# mRo Pixhawk Flight Controller (Pixhawk 1)

:::warning
PX4 не розробляє цей (або будь-який інший) автопілот.
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.
:::

## Основні характеристики

- Мікропроцесор:
  - 32-bit STM32F427 Cortex<sup>&reg;</sup> M4 core з FPU
  - 168 MHz/256 KB RAM/2 MB Flash
  - 32 bit STM32F103 відмовостійкий копроцесор
  - 24 MHz/8 KB RAM/64 KB Flash

- Датчики:
  - ST Micro L3GD20 3-axis 16-бітний гіроскоп
  - ST Micro LSM303D 3-вісний 14-бітний акселерометр / магнітометр
  - Invensense<sup>&reg;</sup> MPU 6000 3-вісний акселерометр/гіроскоп
  - MEAS MS5611 барометр

- Інтерфейси:
  - 5x UART (послідовні порти), один високої потужності, 2x з контролем потоку ГВП
  - 2x CAN
  - Вхід, сумісний з приймачами Spektrum DSM / DSM2 / DSM-X® Satellite до DX8 (DX9 та вище не підтримуються)
  - Futaba<sup>&reg;</sup> S.BUS сумісний вхід та вихід
  - Сигнал суми PPM
  - Вхід RSSI (ШІМ або напруга)
  - I2C
  - SPI
  - 3.3 та 6.6V ADC входи
  - Зовнішній порт microUSB

- Система живлення:
  - Ідеальний діодний контролер з автоматичним перемиканням на резервне живлення
  - Сервопривід високої потужності (7 В) і готовий до великого струму
  - Усі периферійні виводи захищені від перевантаження по струму, усі входи захищені від електростатичного розряду

- Вага та розміри:
  - Вага: 38г (1,31 унції)
  - Ширина: 50 мм (1.96")
  - Товщина: 15.5 мм (.613")
  - Довжина: 81.5 мм (3.21")

## Доступність

- [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

## Збірка прошивки

:::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 px4_fmu-v3_default
```

## Відладочні порти

### Порт Консолі

The [PX4 System Console](../debug/system_console.md) runs on the port labeled [SERIAL4/5](#serial-4-5-port).

:::tip
A convenient way to connect to the console is to use a [Zubax BugFace BF1](https://github.com/Zubax/bugface_bf1), as it comes with connectors that can be used with several different Pixhawk devices.
Simply connect the 6-pos DF13 1:1 cable on the [Zubax BugFace BF1](https://github.com/Zubax/bugface_bf1) to the Pixhawk `SERIAL4/5` port.

![Zubax BugFace BF1](../../assets/flight_controller/mro/dronecode_probe.jpg)
:::

The pinout is 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).

| 3DR Pixhawk 1 |                              | FTDI |                                     |
| ------------- | ---------------------------- | ---- | ----------------------------------- |
| 1             | +5V (red) |      | N/C                                 |
| 2             | S4 Tx                        |      | N/C                                 |
| 3             | S4 Rx                        |      | N/C                                 |
| 4             | S5 Tx                        | 5    | FTDI RX (yellow) |
| 5             | S5 Rx                        | 4    | FTDI TX (orange) |
| 6             | GND                          | 1    | FTDI GND (black) |

The wiring for an FTDI cable to a 6-pos DF13 1:1 connector is shown in the figure below.

![Console Connector](../../assets/flight_controller/mro/console_connector.jpg)

The complete wiring is shown below.

![Console Debug](../../assets/flight_controller/mro/console_debug.jpg)

:::info
For information on how to _use_ the console see: [System Console](../debug/system_console.md).
:::

### SWD Port

The [SWD](../debug/swd_debug.md) (JTAG) ports are hidden under the cover (which must be removed for hardware debugging).
There are separate ports for FMU and IO, as highlighted below.

![Pixhawk SWD](../../assets/flight_controller/mro/pixhawk_swd.jpg)

The ports are ARM 10-pin JTAG connectors, which you will probably have to solder.
The pinout for the ports is shown below (the square markers in the corners above indicates pin 1).

![ARM 10-Pin connector pinout](../../assets/flight_controller/mro/arm_10pin_jtag_connector_pinout.jpg)

:::info
All Pixhawk FMUv2 boards have a similar SWD port.
:::

## Схема розташування виводів

#### TELEM1, TELEM2 порти

| Pin                        | Сигнал                       | Вольтаж               |
| -------------------------- | ---------------------------- | --------------------- |
| 1 (red) | VCC                          | +5V                   |
| 2 (blk) | TX (OUT)  | +3.3V |
| 3 (blk) | RX (IN)   | +3.3V |
| 4 (blk) | CTS (IN)  | +3.3V |
| 5 (blk) | RTS (OUT) | +3.3V |
| 6 (blk) | GND                          | GND                   |

#### Порт GPS

| Pin                        | Сигнал                      | Вольтаж               |
| -------------------------- | --------------------------- | --------------------- |
| 1 (red) | VCC                         | +5V                   |
| 2 (blk) | TX (OUT) | +3.3V |
| 3 (blk) | RX (IN)  | +3.3V |
| 4 (blk) | CAN2 TX                     | +3.3V |
| 5 (blk) | CAN2 RX                     | +3.3V |
| 6 (blk) | GND                         | GND                   |

#### SERIAL 4/5 port

Due to space constraints two ports are on one connector.

| Pin                        | Сигнал                     | Вольтаж               |
| -------------------------- | -------------------------- | --------------------- |
| 1 (red) | VCC                        | +5V                   |
| 2 (blk) | TX (#4) | +3.3V |
| 3 (blk) | RX (#4) | +3.3V |
| 4 (blk) | TX (#5) | +3.3V |
| 5 (blk) | RX (#5) | +3.3V |
| 6 (blk) | GND                        | GND                   |

#### ADC 6.6V

| Pin                        | Сигнал | Вольтаж                     |
| -------------------------- | ------ | --------------------------- |
| 1 (red) | VCC    | +5V                         |
| 2 (blk) | ADC IN | up to +6.6V |
| 3 (blk) | GND    | GND                         |

#### ADC 3.3V

| Pin                        | Сигнал | Вольтаж                  |
| -------------------------- | ------ | ------------------------ |
| 1 (red) | VCC    | +5V                      |
| 2 (blk) | ADC IN | до +3.3V |
| 3 (blk) | GND    | GND                      |
| 4 (blk) | ADC IN | до +3.3V |
| 5 (blk) | GND    | GND                      |

#### I2C

| Pin                        | Сигнал | Вольтаж                                           |
| -------------------------- | ------ | ------------------------------------------------- |
| 1 (red) | VCC    | +5V                                               |
| 2 (blk) | SCL    | +3.3 (pullups) |
| 3 (blk) | SDA    | +3.3 (pullups) |
| 4 (blk) | GND    | GND                                               |

#### CAN

| Pin                        | Сигнал                     | Вольтаж |
| -------------------------- | -------------------------- | ------- |
| 1 (red) | VCC                        | +5V     |
| 2 (blk) | CAN_H | +12V    |
| 3 (blk) | CAN_L | +12V    |
| 4 (blk) | GND                        | GND     |

#### SPI

| Pin                        | Сигнал                                                 | Вольтаж              |
| -------------------------- | ------------------------------------------------------ | -------------------- |
| 1 (red) | VCC                                                    | +5V                  |
| 2 (blk) | SPI_EXT_SCK  | +3.3 |
| 3 (blk) | SPI_EXT_MISO | +3.3 |
| 4 (blk) | SPI_EXT_MOSI | +3.3 |
| 5 (blk) | !SPI_EXT_NSS | +3.3 |
| 6 (blk) | !GPIO_EXT                         | +3.3 |
| 7 (blk) | GND                                                    | GND                  |

#### POWER

| Pin                        | Сигнал  | Вольтаж               |
| -------------------------- | ------- | --------------------- |
| 1 (red) | VCC     | +5V                   |
| 2 (blk) | VCC     | +5V                   |
| 3 (blk) | CURRENT | +3.3V |
| 4 (blk) | VOLTAGE | +3.3V |
| 5 (blk) | GND     | GND                   |
| 6 (blk) | GND     | GND                   |

#### SWITCH

| Pin                        | Сигнал                                                   | Вольтаж               |
| -------------------------- | -------------------------------------------------------- | --------------------- |
| 1 (red) | VCC                                                      | +3.3V |
| 2 (blk) | !IO_LED_SAFETY | GND                   |
| 3 (blk) | SAFETY                                                   | GND                   |

## Налаштування послідовного порту

| UART   | Пристрій   | Порт                                          |
| ------ | ---------- | --------------------------------------------- |
| UART1  | /dev/ttyS0 | IO debug                                      |
| USART2 | /dev/ttyS1 | TELEM1 (керування потоком) |
| USART3 | /dev/ttyS2 | TELEM2 (керування потоком) |
| UART4  |            |                                               |
| UART7  | CONSOLE    |                                               |
| UART8  | SERIAL4    |                                               |

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

## Налаштування послідовного порту

| UART   | Пристрій   | Порт                                          |
| ------ | ---------- | --------------------------------------------- |
| UART1  | /dev/ttyS0 | IO debug                                      |
| USART2 | /dev/ttyS1 | TELEM1 (керування потоком) |
| USART3 | /dev/ttyS2 | TELEM2 (керування потоком) |
| UART4  |            |                                               |
| UART7  | CONSOLE    |                                               |
| UART8  | SERIAL4    |                                               |

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

## Креслення

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).
:::