mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
123 lines
4.1 KiB
Markdown
123 lines
4.1 KiB
Markdown
# mRo-X2.1 Autopilot (Discontinued)
|
|
|
|
<Badge type="info" text="Discontinued" /> <!-- 202507 / PX4v1.16 -->
|
|
|
|
:::warning
|
|
This flight controller has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available.
|
|
:::
|
|
|
|
:::warning
|
|
PX4 does not manufacture this (or any) autopilot.
|
|
Contact the [manufacturer](https://store.mrobotics.io/) for hardware support or compliance issues.
|
|
:::
|
|
|
|
The [mRo-X2.1 autopilot](http://www.mRobotics.io/) is based on the [Pixhawk<sup>®</sup>-project](https://pixhawk.org/) **FMUv2** open hardware design.
|
|
It runs PX4 on the [NuttX](https://nuttx.apache.org/) OS.
|
|
|
|
|
|
|
|
::: info
|
|
This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
|
|
:::
|
|
|
|
## Quick Summary
|
|
|
|
- Main System-on-Chip: [STM32F427](https://www.st.com/en/microcontrollers-microprocessors/stm32f427-437.html)
|
|
- CPU: STM32F427VIT6 ARM<sup>®</sup> microcontroller - Revision 3
|
|
- IO: STM32F100C8T6 ARM<sup>®</sup> microcontroller
|
|
- Sensors:
|
|
- Invensense<sup>®</sup> MPU9250 9DOF
|
|
- Invensense ICM-20602 6DOF
|
|
- MEAS MS5611 barometer
|
|
- Dimensions/Weight
|
|
- Size: 36mm x 50mm
|
|
(Can be ordered with vertical, horizontal or no headers installed)
|
|
- Mounting Points: 30.5mm x 30.5mm 3.2mm diameter
|
|
- Weight: 10.9g
|
|
|
|
The diagram below provides a side-by-side comparison with a Pixhawk 1.
|
|
The mRo features almost identical hardware and connectivity but
|
|
has a much smaller footprint.
|
|
Major differences are updated sensors and Rev 3 FMU.
|
|
|
|
|
|
|
|
## Connectivity
|
|
|
|
- 2.54mm headers:
|
|
- GPS (UART4) with I2C
|
|
- CAN Bus
|
|
- RC input
|
|
- PPM input
|
|
- Spektrum input
|
|
- RSSI input
|
|
- sBus input
|
|
- sBus output
|
|
- Power input
|
|
- Buzzer output
|
|
- LED output
|
|
- 8 x Servo outputs
|
|
- 6 x Aux outputs
|
|
- Offboard microUSB connector
|
|
- Kill Pin output _(Currently not supported by firmware)_
|
|
- AirSpeed Sensor
|
|
- USART2 (Telem 1)
|
|
- USART3 (Telem 2)
|
|
- UART7 (Console)
|
|
- UART8 (OSD)
|
|
|
|
## PX4 BootLoader Issue
|
|
|
|
By default a mRo X2.1 might come preconfigured for ArduPilot<sup>®</sup> rather than PX4. This
|
|
can be seen during firmware update when the board is recognized as FMUv2 instead of X2.1.
|
|
|
|
In this case you must update the BootLoader using [BL_Update_X21.zip](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/hardware/BL_Update_X21.zip).
|
|
If this correction is not carried out your compass direction will be wrong and the
|
|
secondary IMU will not be detected.
|
|
|
|
The update steps are:
|
|
|
|
1. Download and extract [BL_Update_X21.zip](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/hardware/BL_Update_X21.zip).
|
|
2. Find the folder _BL_Update_X21_. This contains a **bin** file and a subfolder named **/etc** containing an **rc.txt** file
|
|
3. Copy these files to your micro SD card's root directory and insert it into the mRO x2.1
|
|
4. Power on the mRO x2.1 Wait for it to boot and then reboot 1 time.
|
|
|
|
## Availability
|
|
|
|
This product can be ordered at the [mRobotics<sup>®</sup> Store](https://store.mrobotics.io/mRo-X2-1-Rev-2-p/m10021a.htm).
|
|
|
|
## Wiring Guide
|
|
|
|
|
|
|
|
## 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 mro_x21_default
|
|
```
|
|
|
|
## Schematics
|
|
|
|
The board is documented on the mRo hardware repo: [x21_V2_schematic.pdf](https://github.com/mRoboticsIO/Hardware/blob/master/X2.1/Docs/x21_V2_schematic.pdf).
|
|
|
|
## Serial Port Mapping
|
|
|
|
| UART | Device | Port |
|
|
| ------ | ---------- | --------------- |
|
|
| USART1 | /dev/ttyS0 | IO debug |
|
|
| USART2 | /dev/ttyS1 | SERIAL1 |
|
|
| USART3 | /dev/ttyS2 | TELEM2 |
|
|
| UART4 | /dev/ttyS3 | GPS/I2C |
|
|
| USART6 | /dev/ttyS4 | PX4IO |
|
|
| UART7 | /dev/ttyS5 | SERIAL5 CONSOLE |
|
|
| UART8 | /dev/ttyS6 | SERIAL4 |
|
|
|
|
<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
|