PX4-Autopilot/docs/en/flight_controller/mro_pixhawk.md

# 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.
:::

## Key Features

- Microprocessor:
  - 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
- Sensors:
  - 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 barometer
- Interfaces:
  - 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
- Power System:
  - 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

- Weight and Dimensions:
  - Weight: 38g (1.31oz)
  - Width: 50mm (1.96")
  - Thickness: 15.5mm (.613")
  - Length: 81.5mm (3.21")

## Availability

- [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

## 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:

```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 (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.
:::

## Pinouts

#### TELEM1, TELEM2 ports

| Pin     | Signal    | Volt  |
| ------- | --------- | ----- |
| 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   |

#### GPS port

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

#### ADC 3.3V

| Pin     | Signal | Volt        |
| ------- | ------ | ----------- |
| 1 (red) | VCC    | +5V         |
| 2 (blk) | ADC IN | up to +3.3V |
| 3 (blk) | GND    | GND         |
| 4 (blk) | ADC IN | up to +3.3V |
| 5 (blk) | GND    | GND         |

#### I2C

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

#### CAN

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

#### SPI

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

## Serial Port Mapping

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

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

## Serial Port Mapping

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

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

## Schematics

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).
:::