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123 lines
4.1 KiB
Markdown
123 lines
4.1 KiB
Markdown
# mRo-X2.1 Autopilot (Discontinued)
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<Badge type="info" text="Discontinued" /> <!-- 202507 / PX4v1.16 -->
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:::warning
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This flight controller has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available.
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:::
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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-X2.1 autopilot](http://www.mRobotics.io/) is based on the [Pixhawk<sup>®</sup>-project](https://pixhawk.org/) **FMUv2** open hardware design.
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It runs PX4 on the [NuttX](https://nuttx.apache.org/) OS.
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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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## 总览
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- Main System-on-Chip: [STM32F427](https://www.st.com/en/microcontrollers-microprocessors/stm32f427-437.html)
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- CPU: STM32F427VIT6 ARM<sup>®</sup> microcontroller - Revision 3
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- IO: STM32F100C8T6 ARM<sup>®</sup> microcontroller
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- 传感器：
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- Invensense<sup>®</sup> MPU9250 9DOF
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- Invensense ICM-20602 6DOF
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- MEAS MS5611 气压计
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- 尺寸/重量
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- Size: 36mm x 50mm
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(Can be ordered with vertical, horizontal or no headers installed)
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- 安装点：30.5mm x 30.5mm 直径 3.2mm
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- 重量: 10.9g
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The diagram below provides a side-by-side comparison with a Pixhawk 1.
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The mRo features almost identical hardware and connectivity but
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has a much smaller footprint.
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Major differences are updated sensors and Rev 3 FMU.
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## 连接
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- 2.54 毫米头：
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- GPS (UART4) with I2C
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- CAN Bus
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- 遥控输入
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- PPM 输入
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- Spektrum 输入
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- RSSI 输入
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- sBus 输入
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- sBus 输出
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- 电源输入
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- 蜂鸣器输出
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- LED 输出
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- 8路伺服输出
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- 6路辅助输出
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- Offboard microUSB connector
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- Kill Pin output _(Currently not supported by firmware)_
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- AirSpeed Sensor
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- USART2 (Telem 1)
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- USART3 (Telem 2)
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- UART7 (Console)
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- UART8 (OSD)
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## PX4 BootLoader Issue
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By default a mRo X2.1 might come preconfigured for ArduPilot<sup>®</sup> rather than PX4. This
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can be seen during firmware update when the board is recognized as FMUv2 instead of X2.1.
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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).
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If this correction is not carried out your compass direction will be wrong and the
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secondary IMU will not be detected.
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The update steps are:
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1. Download and extract [BL_Update_X21.zip](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/hardware/BL_Update_X21.zip).
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2. Find the folder _BL_Update_X21_. This contains a **bin** file and a subfolder named **/etc** containing an **rc.txt** file
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3. Copy these files to your micro SD card's root directory and insert it into the mRO x2.1
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4. Power on the mRO x2.1 Wait for it to boot and then reboot 1 time.
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## 访问链接
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This product can be ordered at the [mRobotics<sup>®</sup> Store](https://store.mrobotics.io/mRo-X2-1-Rev-2-p/m10021a.htm).
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## 接线指南
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## 编译固件
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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_x21_default
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```
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## 原理图
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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).
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## 串口映射
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| UART | 设备 | Port |
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| ------ | ---------- | --------------- |
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| USART1 | UART | IO debug |
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| USART2 | /dev/ttyS1 | SERIAL1 |
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| USART3 | /dev/ttyS2 | TELEM2 |
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| UART4 | /dev/ttyS3 | GPS/I2C |
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| USART6 | /dev/ttyS4 | PX4IO |
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| UART7 | /dev/ttyS5 | SERIAL5 CONSOLE |
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| UART8 | /dev/ttyS6 | SERIAL4 |
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<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
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