Port.

For detailed Pin diagram, please refer to the [User Guide](http://mindpx.net/assets/accessories/UserGuide9.18_2_pdf.pdf).

### 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:

```sh
make airmind_mindpx-v2_default
```

### Companion PC connection

MindPX has a USB-TO-UART Bridge IC on the board.
A micro-USB to USB type A cable is used for the connection.
Connect micro-USB end to the 'OBC' port of MindPX and USB type A end to companion computer.

And the max BAUD rate is the same as for the PX4 family, which is up to 921600.

## User Guide

::: info
The user guide is [here](http://mindpx.net/assets/accessories/UserGuide9.18_2_pdf.pdf).
:::

## Where to Buy {#store}

MindRacer is available at [AirMind Store](https://airmind.mindpx.net/catalog).
You can also find MindRacer at Amazon<sup>&reg;</sup> or eBay<sup>&reg;</sup>.

## Serial Port Mapping

| UART   | Device     | Port          |
| ------ | ---------- | ------------- |
| USART1 | /dev/ttyS0 | RC            |
| USART2 | /dev/ttyS1 | TELEM1        |
| USART3 | /dev/ttyS2 | TELEM2        |
| UART4  | /dev/ttyS3 | GPS1          |
| USART6 | /dev/ttyS4 | ?             |
| UART7  | /dev/ttyS5 | Debug Console |
| UART8  | /dev/ttyS6 | ?             |

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

## Support

Please visit http://www.mindpx.org for more information.
Or you can send email to [support@mindpx.net](mailto:support@mindpx.net) for any inquiries or help.
