# 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.
:::

## 主要特性

- 微处理器：
  - 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

- 传感器：
  - 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 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<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

- 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

- [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

## 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](../dev_setup/building_px4.md) for this target:

```sh
make px4_fmu-v3_default
```

## Debug Ports

### Console Port

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 (红色) |      | N/C                              |
| 2             | S4 Tx                        |      | N/C                              |
| 3             | S4 Rx                        |      | N/C                              |
| 4             | S5 Tx                        | 5    | FTDI RX （黄色）                     |
| 5             | S5 Rx                        | 4    | FTDI TX （橙色）                     |
| 6             | GND                          | 1    | FTDI GND (黑色) |

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.
:::

## 针脚定义

#### TELEM1，TELEM2 接口

| 针脚   | 信号                           | 电压                    |
| ---- | ---------------------------- | --------------------- |
| 1（红） | VCC                          | +5V                   |
| 2    | TX (OUT)  | +3.3V |
| 3    | RX (IN)   | +3.3V |
| 4（黑） | CTS (IN)  | +3.3V |
| 6    | RTS (OUT) | +3.3V |
| 6    | GND                          | GND                   |

#### GPS 接口

| 针脚   | 信号                          | 电压                    |
| ---- | --------------------------- | --------------------- |
| 1（红） | VCC                         | +5V                   |
| 2    | TX (OUT) | +3.3V |
| 3    | RX (IN)  | +3.3V |
| 4（黑） | CAN2 TX                     | +3.3V |
| 6    | CAN2 RX                     | +3.3V |
| 6    | GND                         | GND                   |

#### SERIAL 4/5 port

Due to space constraints two ports are on one connector.

| 针脚   | 信号                         | 电压                    |
| ---- | -------------------------- | --------------------- |
| 1（红） | VCC                        | +5V                   |
| 2    | TX (#4) | +3.3V |
| 3    | RX (#4) | +3.3V |
| 4（黑） | TX (#5) | +3.3V |
| 6    | RX (#5) | +3.3V |
| 6    | GND                        | GND                   |

#### ADC 6.6V

| 针脚   | 信号     | 电压                          |
| ---- | ------ | --------------------------- |
| 1（红） | VCC    | +5V                         |
| 2    | ADC IN | up to +6.6V |
| 3    | GND    | GND                         |

#### ADC 3.3V

| 针脚   | 信号     | 电压                          |
| ---- | ------ | --------------------------- |
| 1（红） | VCC    | +5V                         |
| 2    | ADC IN | up to +3.3V |
| 3    | GND    | GND                         |
| 4（黑） | ADC IN | up to +3.3V |
| 6    | GND    | GND                         |

#### I2C

| 针脚   | 信号  | 电压                                                |
| ---- | --- | ------------------------------------------------- |
| 1（红） | VCC | +5V                                               |
| 2    | SCL | +3.3 (pullups) |
| 3    | SDA | +3.3 (pullups) |
| 4（黑） | GND | GND                                               |

#### CAN

| 针脚   | 信号                         | 电压   |
| ---- | -------------------------- | ---- |
| 1（红） | VCC                        | +5V  |
| 2    | CAN_H | +12V |
| 3    | CAN_L | +12V |
| 4（黑） | GND                        | GND  |

#### SPI

| 针脚   | 信号                                                     | 电压                   |
| ---- | ------------------------------------------------------ | -------------------- |
| 1（红） | VCC                                                    | +5V                  |
| 2    | SPI_EXT_SCK  | +3.3 |
| 3    | SPI_EXT_MISO | +3.3 |
| 4（黑） | SPI_EXT_MOSI | +3.3 |
| 6    | !SPI_EXT_NSS | +3.3 |
| 6    | !GPIO_EXT                         | +3.3 |
| 7    | GND                                                    | GND                  |

#### POWER

| 针脚   | 信号  | 电压                    |
| ---- | --- | --------------------- |
| 1（红） | VCC | +5V                   |
| 2    | VCC | +5V                   |
| 3    | 电流  | +3.3V |
| 4（黑） | 电压  | +3.3V |
| 6    | GND | GND                   |
| 6    | GND | GND                   |

#### SWITCH

| 针脚   | 信号                                                       | 电压                    |
| ---- | -------------------------------------------------------- | --------------------- |
| 1（红） | VCC                                                      | +3.3V |
| 2    | !IO_LED_SAFETY | GND                   |
| 3    | SAFETY                                                   | GND                   |

## 串口映射

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

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

## 串口映射

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

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

## 原理图

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).
:::