mRo-X2.1 Autopilot

mRo-X2.1 Autopilot

The mRo-X2.1 autopilot is based on the Pixhawk^®-project FMUv2 open hardware design. It runs PX4 on the NuttX OS.

总览

Main System-on-Chip: STM32F427
- CPU: STM32F427VIT6 ARM^® microcontroller - Revision 3
- IO: STM32F100C8T6 ARM^® microcontroller
传感器：
- Invensense^® MPU9250 9DOF
- Invensense ICM-20602 6DOF
- MEAS MS5611 barometer
Dimensions/Weight
- Size: 36mm x 50mm (Can be ordered with vertical, horizontal or no headers installed)
- Mounting Points: 30.5mm x 30.5mm 3.2mm diameter
- 重量: 10.9g

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.

Connectivity

2.54mm headers:
GPS (USART4) with I2C
CAN Bus
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
Offboard microUSB connector
Kill Pin output (Currently not supported by firmware)
AirSpeed Sensor
USART2 (Telem 1)
USART3 (Telem 2)
USART7 (Console)
USART8 (OSD)

PX4 BootLoader Issue

By default a mRo X2.1 might come preconfigured for ArduPilot^® rather than PX4. This can be seen during firmware update when the board is recognized as FMUv2 instead of X2.1.

In this case you must update the BootLoader using BL_Update_X21.zip. If this correction is not carried out your compass direction will be wrong and the secondary IMU will not be detected.

The update steps are:

Download and extract BL_Update_X21.zip.
Find the folder BL_Update_X21. This contains a bin file and a subfolder named /etc containing an rc.txt file
Copy these files to your micro SD card’s root directory and insert it into the mRO x2.1
Power on the mRO x2.1 Wait for it to boot and then reboot 1 time.