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Move PX4 Guide source into /docs (#24490)
* Add vitepress tree * Update existing workflows so they dont trigger on changes in the docs path * Add nojekyll, package.json, LICENCE etc * Add crowdin docs upload/download scripts * Add docs flaw checker workflows * Used docs prefix for docs workflows * Crowdin obvious fixes * ci: docs move to self hosted runner runs on a beefy server for faster builds Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: don't run build action for docs or ci changes Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: update runners Signed-off-by: Ramon Roche <mrpollo@gmail.com> * Add docs/en * Add docs assets and scripts * Fix up editlinks to point to PX4 sources * Download just the translations that are supported * Add translation sources for zh, uk, ko * Update latest tranlsation and uorb graphs * update vitepress to latest --------- Signed-off-by: Ramon Roche <mrpollo@gmail.com> Co-authored-by: Ramon Roche <mrpollo@gmail.com>
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Hamish Willee
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Ramon Roche
Ramon Roche
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# mRo Control Zero F7 Flight Controller
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:::warning
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PX4 does not manufacture this (or any) autopilot.
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Contact the [manufacturer](https://store.mrobotics.io/) for hardware support or compliance issues.
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:::
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The _mRo Control Zero F7<sup>®</sup>_ is a new flight controller from mRo.
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It is a no-compromise triple IMU commercial grade flight controller.
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It includes 8x PWM outputs (DShot capable), 3x IMUs, 1x Magnetometer, 1x Barometric Pressure Sensor (Altimeter), 6x UART, and SD Card, all packed into a 32mm x 20mm PCB.
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The PWMs are bidirectional, EMI protected, and level shifted to 5V logic levels.
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All accessed using front and rear 30pin Molex PicoClasp connectors.
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A durable plastic case, conformal board coating, and optional temperature calibration included.
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::: info
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This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
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:::
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## Key Features
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- Microprocessor:
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- 32-bit STM32F777 Cortex<sup>®</sup> M4 core with FPU rev. 3
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- 216 MHz/512 KB RAM/2 MB Flash
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- F-RAM Cypress MF25V02-G 256-Kbit nonvolatile memory (Flash memory that performs as fast as RAM)
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- Sensors:
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- [Bosch BMI088](https://www.bosch-sensortec.com/bst/products/all_products/bmi088_1) 3-axis accelerometer/gyroscope (internally vibration dampened)
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- [Invensense ICM-20602](https://www.invensense.com/products/motion-tracking/6-axis/icm-20602/) 3-axis accelerometer/gyroscope
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- [Invensense ICM-20948](https://www.invensense.com/products/motion-tracking/9-axis/icm-20948/) 3-axis accelerometer/gyroscope/magnetometer
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- [Infineon DPS310 barometer](https://www.infineon.com/cms/en/product/sensor/pressure-sensors/pressure-sensors-for-iot/dps310/) (So smooth and NO more light sensitivity)
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- Interfaces:
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- 6x UART (serial ports total), 3x with HW flow control, 1x FRSky Telemetry (D or X types), 1x Console and 1x GPS+I2C
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- 8x PWM outputs (all DShot capable)
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- 1x CAN
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- 1x I2C
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- 1x SPI
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- Spektrum DSM / DSM2 / DSM-X® Satellite compatible input and binding
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- Futaba S.BUS® & S.BUS2® compatible input
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- FRSky Telemetry port output
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- Graupner SUMD
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- Yuneec ST24
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- PPM sum input signal
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- 1x JTAG (TC2030 Connector)
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- 1x RSSI (PWM or voltage) input
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- Tricolor LED
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- Weight and Dimensions (Uncased):
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- Weight: 5.3g (0.19oz)
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- Width: 20mm (0.79")
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- Length: 32mm (1.26")
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- Power System:
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- 3x Ultra low noise LDO voltage regulator
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## Where to Buy
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- [mRo Control Zero](https://store.mrobotics.io/mRo-Control-Zero-F7-p/mro-ctrl-zero-f7.htm)
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## Building Firmware
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:::tip
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Most users will not need to build this firmware!
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It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected.
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:::
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To [build PX4](../dev_setup/building_px4.md) for this target:
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```
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make mro_ctrl-zero-f7
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```
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## Debug Ports
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### Console Port
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The [PX4 System Console](../debug/system_console.md) runs on `USART7` using the pins listed below.
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This is a standard serial pinout, designed to connect to a [3.3V FTDI](https://www.digikey.com/en/products/detail/TTL-232R-3V3/768-1015-ND/1836393) cable (5V tolerant).
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| mRo control zero f7 | | FTDI |
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| ------------------- | ----------- | ---- |
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| 17 | USART7 Tx | 5 | FTDI RX (yellow) |
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| 19 | USART7 Rx | 4 | FTDI TX (orange) |
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| 6 | USART21 GND | 1 | FTDI GND (black) |
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### SWD Port
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The [SWD port](../debug/swd_debug.md) (JTAG) for FMU debugging is a TC2030 debug connector, as shown below.
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You can use the [Tag Connect](https://www.tag-connect.com/) cable [TC2030 IDC NL](https://www.tag-connect.com/product/tc2030-idc-nl) below (with associated [retaining clip](https://www.tag-connect.com/product/tc2030-clip-retaining-clip-board-for-tc2030-nl-cables)) to attach to either a BlackMagic probe or a ST-LINK V2 debugger.
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There is also an [ARM20-CTX 20-Pin to TC2030-IDC adapter](https://www.tag-connect.com/product/arm20-ctx-20-pin-to-tc2030-idc-adapter-for-cortex) that can be used with other debug probes.
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## Pinouts
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## Serial Port Mapping
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| UART | Device | Port |
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| ------ | ---------- | --------------------------------------------------------------- |
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| USART2 | /dev/ttyS0 | TELEM1 (flow control) |
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| USART3 | /dev/ttyS1 | TELEM2 (flow control) |
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| UART4 | /dev/ttyS2 | GPS1 |
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| USART6 | /dev/ttyS3 | Flex port (can be configured as SPI or UART with Flow Control). |
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| UART7 | /dev/ttyS4 | CONSOLE |
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| UART8 | /dev/ttyS5 | Free serial port (typically for FrSky telemetry) |
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<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
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<!-- https://github.com/PX4/PX4-Autopilot/blob/main/boards/mro/ctrl-zero-f7/nuttx-config/nsh/defconfig#L202-L207 -->
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## Further Information
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- [Introducing the new mRo Control Zero Autopilot](https://mrobotics.io/introducing-the-new-mro-control-zero-autopilot/) (blog)
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- [Quick Start Guide](https://mrobotics.io/mrocontrolzero/)
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