# mRo-X2.1 자동 조종 장치

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 (opens new window) is based on the Pixhawk®-project (opens new window) FMUv2 open hardware design. It runs PX4 on the NuttX (opens new window) OS.

mRo X2.1

Note

This flight controller is manufacturer supported.

# Quick Summary

  • Main System-on-Chip: STM32F427 (opens new window)
    • CPU : STM32F427VIT6 ARM & reg; </ 0> 마이크로 컨트롤러 - 개정 3

    • IO: STM32F100C8T6 ARM & reg; </ 0> 마이크로 컨트롤러
  • Sensors:
    • Invensense & reg; </ 0> MPU9250 9DOF
    •     <li>
            Invensense ICM-20602 6DOF
          </li>
          <li>
            MEAS MS5611 barometer
          </li></ul></li> 
          <li>
            Dimensions/Weight <ul>
              <li>
                크기: 36mm x 50mm (수직, 수평 또는 머리글이없는 상태에서 주문 가능)
              </li>
              <li>
                Mounting Points: 30.5mm x 30.5mm 3.2mm diameter
              </li>
              <li>
                Weight: 10.9g
              </li>
            </ul>
          </li></ul> 
          <p>
            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.
          </p>
          <p>
            <img src="../../assets/flight_controller/mro/px1_x21.jpg" alt="Mro Pixhawk 1 vs X2.1 comparison" />
          </p>
          <h2>
            Connectivity
          </h2>
          <ul>
            <li>
              2.54mm headers:
            </li>
            <li>
              GPS (UART4) with I2C
            </li>
            <li>
              CAN Bus
            </li>
            <li>
              RC input
            </li>
            <li>
              PPM input
            </li>
            <li>
              Spektrum input
            </li>
            <li>
              RSSI input
            </li>
            <li>
              sBus input
            </li>
            <li>
              sBus output
            </li>
            <li>
              Power input
            </li>
            <li>
              Buzzer output
            </li>
            <li>
              LED output
            </li>
            <li>
              8 x Servo outputs
            </li>
            <li>
              6 x Aux outputs
            </li>
            <li>
              오프 보드 microUSB 커넥터
            </li>
            <li>
              강제 종료 핀 출력 <em> (현재 펌웨어에서 지원되지 않음) </ 0></li> 
              <li>
                AirSpeed 센서
              </li>
              <li>
                USART2 (Telem 1)
              </li>
              <li>
                USART3 (Telem 2)
              </li>
              <li>
                UART7 (Console)
              </li>
              <li>
                UART8 (OSD)
              </li></ul> 
              <h2>
                PX4 부트 로더 문제
              </h2>
              <p>
                By default a mRo X2.1 might come preconfigured for ArduPilot<sup>&reg;</sup> rather than PX4. This can be seen during firmware update when the board is recognized as FMUv2 instead of X2.1.
              </p>
              <p>
                In this case you must update the BootLoader using <a href="https://github.com/PX4/px4_user_guide/raw/master/assets/hardware/BL_Update_X21.zip">BL_Update_X21.zip</a>. If this correction is not carried out your compass direction will be wrong and the secondary IMU will not be detected.
              </p>
              <p>
                The update steps are:
              </p>
              <ol start="1">
                <li>
                  <a href="https://github.com/PX4/px4_user_guide/raw/master/assets/hardware/BL_Update_X21.zip"> BL_Update_X21.zip </ 0>을 다운로드하고 추출하십시오.</li> 
                  <li>
                    <em> BL_Update_X21 </ 0> 폴더를 찾으십시오. 여기에는 <strong> rc.txt </ 0> 파일이 들어있는 <strong> bin </ 0> 파일과 <strong> / etc </ 0>이라는 하위 폴더가 있습니다</li> 
                    <li>
                      이 파일을 마이크로 SD 카드의 루트 디렉토리에 복사 한 다음 mRO x2.1에 삽입하십시오.
                    </li>
                    <li>
                      Mro x2.1의 전원을 켜십시오. 부팅 할 때까지 기다렸다가 한 번 재부팅하십시오.
                    </li></ol> 
                    <h2>
                      Availability
                    </h2>
                    <p>
                      This product can be ordered at the <a href="https://store.mrobotics.io/mRo-X2-1-Rev-2-p/mro-x2.1rv2-mr.htm">mRobotics<sup>&reg;</sup> Store</a>.
                    </p>
                    <h2>
                      Wiring Guide
                    </h2>
                    <p>
                      <img src="../../assets/flight_controller/mro/mro_x21_wiring.png" alt="mRo_X2.1_Wiring" />
                    </p>
                    <h2>
                      Building Firmware
                    </h2>
                    <p>
      

TIP

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 mro_x21_default

                  <h2>
                    Schematics
                  </h2>
                  <p>
                    The board is documented on the mRo hardware repo: <a href="https://github.com/mRoboticsIO/Hardware/blob/master/X2.1/Docs/x21_V2_schematic.pdf">x21_V2_schematic.pdf</a>.
                  </p>
                  <h2>
                    Serial Port Mapping
                  </h2>
                  <table>
                    <tr>
                      <th>
                        UART
                      </th>
                      <th>
                        Device
                      </th>
                      <th>
                        Port
                      </th>
                    </tr>
                    <tr>
                      <td>
                        USART1
                      </td>
                      <td>
                        /dev/ttyS0
                      </td>
                      <td>
                        IO debug
                      </td>
                    </tr>
                    <tr>
                      <td>
                        USART2
                      </td>
                      <td>
                        /dev/ttyS1
                      </td>
                      <td>
                        SERIAL1
                      </td>
                    </tr>
                    <tr>
                      <td>
                        USART3
                      </td>
                      <td>
                        /dev/ttyS2
                      </td>
                      <td>
                        TELEM2
                      </td>
                    </tr>
                    <tr>
                      <td>
                        UART4
                      </td>
                      <td>
                        /dev/ttyS3
                      </td>
                      <td>
                        GPS/I2C
                      </td>
                    </tr>
                    <tr>
                      <td>
                        USART6
                      </td>
                      <td>
                        /dev/ttyS4
                      </td>
                      <td>
                        PX4IO
                      </td>
                    </tr>
                    <tr>
                      <td>
                        UART7
                      </td>
                      <td>
                        /dev/ttyS5
                      </td>
                      <td>
                        SERIAL5 CONSOLE
                      </td>
                    </tr>
                    <tr>
                      <td>
                        UART8
                      </td>
                      <td>
                        /dev/ttyS6
                      </td>
                      <td>
                        SERIAL4
                      </td>
                    </tr>
                  </table>
                  <!-- Note: Got ports using https://github.com/PX4/px4_user_guide/pull/672#issuecomment-598198434 -->