mRo Pixhawk (FMUv3)

:::warning PX4 does not manufacture this (or any) autopilot. Contact the manufacturer 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 OS.

:::tip 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 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

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

Key Features

• Microprocessor:

  • 32-bit STM32F427 Cortex® 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® 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® 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 - Just the board (useful as a 3DR Pixhawk replacement)

• mRo Pixhawk 2.4.6 Essential Kit! - Everything except for telemetry radios

• mRo Pixhawk 2.4.6 Cool Kit! (Limited edition) - 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 for this target:

make px4_fmu-v3_default

Debug Ports

See 3DR Pixhawk 1 > Debug Ports

Pinouts

See 3DR Pixhawk 1 > Pinouts

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

Schematics

The board is based on the Pixhawk-project FMUv3 open hardware design.

• FMUv3 schematic -- Schematic and layout

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