# Aerotenna OcPoC-Zynq Mini Flight Controller
PX4 does not manufacture this (or any) autopilot. Contact the [manufacturer](https://ainstein.ai/) for hardware support or compliance issues.
PX4 support for this flight controller is [experimental](../flight_controller/autopilot_experimental.md).
The OcPoC-Zynq Mini (opens new window) is a FPGA+ARM SoC based flight control platform.
OcPoC-Zynq's enhanced I/O flexibility and increased processing power makes it a great solution for commercial UAS developers and researchers. The FPGA's I/O flexibility allows for rapid sensor integration and customization of the flight controller hardware, allowing for capabilities such as triple redundancy in GPS, magnetometers, and IMUs. OcPoC-Zynq maintains also lightweight, compact footprint, leaving more space and weight on the airframe for sensor and peripheral expansion.
Main documentation is available on Aerotenna's User Hub (opens new window) for hardware setup, FAQs, and various tutorials including FPGA and kernel development.
- Main FPGA+ARM System-on-Chip: Xilinx Zynq Z-7010
- CPU: 667 MHz Dual-Core ARM A9
- FPGA: Artix®-7 with 28K Logic Cells
- RAM: 512 MB DDR3
- Flash: 128 MB
- SD Card: 16 GB
- IMU: 2x MPU9250 9-DOF
- Baro: 1x MS5611
- Power: 5-30 VDC
- OcPoC regulates internally to 5V
- 2S-6S LiPo battery is typical power source on airframe
- For bench testing, the console "USB1" port supplies 5V
- 16x Programmable 3-pin GPIOs
- 10x Programmable I/Os on JST-GH connectors supporting the following interfaces:
- Availability: Ainstein Store (opens new window)
# Pinouts and SD Card Setup
Pinouts for the default OcPoC-Zynq configuration and full step-by-step instructions for first time setup are available on Aerotenna's User Hub (opens new window).
# Building PX4 for OcPoC-Zynq
After setting up the PX4 development environment and cloning the PX4 Firmware (opens new window), you can build PX4 for OcPoC-Zynq with the following commands (for Aerotenna's default ubuntu-armhf root file system):
See the user hub page PX4 on OcPoC Zynq Mini (opens new window) for full step-by-step instructions for first time setup of PX4 on OcPoC-Zynq.
At the present time PX4 firmware must be built from source as no pre-built binaries for OcPoC-Zynq are supplied through QGroundControl.