mRobotics-X2.1 (FMUv2)
PX4 does not manufacture this (or any) autopilot. Contact the manufacturer for hardware support or compliance issues.
The mRo-X2.1 autopilot is based on the Pixhawk®-project FMUv2 open hardware design. It runs PX4 on the NuttX OS.
总览
主片上系统:STM32F427
CPU: STM32F427VIT6 ARM® microcontroller - Revision 3
IO: STM32F100C8T6 ARM® microcontroller
传感器:
Invensense® MPU9250 9DOF
Invensense ICM-20602 6DOF
MEAS MS5611 气压计
尺寸/重量
Size: 36mm x 50mm (Can be ordered with vertical, horizontal or no headers installed)
安装点:30.5mm x 30.5mm 直径 3.2mm
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.
连接
2.54 毫米头:
GPS (UART4) with I2C
CAN Bus
遥控输入
PPM 输入
Spektrum 输入
RSSI 输入
sBus 输入
sBus 输出
电源输入
蜂鸣器输出
LED 输出
8路伺服输出
6路辅助输出
Offboard microUSB connector
Kill Pin output (Currently not supported by firmware)
AirSpeed Sensor
USART2 (Telem 1)
USART3 (Telem 2)
UART7 (Console)
UART8 (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.
访问链接
This product can be ordered at the mRobotics® Store.
接线指南
编译固件
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:
原理图
The board is documented on the mRo hardware repo: x21_V2_schematic.pdf.
Serial Port Mapping
UART | 设备 | Port |
---|---|---|
USART1 | /dev/ttyS0 | IO debug |
USART2 | /dev/ttyS1 | SERIAL1 |
USART3 | /dev/ttyS2 | TELEM2 |
UART4 | /dev/ttyS3 | GPS/I2C |
USART6 | /dev/ttyS4 | PX4IO |
UART7 | /dev/ttyS5 | SERIAL5 CONSOLE |
UART8 | /dev/ttyS6 | SERIAL4 |
Last updated