# mRo Pixhawk Flight Controller (Pixhawk 1)

PX4 does not manufacture this (or any) autopilot. Contact the [manufacturer](https://store.mrobotics.io/) for hardware support or compliance issues.

The mRo Pixhawk® is a hardware compatible version of the original Pixhawk 1. It runs PX4 on the NuttX (opens new window) OS.

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The controller can be used as a drop-in replacement for the 3DR® Pixhawk 1. The main difference is that it is based on the Pixhawk-project (opens new window) FMUv3 open hardware design, which corrects a bug that limited the original Pixhawk 1 to 1MB of flash.

mRo Pixhawk Image

Assembly/setup instructions for use with PX4 are provided here: Pixhawk Wiring Quickstart

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This autopilot is supported by the PX4 maintenance and test teams.

# Key Features

  • 마이크로 프로세서:
    • FPU가있는 32 비트 STM32F427 코어 텍스 & reg; </ 0> M4 코어

    • 168 MHz / 256 KB RAM / 2 MB 플래시
    • 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® MPU 6000 3-axis accelerometer/gyroscope
    • MEAS MS5611 barometer
  • 인터페이스:
    • 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® 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
  • 전원 시스템 :

    • 자동 페일 오버 기능이있는 이상적인 다이오드 컨트롤러
    • 서보 레일 고전력 (7V) 및 고전류 준비
    • 모든 주변 장치 출력 과전류 보호, 모든 입력 ESD 보호
  • 무게와 크기 :

    • 무게 : 38g (1.31oz)
    • 너비 : 50mm (1.96 ")
    • 두께 : 15.5mm (.613 ")
    • 길이 : 81.5mm (3.21")

Availability

  • 베어 본 (Bare Bones) </ 0> - 보드 만 (3DR Pixhawk 대체품으로 유용합니다)
  • <li>
      <a href="https://store.mrobotics.io/Genuine-PixHawk-Flight-Controller-p/mro-pixhawk1-minkit-mr.htm">mRo Pixhawk 2.4.6 필수 키트!</a> - 텔레메트리 무선 통신을 제외한 모든 것
    </li>
    <li>
      <a href="https://store.mrobotics.io/product-p/mro-pixhawk1-fullkit-mr.htm"> mRo Pixhawk 2.4.6 쿨 키트! (한정판) </ 0> - 텔레 메 트리 라디오를 포함하여 필요한 모든 것</li> </ul> 
      <h2>
        Building Firmware
      </h2>
      <p>
    

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Most users will not need to build this firmware! It is pre-built and automatically installed by QGroundControl when appropriate hardware is connected.

      </p>
      <p>
        To <a href="../dev_setup/building_px4.md">build PX4</a> for this target:
      </p>
      <pre><code>make px4_fmu-v3_default

      <h2>
        Debug Ports
      </h2>
      <p>
        See <a href="../flight_controller/pixhawk.md#debug-ports">3DR Pixhawk 1 > Debug Ports</a>
      </p>
      <h2>
        Pinouts
      </h2>
      <p>
        See <a href="../flight_controller/pixhawk.md#pinouts">3DR Pixhawk 1 > Pinouts</a>
      </p>
      <h2>
        Serial Port Mapping
      </h2>
      <table>
        <tr>
          <th>
            UART
          </th>
          <th>
            Device
          </th>
          <th>
            Port
          </th>
        </tr>
        <tr>
          <td>
            UART1
          </td>
          <td>
            /dev/ttyS0
          </td>
          <td>
            IO debug
          </td>
        </tr>
        <tr>
          <td>
            USART2
          </td>
          <td>
            /dev/ttyS1
          </td>
          <td>
            TELEM1 (flow control)
          </td>
        </tr>
        <tr>
          <td>
            USART3
          </td>
          <td>
            /dev/ttyS2
          </td>
          <td>
            TELEM2 (flow control)
          </td>
        </tr>
        <tr>
          <td>
            UART4
          </td>
          <td>
          </td>
          <td>
          </td>
        </tr>
        <tr>
          <td>
            UART7
          </td>
          <td>
            CONSOLE
          </td>
          <td>
          </td>
        </tr>
        <tr>
          <td>
            UART8
          </td>
          <td>
            SERIAL4
          </td>
          <td>
          </td>
        </tr>
      </table>
      <!-- Note: Got ports using https://github.com/PX4/px4_user_guide/pull/672#issuecomment-598198434 -->
      <h2>
        Schematics
      </h2>
      <p>
        The board is based on the <a href="https://pixhawk.org/">Pixhawk-project</a> <strong>FMUv3</strong> open hardware design.
      </p>
      <ul>
        <li>
          <a href="https://github.com/PX4/Hardware/raw/master/FMUv3_REV_D/Schematic%20Print/Schematic%20Prints.PDF"> FMUv3 schematic </ 0> - 회로도 및 레이아웃</li> </ul> 
          <p>

Note

As a CC-BY-SA 3.0 licensed Open Hardware design, all schematics and design files are available.

          </p>