# mRo AUAV-X2

:::warning This flight controller has been [discontinued](../autopilot_experimental) and is no longer commercially available. :::

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

The [AUAV®](http://www.auav.com/) _AUAV-X2 autopilot_ is based on the [Pixhawk®-project](https://pixhawk.org/) **FMUv2** open hardware design. It runs PX4 on the [NuttX](https://nuttx.apache.org/) OS.

![AUAVX2\_case2](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-5dd524d4365a804e2e2af142d96ce05f018c363a%2Fauavx2_case2.jpg?alt=media)

## Quick Summary

* Main System-on-Chip: [STM32F427](http://www.st.com/web/en/catalog/mmc/FM141/SC1169/SS1577/LN1789)
  * CPU: STM32F427VIT6 ARM microcontroller - Revision 3
  * IO: STM32F100C8T6 ARM microcontroller
* Sensors:
  * Invensense MPU9250 9DOF
  * Invensense ICM-20608 6DOF
  * MEAS MS5611 barometer
* Dimensions/Weight
  * Size: 36mm x 50mm
  * Mounting Points: 30.5mm x 30.5mm 3.2mm diameter
  * Weight: 10.9g
* Power OR-ing schematic with reverse voltage protection. 5V power module is required!

## Connectivity

* 2.54mm headers:
* GPS (USART4)
* i2c
* RC input
* PPM input
* Spektrum input
* RSSI input
* sBus input
* sBus output
* Power input
* Buzzer output
* LED output
* 8 x Servo outputs
* 6 x Aux outputs
* USART7 (Console)
* USART8 (OSD)

## Availability

No longer in production. This has been superseded by the [mRo X2.1](../autopilot_manufacturer_supported/mro_x2.1). mRobotics is the distributor for the AUAV Products from August 2017.

## Key Links

* [User Manual](http://arsovtech.com/wp-content/uploads/2015/08/AUAV-X2-user-manual-EN.pdf)
* [DIY Drones Post](http://diydrones.com/profiles/blogs/introducing-the-auav-x2-1-flight-controller)

## Wiring Guide

![AUAV-X2-basic-setup 3](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-016e412fb8c9af399bd4634a8bf014e96d0823af%2Fauav_x2_basic_setup_3.png?alt=media)

![AUAV-X2-basic-setup 2](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-4e39084f496dd24c8ecbfbd04088a542bf5309a2%2Fauav_x2_basic_setup_2.jpg?alt=media)

![AUAV-X2-basic-setup 1](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-b6c6ae128d0ac61d721d9016f3ab9b1a2fc09bf9%2Fauav_x2_basic_setup_1.png?alt=media)

![AUAV-X2-airspeed-setup 3](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-4b3fc00a2eb523c6659bf0e5c12da8a45baea1df%2Fauav_x2_airspeed_setup_3.png?alt=media)

## Schematics

The board is based on the [Pixhawk project](https://pixhawk.org/) **FMUv2** open hardware design.

* [FMUv2 + IOv2 schematic](https://raw.githubusercontent.com/PX4/Hardware/master/FMUv2/PX4FMUv2.4.5.pdf) -- Schematic and layout

:::note As a CC-BY-SA 3.0 licensed Open Hardware design, all schematics and design files are [available](https://github.com/PX4/Hardware). :::

## 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    |                       |
