# mRo Pixhawk (FMUv3)

:::warning 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](/px4-user-guide/drone_parts/flight_controller/autopilot_discontinued/pixhawk.md). It runs PX4 on the [NuttX](https://nuttx.apache.org/) OS.

:::tip The controller can be used as a drop-in replacement for the 3DR® [Pixhawk 1](/px4-user-guide/drone_parts/flight_controller/autopilot_discontinued/pixhawk.md). The main difference is that it is based on the [Pixhawk-project](https://pixhawk.org/) **FMUv3** open hardware design, which corrects a bug that limited the original Pixhawk 1 to 1MB of flash. :::

![mRo Pixhawk Image](/files/UqYuAgqxbPGnpRCgHhMG)

Assembly/setup instructions for use with PX4 are provided here: [Pixhawk Wiring Quickstart](/px4-user-guide/assembly/quick_start_pixhawk.md)

:::tip This autopilot is [supported](/px4-user-guide/drone_parts/flight_controller/autopilot_pixhawk_standard.md) 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](https://store.mrobotics.io/Genuine-PixHawk-1-Barebones-p/mro-pixhawk1-bb-mr.htm) - Just the board (useful as a 3DR Pixhawk replacement)
* [mRo Pixhawk 2.4.6 Essential Kit!](https://store.mrobotics.io/Genuine-PixHawk-Flight-Controller-p/mro-pixhawk1-minkit-mr.htm) - Everything except for telemetry radios
* [mRo Pixhawk 2.4.6 Cool Kit! (Limited edition)](https://store.mrobotics.io/product-p/mro-pixhawk1-fullkit-mr.htm) - 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](/px4-user-guide/development/getting_started/building_px4.md) for this target:

```
make px4_fmu-v3_default
```

## Debug Ports

See [3DR Pixhawk 1 > Debug Ports](/px4-user-guide/drone_parts/flight_controller/autopilot_discontinued/pixhawk.md#debug-ports)

## Pinouts

See [3DR Pixhawk 1 > Pinouts](/px4-user-guide/drone_parts/flight_controller/autopilot_discontinued/pixhawk.md#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](https://pixhawk.org/) **FMUv3** open hardware design.

* [FMUv3 schematic](https://github.com/PX4/Hardware/raw/master/FMUv3_REV_D/Schematic%20Print/Schematic%20Prints.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). :::


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