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docs: Remove all discontinued FCs (#26642)

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docs/en/SUMMARY.md
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- [Wiring Quickstart](assembly/quick_start_pixhawk5x.md)
- [Holybro Pixhawk 4 (FMUv5)](flight_controller/pixhawk4.md)
- [Wiring Quickstart](assembly/quick_start_pixhawk4.md)
- [Holybro Pixhawk 4 Mini (FMUv5) - Discontinued](flight_controller/pixhawk4_mini.md)
- [Wiring Quickstart](assembly/quick_start_pixhawk4_mini.md)
- [Drotek Pixhawk 3 Pro (FMUv4pro) - Discontinued](flight_controller/pixhawk3_pro.md)
- [mRo Pixracer (FMUv4)](flight_controller/pixracer.md)
- [Wiring Quickstart](assembly/quick_start_pixracer.md)
- [Hex Cube Black (FMUv3)](flight_controller/pixhawk-2.md)
- [mRo Pixhawk (FMUv3)](flight_controller/mro_pixhawk.md)
- [mRo (3DR) Pixhawk Wiring Quickstart](assembly/quick_start_pixhawk.md)
- [Holybro Pixhawk Mini (FMUv3) - Discontinued](flight_controller/pixhawk_mini.md)
- [Manufacturer-Supported Autopilots](flight_controller/autopilot_manufacturer_supported.md)
- [Accton Godwit GA1](flight_controller/accton-godwit_ga1.md)
- [AirMind MindPX](flight_controller/mindpx.md)
@@ -205,22 +201,6 @@
- [PilotPi with Raspberry Pi OS](flight_controller/raspberry_pi_pilotpi_rpios.md)
- [PilotPi with Ubuntu Server](flight_controller/raspberry_pi_pilotpi_ubuntu_server.md)
- [Discontinued Autopilots/Vehicles](flight_controller/autopilot_discontinued.md)
- [Drotek Dropix (FMUv2)](flight_controller/dropix.md)
- [Omnibus F4 SD](flight_controller/omnibus_f4_sd.md)
- [Bitcraze Crazyflie 2.0 ](complete_vehicles_mc/crazyflie2.md)
- [Aerotenna OcPoC-Zynq Mini](flight_controller/ocpoc_zynq.md)
- [CUAV X7](flight_controller/cuav_x7.md)
- [CUAV v5](flight_controller/cuav_v5.md)
- [CUAV Pixhack v3 (FMUv3)](flight_controller/pixhack_v3.md)
- [Holybro Kakute F7](flight_controller/kakutef7.md)
- [Holybro Pixfalcon](flight_controller/pixfalcon.md)
- [Holybro pix32 (FMUv2)](flight_controller/holybro_pix32.md)
- [ModalAI Flight Core v1](flight_controller/modalai_fc_v1.md)
- [ModalAI VOXL Flight](flight_controller/modalai_voxl_flight.md)
- [mRo X2.1 (FMUv2)](flight_controller/mro_x2.1.md)
- [mRo AUAV-X2](flight_controller/auav_x2.md)
- [NXP RDDRONE-FMUK66 FMU](flight_controller/nxp_rddrone_fmuk66.md)
- [3DR Pixhawk 1](flight_controller/pixhawk.md)
- [Pixhawk Autopilot Bus (PAB) & Carriers](flight_controller/pixhawk_autopilot_bus.md)
- [ARK Electronics Pixhawk Autopilot Bus Carrier](flight_controller/ark_pab.md)
- [Mounting the Flight Controller](assembly/mount_and_orient_controller.md)
docs/en/complete_vehicles_mc/crazyflie2.md
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<Redirect to="../flight_controller/autopilot_discontinued" />
<!--
# Crazyflie 2.0 (Discontinued)
<Badge type="info" text="Discontinued" />
::: warning
_Crazyflie 2.0_ has been [discontinued/superseded](../flight_controller/autopilot_experimental.md).
Try [Bitcraze Crazyflie 2.1](../complete_vehicles_mc/crazyflie21.md) instead!
:::
::: warning
- PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://www.bitcraze.io/) for hardware support or compliance issues.
- PX4 support for this flight controller is [experimental](../flight_controller/autopilot_experimental.md).
:::
The Crazyflie line of micro quads was created by Bitcraze AB.
An overview of the Crazyflie 2.0 can be [found here](https://www.bitcraze.io/crazyflie-2/).
![Crazyflie2 Image](../../assets/flight_controller/crazyflie/crazyflie2_hero.png)
## Quick Summary
::: info
The main hardware documentation is here: https://wiki.bitcraze.io/projects:crazyflie2:index
:::
- Main System-on-Chip: STM32F405RG
- CPU: 168 MHz ARM Cortex M4 with single-precision FPU
- RAM: 192 KB SRAM
- nRF51822 radio and power management MCU
- MPU9250 Accel / Gyro / Mag
- LPS25H barometer
## Where to Buy
- [Crazyflie 2.0](https://store.bitcraze.io/collections/kits/products/crazyflie-2-0).
- [Crazyradio PA 2.4 GHz USB dongle](https://store.bitcraze.io/products/crazyradio-pa): used for wireless communication between _QGroundControl_ and Crazyflie 2.0.
- [Breakout deck](https://store.bitcraze.io/collections/decks/products/breakout-deck): breakout expansion board for connecting new peripherals.
- [Flow deck](https://store.bitcraze.io/products/flow-deck): contains an optical flow sensor to measure movements of the ground and a distance sensor to measure the distance to the ground.
This will be useful for precise altitude and position control.
- [Z-ranger deck](https://store.bitcraze.io/collections/decks/products/z-ranger-deck) has the same distance sensor as the Flow deck to measure the distance to the ground.
This will be useful for precise altitude control.
- [SD-card deck](https://store.bitcraze.io/collections/decks/products/sd-card-deck): used for high speed onboard logging to a micro SD card.
- [Logitech Joystick](https://support.logi.com/hc/en-us/articles/360024326793--Getting-Started-Gamepad-F310).
## Flashing PX4
After setting up the PX4 development environment, follow these steps to install the PX4 Autopilot on the Crazyflie 2.0:
1. Download the source code of the PX4 Bootloader:
```sh
git clone https://github.com/PX4/PX4-Bootloader.git
```
1. Navigate into the top directory of the source code and compile it using:
```sh
make crazyflie_bl
```
1. Put the Crazyflie 2.0 into DFU mode by following these steps:
- Ensure it is initially unpowered.
- Hold down the reset button (see figure below...).
![Crazyflie2 Reset Button](../../assets/flight_controller/crazyflie/crazyflie_reset_button.jpg)
- Plug into computer's USB port.
- After a second, the blue LED should start blinking and after 5 seconds should start blinking faster.
- Release button.
1. Install _dfu-util_:
```sh
sudo apt-get update
sudo apt-get install dfu-util
```
1. Flash bootloader using _dfu-util_ and unplug Crazyflie 2.0 when done:
```sh
sudo dfu-util -d 0483:df11 -a 0 -s 0x08000000 -D ./build/crazyflie_bl/crazyflie_bl.bin
```
When powering on the Crazyflie 2.0 the yellow LED should blink.
1. Download the source code of the PX4 autopilot:
```sh
git clone https://github.com/PX4/PX4-Autopilot.git
```
1. Navigate into the top directory of the source code and compile it using:
```sh
make bitcraze_crazyflie_default upload
```
1. When prompted to plug in device, plug in Crazyflie 2.0.
The yellow LED should start blinking indicating bootloader mode.
Then the red LED should turn on indicating that the flashing process has started.
1. Wait for completion.
1. Done! Calibrate the sensors using [QGroundControl](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/sensors.html).
::: info
If QGroundControl does not connect with the vehicle, ensure that in [nuttx-config](https://github.com/PX4/PX4-Autopilot/blob/main/boards/bitcraze/crazyflie/nuttx-config/nsh/defconfig) for crazyflie `# CONFIG_DEV_LOWCONSOLE is not set` is replaced by `CONFIG_DEV_LOWCONSOLE=y`.
This should be done using _menuconfig_:
```sh
make bitcraze_crazyflie_default menuconfig
```
or _qconfig_ (Check _Low-level console support_ under _Serial Driver Support_ in GUI):
```sh
make bitcraze_crazyflie_default qconfig
```
:::
## Wireless Setup Instructions
The onboard nRF module allows connecting to the board via Bluetooth or through the proprietary 2.4GHz Nordic ESB protocol.
- A [Crazyradio PA](https://www.bitcraze.io/crazyradio-pa/) is recommended.
- To fly the Crazyflie 2.0 right away, the Crazyflie phone app is supported via Bluetooth.
Using the official Bitcraze **Crazyflie phone app**:
- Connect via Bluetooth.
- Change mode in settings to 1 or 2.
- Calibrate via QGroundControl.
Connecting via **MAVLink**:
- Use a Crazyradio PA alongside a compatible GCS.
- Download the _crazyflie-lib-python_ source code:
```sh
git clone https://github.com/bitcraze/crazyflie-lib-python.git
```
::: info
We will use [cfbridge.py](https://github.com/bitcraze/crazyflie-lib-python/blob/master/examples/cfbridge.py) to setup a wireless MAVlink communication link between Crazyflie 2.0 (flashed with PX4) and QGroundControl. _Cfbridge_ enables QGroundControl to communicate with the crazyradio PA.
The [C based cfbridge](https://github.com/dennisss/cfbridge) is currently experiencing data loss issues, which is why we have chosen to use **cfbridge.py**.
:::
- Make sure you have set the udev permissions to use the USB Radio. To do this, follow the steps listed [here](https://www.bitcraze.io/documentation/repository/crazyflie-lib-python/master/installation/usb_permissions/) and **restart** your computer.
- Connect a Crazyradio PA via USB.
- Build a [virtual environment (local python environment)](https://virtualenv.pypa.io/en/latest/) with package dependencies using the following method:
```sh
pip install tox --user
```
- Navigate to the crazyflie-lib-python folder and type:
```sh
make venv
```
- Activate the virtual environment:
```sh
source venv-cflib/bin/activate
```
- Install required dependencies:
```sh
pip install -r requirements.txt --user
```
To connect Crazyflie 2.0 with crazyradio, **launch cfbridge** by following these steps:
- Power off and power on Crazyflie 2.0 and wait for it to boot up.
- Connect a Crazyflie radio device via USB.
- Navigate to the crazyflie-lib-python folder.
- Activate the environment:
```sh
source venv-cflib/bin/activate
```
- Navigate to the examples folder:
```sh
cd examples
```
- Launch cfbridge:
```sh
python cfbridge.py
```
::: info
_Cfbridge_ by default tries to initiate the radio link communication on channel 80 and with crazyflie address 0xE7E7E7E7E7.
If you are using [multiple crazyflies and/or crazyradios](https://github.com/dennisss/cfbridge/blob/master/README.md#advanced-swarming) in the same room and want to use a different channel and/or address for each, first connect the crazyflie with QGroundControl via a USB cable and change the syslink parameters (channel, address) in QGroundControl.
Next, launch the cfbridge by giving the same channel and address as the first and second arguments respectively, e.g: `python cfbridge.py 90 0x0202020202`
:::
- Open QGroundControl.
- After using _cfbridge_, you can deactivate the virtualenv if you activated it by pressing `CTRL+z`.
Most of the time, launching _cfbridge_ again from the same terminal doesn't connect to crazyflie, this can be solved by closing the terminal and relaunching _cfbridge_ in a new terminal.
::: tip
If you change any driver in [crazyflie-lib-python](https://github.com/bitcraze/crazyflie-lib-python) or if launching _cfbridge_ in a new terminal does not find crazyflie, you can try navigating to the crazyflie-lib-python folder and run the script below to rebuild cflib.
```sh
make venv
```
:::
::: info
To use a [Joystick](../config/joystick.md):
- Make sure you're using a [`COM_RC_IN_MODE` that allows Joystick](../config/manual_control.md#px4-configuration).
- Calibrate the Joystick and set the Joystick message frequency in QGroundControl if needed (25 Hz is the default).
To be able to set the frequency, the advanced option should be enabled.
![QGC UI for setting message frequency](../../assets/hardware/joystick-message-frequency.png)
This is the rate at which Joystick commands are sent from QGroundControl to Crazyflie 2.0 (to do this, you will need to follow the instructions [here](https://github.com/mavlink/qgroundcontrol) to obtain the latest QGroundControl source code (master) and build it).
:::
## Hardware Setup
Crazyflie 2.0 is able to fly with precise control in [Stabilized mode](../flight_modes_mc/manual_stabilized.md), [Altitude mode](../flight_modes_mc/altitude.md) and [Position mode](../flight_modes_mc/position.md).
- You will need the [Z-ranger deck](https://store.bitcraze.io/collections/decks/products/z-ranger-deck) to fly in _Altitude_ mode.
If you also want to fly in the _Position_ mode, it is recommended you buy the [Flow deck](https://store.bitcraze.io/products/flow-deck) which also has the integrated Z-ranger sensor.
- The onboard barometer is highly susceptible to any external wind disturbances including those created by Crazyflie's own propellers. Hence, we isolated the barometer with a piece of foam, and then mounted the distance sensor on top of it as shown below:
![Crazyflie barometer](../../assets/flight_controller/crazyflie/crazyflie_barometer.jpg)
![Crazyflie barometer foam](../../assets/flight_controller/crazyflie/crazyflie_baro_foam.jpg)
![Crazyflie optical flow](../../assets/flight_controller/crazyflie/crazyflie_opticalflow.jpg)
In order to log flight details, you can mount SD card deck on top of crazyflie as shown below:
![Crazyflie SDCard](../../assets/flight_controller/crazyflie/crazyflie_sdcard.jpg)
Then, you need to stick the battery on top of the SD card deck using a double sided tape:
![Crazyflie battery setup](../../assets/flight_controller/crazyflie/crazyflie_battery_setup.jpg)
## Altitude Control
Crazyflie is able to fly in _Altitude_ mode if you use a [Z-ranger deck](https://store.bitcraze.io/collections/decks/products/z-ranger-deck).
According to the datasheet, the maximum height (above ground) the range finder can sense is 2 m. However, when tested on dark surfaces this value decreases to 0.5 m. On a light floor, it goes up to max 1.3 m. This means you cannot hold altitudes above this value in _Altitude_ or _Position_ flight modes.
::: tip
If the Crazyflie 2.0 height drifts at mid-throttle command in _Altitude mode_ or _Position mode_, first try rebooting the vehicle. If this does not fix the problem, recalibrate the accel and mag (compass).
:::
::: info
Since the onboard barometer is highly susceptible to wind disturbances created by the Crazyflie's own propellers, you cannot rely on it to hold altitude.
:::
## Position Control
With [Flow deck](https://store.bitcraze.io/products/flow-deck), you can fly Crazyflie 2.0 in _Position mode_.
Unlike [PX4FLOW](../sensor/px4flow.md), the flow deck does not house a gyro, hence the onboard gyro is used for flow fusion to find the local position estimates.
Moreover, the flow deck shares the same SPI bus as the SD card deck, therefore logging at high rate on SD card is not recommended when flying in _Position mode_.
## Using FrSky Taranis RC Transmitter as Joystick
If you already own a Taranis RC transmitter and want to use it as a controller, it can be configured as a USB Joystick:
- Create a new model in Taranis.
![Taranis - new model](../../assets/flight_controller/crazyflie/taranis_model.jpg)
- In _MODEL SETUP_ menu page, turn off both internal and external TX modules.
![Taranis - model setup](../../assets/flight_controller/crazyflie/taranis_model_setup.jpg)
- In _OUTPUTS_ menu page (also called “SERVOS” page in some Taranis transmitters), invert Throttle (CH1) and Aileron (CH3).
![Taranis - outputs](../../assets/flight_controller/crazyflie/taranis_outputs.jpg)
To use Taranis switches to arm/disarm and switch to different flight modes:
- In Taranis UI _MIXER_ menu page, you can assign the switches to any channel in the range channel 9-16 which map to the buttons 0-7 in the QGroundControl Joystick setup. For example, Taranis “SD” switch can be set to channel 9 in Taranis UI:
![Taranis switch setup](../../assets/flight_controller/crazyflie/taranis_switch_setup.jpg)
- Connect Taranis to PC with a USB cable and Open QGroundControl.
- In QGroundControl Joystick Setup, you can see the buttons turning yellow when you switch them on. For example, channel 9 in Taranis maps to button 0 in QGroundControl Joystick setup. You can assign any mode to this button e.g. _Altitude_ mode. Now when you lower the switch "SD", flight mode will change to _Altitude_.
![Joystick setup](../../assets/flight_controller/crazyflie/crazyflie_QGCjoystick_setup.png)
### ROS
To connect to Crazyflie 2.0 via MAVROS:
- Start up _cfbridge_ using the above instructions.
- Change the UDP port QGroundControl listens to:
- In QGroundControl, navigate to **Application Settings > General** and uncheck all the boxes under _Autoconnect to the following devices_.
- Add in **Comm Links** a link of type _UDP_, check the _Automatically Connect on Start_ option, change the _Listening Port_ to 14557, add Target Hosts: 127.0.0.1 and then press **OK**.
- Make sure you have [MAVROS](https://github.com/mavlink/mavros/tree/master/mavros#installation) installed.
- Start MAVROS with command:
```sh
roslaunch mavros px4.launch fcu_url:="udp://:14550@127.0.0.1:14551" gcs_url:="udp://@127.0.0.1:14557"
```
- Restart QGroundControl if it doesn't connect.
DOC REMOVED: 202603
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docs/en/flight_controller/auav_x2.md
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<Redirect to="../flight_controller/autopilot_discontinued" />
<!--
# AUAV-X2 Autopilot (Discontinued)
<Badge type="info" text="Discontinued" />
Doc removed 202603
::: warning
This flight controller has been [discontinued](../flight_controller/autopilot_experimental.md) 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-X2 autopilot is based on the [Pixhawk<sup>&reg;</sup>-project](https://pixhawk.org/) **FMUv2** open hardware design. It runs PX4 on the [NuttX](https://nuttx.apache.org/) OS.
![AUAVX2_case2](../../assets/flight_controller/auav_x2/auavx2_case2.jpg)
## Quick Summary
- Main System-on-Chip: [STM32F427](https://www.st.com/en/microcontrollers-microprocessors/stm32f427-437.html)
- 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](mro_x2.1.md).
mRobotics is the distributor for the AUAV Products from August 2017.
## Key Links
- [DIY Drones Post](https://diydrones.com/profiles/blogs/introducing-the-auav-x2-1-flight-controller)
## Wiring Guide
![AUAV-X2-basic-setup 3](../../assets/flight_controller/auav_x2/auav_x2_basic_setup_3.png)
![AUAV-X2-basic-setup 2](../../assets/flight_controller/auav_x2/auav_x2_basic_setup_2.jpg)
![AUAV-X2-basic-setup 1](../../assets/flight_controller/auav_x2/auav_x2_basic_setup_1.png)
![AUAV-X2-airspeed-setup 3](../../assets/flight_controller/auav_x2/auav_x2_airspeed_setup_3.png)
## 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
::: info
As a CC-BY-SA 3.0 licensed Open Hardware design, all schematics and design files are [available](https://github.com/pixhawk/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 |
-->
docs/en/flight_controller/autopilot_discontinued.md
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## Autopilots
- [Drotek DroPix](../flight_controller/dropix.md) (FMUv2)
- [Omnibus F4 SD](../flight_controller/omnibus_f4_sd.md)
- [CUAV X7](../flight_controller/cuav_x7.md)
- [CUAV v5](../flight_controller/cuav_v5.md) (Pixhawk FMUv5)
- [CUAV Pixhack v3](../flight_controller/pixhack_v3.md) (FMUv3)
- [Aerotenna OcPoC-Zynq Mini](../flight_controller/ocpoc_zynq.md)
- [Holybro Pixhawk 4 Mini](../flight_controller/pixhawk4_mini.md) (FMUv5)
- [Holybro Kakute F7](../flight_controller/kakutef7.md)
- [Holybro Pixhawk Mini](../flight_controller/pixhawk_mini.md) (FMUv3)
- [Holybro Pixfalcon](../flight_controller/pixfalcon.md) (Pixhawk FMUv2)
- [Holybro Pix32](../flight_controller/holybro_pix32.md) (FMUv2)
- [ModalAI VOXL Flight](../flight_controller/modalai_voxl_flight.md)
- [ModalAI Flight Core v1](../flight_controller/modalai_fc_v1.md)
- [mRobotics-X2.1](../flight_controller/mro_x2.1.md) (FMUv2)
- [mRo AUAV-X2](../flight_controller/auav_x2.md) (Pixhawk FMUv2)
- [NXP FMUK66](../flight_controller/nxp_rddrone_fmuk66.md) (Discontinued)
- [3DR Pixhawk 1](../flight_controller/pixhawk.md) (Pixhawk FMUv2)
- _Drotek DroPix_ (FMUv2) — last published in [PX4 v1.13](https://docs.px4.io/v1.13/en/flight_controller/dropix) <!-- 202603 removed doc -->
- _Drotek Pixhawk 3 Pro_ (FMUv4pro) — last published in [PX4 v1.15](https://docs.px4.io/v1.15/en/flight_controller/pixhawk3_pro) <!-- 202603 removed doc -->
- _Omnibus F4 SD_ — last published in [PX4 v1.15](https://docs.px4.io/v1.15/en/flight_controller/omnibus_f4_sd) <!-- 202603 removed doc -->
- _CUAV X7_ — last published in [PX4 v1.16](https://docs.px4.io/v1.16/en/flight_controller/cuav_x7) <!-- 202507 removed doc -->
- _CUAV v5_ (Pixhawk FMUv5) — last published in [PX4 v1.16](https://docs.px4.io/v1.16/en/flight_controller/cuav_v5) <!-- 202507 removed doc -->
- _CUAV Pixhack v3_ (FMUv3) — last published in [PX4 v1.15](https://docs.px4.io/v1.15/en/flight_controller/pixhack_v3) <!-- 202603 removed doc -->
- _Aerotenna OcPoC-Zynq Mini_ — last published in [PX4v1.11](https://docs.px4.io/v1.11/en/flight_controller/ocpoc_zynq#aerotenna-ocpoc-zynq-mini-flight-controller) <!-- 202603 removed doc -->
- _Holybro Pixhawk 4 Mini_ (FMUv5) -— last published in [PX4 v1.16](https://docs.px4.io/v1.16/en/flight_controller/pixhawk4_mini) <!-- 202603 removed doc -->
- _Holybro Kakute F7_ — last published in [PX4 v1.15](https://docs.px4.io/v1.15/en/flight_controller/kakutef7) <!-- 202603 removed doc -->
- _Holybro Pixhawk Mini_ (FMUv3) — last published in [PX4 v1.15](https://docs.px4.io/v1.15/en/flight_controller/pixhawk_mini) <!-- 202603 removed doc -->
- _Holybro Pixfalcon_ (Pixhawk FMUv2) — last published in [PX4 v1.16](https://docs.px4.io/v1.16/en/flight_controller/pixfalcon) <!-- Discontinued around v1.15/2024. -->
- _Holybro Pix32_ (FMUv2) — last published in [PX4 v1.15](https://docs.px4.io/v1.15/en/flight_controller/holybro_pix32) <!-- 202603 removed doc -->
- _ModalAI VOXL Flight_ — last published in [PX4 v1.16](https://docs.px4.io/v1.16/en/flight_controller/modalai_voxl_flight) <!-- 202603 removed doc -->
- _ModalAI Flight Core v1_ — last published in [PX4 v1.11](https://docs.px4.io/v1.11/en/flight_controller/modalai_fc_v1) <!-- 202603 removed doc -->
- _mRobotics-X2.1_ (FMUv2) — last published in [PX4 v1.16](https://docs.px4.io/v1.16/en/flight_controller/mro_x2.1) <!-- 202507 removed doc -->
- _mRo AUAV-X2_ (Pixhawk FMUv2) — last published in [PX4 v1.15](https://docs.px4.io/v1.15/en/flight_controller/auav_x2) <!-- 202603 removed doc -->
- _NXP RDDRONE-FMUK66 FMU_ — last published in [PX4 v1.15 docs](https://docs.px4.io/v1.15/en/flight_controller/nxp_rddrone_fmuk66) <!-- 202603 removed doc -->
- _3DR Pixhawk 1_ (Pixhawk FMUv2) — last published in [PX4 v1.15](https://docs.px4.io/v1.15/en/flight_controller/pixhawk) <!-- 202603 removed doc -->
## Complete Vehicles
- [BetaFPV Beta75X 2S Brushless Whoop](https://docs.px4.io/v1.14/en/complete_vehicles/betafpv_beta75x#betafpv-beta75x-2s-brushless-whoop) (circa PX4 v1.14)
- [Intel® Aero RTF Drone](https://docs.px4.io/v1.12/en/complete_vehicles/intel_aero) (circa PX4 v1.12)
- [Qualcomm Snapdragon Flight](https://docs.px4.io/v1.11/en/flight_controller/snapdragon_flight) (circa PX4 v1.11)
- _Bitcraze Crazyflie 2.0_ — last published in [PX4 v1.15](https://docs.px4.io/v1.15/en/complete_vehicles_mc/crazyflie2) <!-- 202603 removed doc -->
- _BetaFPV Beta75X 2S Brushless Whoop_ — last published in [PX4 v1.14](https://docs.px4.io/v1.14/en/complete_vehicles/betafpv_beta75x#betafpv-beta75x-2s-brushless-whoop) <!-- 202603 removed before -->
- _Intel® Aero RTF Drone_ — last published in [PX4 v1.12](https://docs.px4.io/v1.12/en/complete_vehicles/intel_aero)
- _Qualcomm Snapdragon Flight_ — last published in [PX4 v1.11](https://docs.px4.io/v1.11/en/flight_controller/snapdragon_flight)
docs/en/flight_controller/cuav_v5.md
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<Redirect to="../flight_controller/autopilot_discontinued" />
<!--
# CUAV v5 (Discontinued)
<Badge type="info" text="Discontinued" /> <!-- 202507 / PX4v1.16 -->
::: warning
This flight controller has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available.
:::
::: warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://store.cuav.net/) for hardware support or compliance issues.
:::
_CUAV v5_<sup>&reg;</sup> (previously "Pixhack v5") is an advanced autopilot designed and made by CUAV<sup>&reg;</sup>.
The board is based on the [Pixhawk-project](https://pixhawk.org/) **FMUv5** open hardware design.
It runs PX4 on the [NuttX](https://nuttx.apache.org/) OS, and is fully compatible with PX4 firmware.
It is intended primarily for academic and commercial developers.
![CUAV v5](../../assets/flight_controller/cuav_v5/pixhack_v5.jpg)
## Quick Summary
- Main FMU Processor: STM32F765
- 32 Bit Arm® Cortex®-M7, 216MHz, 2MB memory, 512KB RAM
- IO Processor: STM32F100
- 32 Bit Arm® Cortex®-M3, 24MHz, 8KB SRAM
- On-board sensors:
- Accelerometer/Gyroscope: ICM-20689
- Accelerometer/Gyroscope: BMI055
- Magnetometer: IST8310
- Barometer: MS5611
- Interfaces:
- 8-14 PWM outputs (6 from IO, 8 from FMU)
- 3 dedicated PWM/Capture inputs on FMU
- Dedicated R/C input for CPPM
- Dedicated R/C input for PPM and S.Bus
- analog / PWM RSSI input
- S.Bus servo output
- 5 general purpose serial ports
- 4 I2C ports
- 4 SPI buses
- 2 CANBuses with serial ESC
- Analog inputs for voltage / current of 2 batteries
- Power System:
- Power: 4.3~5.4V
- USB Input: 4.75~5.25V
- Servo Rail Input: 0~36V
- Weight and Dimensions:
- Weight: 90g
- Dimensions: 44x84x12mm
- Other Characteristics:
- Operating temperature: -20 ~ 80°C （Measured value）
## Where to Buy {#store}
Order from [CUAV](https://cuav.taobao.com/index.htm?spm=2013.1.w5002-16371268426.2.411f26d9E18eAz).
## Connection
![CUAV v5](../../assets/flight_controller/cuav_v5/pixhack_v5_connector.jpg)
::: warning
The RCIN interface is limited to powering the rc receiver and cannot be connected to any power/load.
:::
## Voltage Ratings
_CUAV v5_ can be triple-redundant on the power supply if three power sources are supplied. The three power rails are: **POWER1**, **POWER2** and **USB**.
::: info
The output power rails **FMU PWM OUT** and **I/O PWM OUT** (0V to 36V) do not power the flight controller board (and are not powered by it).
You must supply power to one of **POWER1**, **POWER2** or **USB** or the board will be unpowered.
:::
**Normal Operation Maximum Ratings**
Under these conditions all power sources will be used in this order to power the system:
1. **POWER1** and **POWER2** inputs (4.3V to 5.4V)
1. **USB** input (4.75V to 5.25V)
## 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](../dev_setup/building_px4.md) for this target:
```sh
make px4_fmu-v5_default
```
## Debug Port
The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) operate on the **FMU Debug** port.
Simply connect the FTDI cable to the Debug & F7 SWD connector.
To access the I/O Debug port, the user must remove the CUAV v5 shell.
Both ports have standard serial pins and can be connected to a standard FTDI cable (3.3V, but 5V tolerant).
The pinout is as shown.
![CUAV v5 debug](../../assets/flight_controller/cuav_v5/pixhack_v5_debug.jpg)
| pin | CUAV v5 debug |
| --- | ------------- |
| 1 | GND |
| 2 | FMU-SWCLK |
| 3 | FMU-SWDIO |
| 4 | UART7_RX |
| 5 | UART7_TX |
| 6 | VCC |
## Serial Port Mapping
| UART | Device | Port |
| ------ | ---------- | ------------------------------------- |
| UART1 | /dev/ttyS0 | GPS |
| USART2 | /dev/ttyS1 | TELEM1 (flow control) |
| USART3 | /dev/ttyS2 | TELEM2 (flow control) |
| UART4 | /dev/ttyS3 | TELEM4 |
| USART6 | /dev/ttyS4 | TX is RC input from SBUS_RC connector |
| UART7 | /dev/ttyS5 | Debug Console |
| UART8 | /dev/ttyS6 | PX4IO |
<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
## Peripherals
- [Digital Airspeed Sensor](https://item.taobao.com/item.htm?spm=a1z10.3-c-s.w4002-16371268452.37.6d9f48afsFgGZI&id=9512463037)
- [Telemetry Radio Modules](https://cuav.taobao.com/category-158480951.htm?spm=2013.1.w5002-16371268426.4.410b7a821qYbBq&search=y&catName=%CA%FD%B4%AB%B5%E7%CC%A8)
- [Rangefinders/Distance sensors](../sensor/rangefinders.md)
## Supported Platforms / Airframes
Any multicopter / airplane / rover or boat that can be controlled with normal RC servos or Futaba S-Bus servos.
The complete set of supported configurations can be seen in the [Airframes Reference](../airframes/airframe_reference.md).
## Further info
- [FMUv5 reference design pinout](https://docs.google.com/spreadsheets/d/1-n0__BYDedQrc_2NHqBenG1DNepAgnHpSGglke-QQwY/edit#gid=912976165).
- [CUAV Github](https://github.com/cuav)
DOC REMOVED: 202603
-->
docs/en/flight_controller/cuav_x7.md
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<Redirect to="../flight_controller/autopilot_discontinued" />
<!--
# CUAV X7 Flight Controller (Discontinued)
<Badge type="info" text="Discontinued" /> <!-- 202507 / PX4v1.16 -->
::: warning
This flight controller has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available.
It has been superseded by the [CUAV X7+](https://doc.cuav.net/controller/x7/en/).
:::
::: warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://www.cuav.net) for hardware support or compliance issues.
:::
The [X7](https://doc.cuav.net/controller/x7/en/)<sup>&reg;</sup> flight controller is a high-performance autopilot.
It is an ideal choice for industrial drones and large-scale heavy-duty drones.
It is mainly supplied to commercial manufacturers.
![CUAV x7](../../assets/flight_controller/cuav_x7/x7.jpg)
The flight controller adopts a modular design and can be matched with different base plates.
You can design a dedicated carrier board for your UAV to improve the integration of commercial systems, reduce wiring, improve system reliability, and enhance your UAV competitiveness (for example, integrating airspeed sensors, telemetry or even a companion computer, in the carrier board).
CUAV has also provided a variety of carrier boards for you to choose from.
::: info
This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
:::
## Features
- Internal shock absorption
- Modular design, can be DIY carrier board
- Support USB_HS, download logs faster (PX4 not yet supported)
- Support more DShot output
- Support IMU heating, make the sensor work better
- Dedicated CAN battery port
- 3 sets of IMU sensors
- Car-grade RM3100 compass
- High performance processor
::: tip
The manufacturer [CUAV Docs](https://doc.cuav.net/controller/x7/en/) are the canonical reference for the X7.
They should be used by preference as they contain the most complete and up to date information.
:::
## Quick Summary
- Main FMU Processor: STM32H743
- On-board sensors:
- Accelerometer/Gyroscope: ICM-20689
- Accelerometer/Gyroscope: ICM-20649
- Accelerometer/Gyroscope: BMI088
- Magnetometer: RM3100
- Barometer: MS5611\*2
- Interfaces:
- 14 PWM outputs （12 supports Dshot）
- Support multiple RC inputs (SBUs / CPPM / DSM)
- Analogue / PWM RSSI input
- 2 GPS ports(GPS and UART4 ports)
- 4 i2c buses(Two i2c dedicated ports)
- 2 CAN bus ports
- 2 Power ports(Power A is common adc interface, Power C is DroneCAN battery interface)
- 2 ADC input
- 1 USB ports
- Power System:
- Power: 4.3~5.4V
- USB Input: 4.75~5.25V
- Servo Rail Input: 0~36V
- Weight and Dimensions:
- Weight: 101 g
- Other Characteristics:
- Operating temperature: -20 ~ 80°c（Measured value）
- Three imus
- Supports temperature compensation
- Internal shock absorption
::: info
When it runs PX4 firmware, only 8 pwm works, the remaining 6 pwm are still being adapted, so it is not compatible with VOLT now.
:::
## Where to Buy {#store}
[CUAV Store](https://store.cuav.net)
[CUAV aliexpress](https://www.aliexpress.com/item/4001042683738.html?spm=a2g0o.detail.1000060.2.1ebb2a9d3WDryi&gps-id=pcDetailBottomMoreThisSeller&scm=1007.13339.169870.0&scm_id=1007.13339.169870.0&scm-url=1007.13339.169870.0&pvid=f0df2481-1c0a-44eb-92a4-9c11c6cb3d06&_t=gps-id:pcDetailBottomMoreThisSeller,scm-url:1007.13339.169870.0,pvid:f0df2481-1c0a-44eb-92a4-9c11c6cb3d06,tpp_buckets:668%230%23131923%2320_668%23808%234094%23518_668%23888%233325%2319_668%234328%2319934%23630_668%232846%238115%23807_668%232717%237566%23827_668%231000022185%231000066058%230_668%233468%2315607%2376)
## Connections (Wiring)
[CUAV X7 Wiring Quickstart](https://doc.cuav.net/controller/x7/en/quick-start/quick-start-x7-plus.html)
## Size and Pinouts
![CUAV x7](../../assets/flight_controller/cuav_x7/x7-size.jpg)
![X7 pinouts](../../assets/flight_controller/cuav_x7/x7-pinouts.jpg)
::: warning
The `RCIN` port is limited to powering the RC receiver and cannot be connected to any power/load.
:::
## Voltage Ratings
The _X7 AutoPilot_ can be triple-redundant on the power supply if three power sources are supplied.
The power rails are: **POWERA**, **POWERC** and **USB**.
::: info
The output power rails **PWM OUT** (0V to 36V) do not power the flight controller board (and are not powered by it).
You must supply power to one of **POWERA**, **POWERC** or **USB** or the board will be unpowered.
:::
**Normal Operation Maximum Ratings**
Under these conditions all power sources will be used in this order to power the system:
1. **POWERA** and **POWERC** inputs (4.3V to 5.4V)
2. **USB** input (4.75V to 5.25V)
## 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](../dev_setup/building_px4.md) for this target:
```sh
make cuav_x7pro_default
```
## Over Current Protection
The _X7_ has over-current protection on the 5 Volt Peripheral and 5 Volt high power, which limits the current to 2.5A.
The _X7_ has short circuit protection.
::: warning
Up to 2.5 A can be delivered to the connectors listed as pin 1 (although these are only rated at 1 A).
:::
## Debug Port
The system's serial console and SWD interface operate on the **DSU7** port.
Simply connect the FTDI cable to the DSU7 connector (the product list contains the CUAV FTDI cable).
![Debug port (DSU7)](../../assets/flight_controller/cuav_v5_plus/debug_port_dsu7.jpg)
The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) operate on the **FMU Debug** port (`DSU7`).
The debug port (`DSU7`) uses a [JST BM06B](https://www.digikey.com.au/en/products/detail/jst-sales-america-inc/BM06B-GHS-TBT-LF-SN-N/807850) connector and has the following pinout:
| Pin | Signal | Volt |
| ------- | -------------- | ----- |
| 1 (red) | 5V+ | +5V |
| 2 (blk) | DEBUG TX (OUT) | +3.3V |
| 3 (blk) | DEBUG RX (IN) | +3.3V |
| 4 (blk) | FMU_SWDIO | +3.3V |
| 5 (blk) | FMU_SWCLK | +3.3V |
| 6 (blk) | GND | GND |
CUAV provides a dedicated debugging cable, which can be connected to the `DSU7` port.
This splits out an FTDI cable for connecting the [PX4 System Console](../debug/system_console.md) to a computer USB port, and SWD pins used for SWD/JTAG debugging.
The provided debug cable does not connect to the SWD port `Vref` pin (1).
![CUAV Debug cable](../../assets/flight_controller/cuav_v5_plus/cuav_v5_debug_cable.jpg)
::: warning
The SWD Vref pin (1) uses 5V as Vref but the CPU is run at 3.3V!
Some JTAG adapters (SEGGER J-Link) will use the Vref voltage to set the voltage on the SWD lines.
For direct connection to _Segger Jlink_ we recommended you use the 3.3 Volts from pin 4 of the connector marked `DSM`/`SBUS`/`RSSI` to provide `Vtref` to the JTAG (i.e. providing 3.3V and _NOT_ 5V).
:::
## Supported Platforms / Airframes
Any multicopter / plane / rover or boat that can be controlled with normal RC servos or Futaba S-Bus servos.
The complete set of supported configurations can be seen in the [Airframes Reference](../airframes/airframe_reference.md).
## Further info
- [CUAV docs](https://doc.cuav.net/)
- [x7 schematic](https://github.com/cuav/hardware/tree/master/X7_Autopilot)
DOC REMOVED: 202603
-->
docs/en/flight_controller/dropix.md
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# DroPix Flight Controller (Discontinued)
<Badge type="info" text="Discontinued" />
The Drotek<sup>&reg;</sup> _DroPix autopilot_ is no longer available on the Drotek website, and is assumed to be discontinued.
See [PX4 v1.13 Documentation > DroPix Flight Controller](https://docs.px4.io/v1.13/en/flight_controller/dropix) for documentation.
docs/en/flight_controller/holybro_pix32.md
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<Redirect to="../flight_controller/autopilot_discontinued" />
<!--
# Holybro pix32 Flight Controller (Discontinued)
<Badge type="info" text="Discontinued" />
Doc removed 202603
::: warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://holybro.com/) for hardware support or compliance issues.
:::
The Holybro<sup>&reg;</sup> [pix32 autopilot](https://holybro.com/products/pix32pixhawk-flight-controller) (also known as "Pixhawk 2", and formerly as HKPilot32) is based on the [Pixhawk<sup>&reg;</sup>-project](https://pixhawk.org/) **FMUv2** open hardware design.
This board is based on hardware version Pixhawk 2.4.6.
It runs the PX4 flight stack on the [NuttX](https://nuttx.apache.org/) OS.
![pix32](../../assets/flight_controller/holybro_pix32/pix32_hero.jpg)
As a CC-BY-SA 3.0 licensed Open Hardware design, schematics and design files should be [available here](https://github.com/pixhawk/Hardware).
::: tip
The Holybro pix32 is software compatible with the [3DR Pixhawk 1](../flight_controller/pixhawk.md).
It is not connector compatible, but is otherwise physically very similar to the 3DR Pixhawk or mRo Pixhawk.
:::
::: info
This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
:::
## Key Features
- Main System-on-Chip: [STM32F427](https://www.st.com/en/microcontrollers-microprocessors/stm32f427-437.html)
- CPU: 32-bit STM32F427 Cortex<sup>&reg;</sup> M4 core with FPU
- RAM: 168 MHz/256 KB
- Flash: 2 MB
- Failsafe System-on-Chip: STM32F103
- Sensors:
- ST Micro L3GD20 3-axis 16-bit gyroscope
- ST Micro LSM303D 3-axis 14-bit accelerometer / magnetometer
- Invensense<sup>&reg;</sup> MPU 6000 3-axis accelerometer/gyroscope
- MEAS MS5611 barometer
- Dimensions/Weight
- Size: 81x44x15mm
- Weight: 33.1g
- GPS: u-blox<sup>&reg;</sup> super precision Neo-7M with compass
- Input Voltage: 2~10s (7.4~37V)
### Connectivity
- 1x I2C
- 2x CAN
- 3.3 and 6.6V ADC inputs
- 5x UART (serial ports), one high-power capable, 2x with HW flow control
- Spektrum DSM / DSM2 / DSM-X® Satellite compatible input up to DX8 (DX9 and above not supported)
- Futaba<sup>&reg;</sup> S.BUS compatible input and output
- PPM sum signal
- RSSI (PWM or voltage) input
- SPI
- External microUSB port
- Molex PicoBlade connectors
## Where to Buy {#store}
[shop.holybro.com](https://holybro.com/products/pix32pixhawk-flight-controller)
### Accessories
- [Digital airspeed sensor](https://holybro.com/products/digital-air-speed-sensor-ms4525do)
- [HolyBro SiK Telemetry Radio (EU 433 MHz, US 915 MHz)](../telemetry/holybro_sik_radio.md)
## 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](../dev_setup/building_px4.md) for this target:
```sh
make px4_fmu-v2_default
```
## Debug Port
See [3DR Pixhawk 1 > Debug Ports](../flight_controller/pixhawk.md#debug-ports).
## Pinouts and 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
::: info
As a CC-BY-SA 3.0 licensed Open Hardware design, all schematics and design files are [available](https://github.com/pixhawk/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 |
<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
-->
docs/en/flight_controller/kakutef7.md
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<Redirect to="../flight_controller/autopilot_discontinued" />
<!--
# Holybro Kakute F7 (Discontinued)
<Badge type="info" text="Discontinued" />
::: warning
This frame has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available.
:::
::: warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://holybro.com/) for hardware support or compliance issues.
:::
The _Kakute F7_ from Holybro is a flight controller board designed for racers.
<img src="../../assets/flight_controller/kakutef7/board.jpg" width="400px" title="Kakute F7" />
::: info
This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
:::
## Key Features
- Main System-on-Chip: [STM32F745VGT6](https://www.st.com/en/microcontrollers-microprocessors/stm32f745vg.html)
- CPU: 216 MHz ARM Cortex M7 with single-precision FPU
- RAM: 320 KB SRAM
- FLASH: 1 MB
- Standard racer form factor: 36x36 mm with standard 30.5 mm hole pattern
- ICM20689 Accel / Gyro (Soft-mounted)
- BMP280 Baro
- microSD (for logging)
- 6 UARTs
- 1 I2C bus
- 6 PWM outputs
- Built-in OSD chip (AB7456 via SPI)
## Where to Buy {#store}
The board can be bought from one of the following shops (for example):
- [getfpv](https://www.getfpv.com/holybro-kakute-f7-tekko32-f3-metal-65a-4-in-1-esc-combo.html)
::: tip
The _Kakute F7_ is designed to work with the _Tekko32_ 4-in-1 ESC and they can be bought in combination.
:::
## Connectors and Pins
This is the silkscreen for the _Kakute F7_, showing the top of the board:
![Kakute F7 Silkscreen](../../assets/flight_controller/kakutef7/silk.png)
| Pin | Function | PX4 default |
| -------- | -------------------------------------------------------------------- | ------------------- |
| B+ | Battery positive voltage (2S-6S) | |
| 5V | 5V output (2A max) | |
| VO | Video output to video transmitter | |
| VI | Video input from FPV camera | |
| G or GND | Ground | |
| SDA, SCL | I2C connection (for peripherals) | |
| R1, T1 | UART1 RX and TX | TELEM1 |
| R2, T2 | UART2 RX and TX | TELEM2 |
| R3, T3 | UART3 RX and TX | NuttX debug console |
| R4, T4 | UART4 RX and TX | GPS1 |
| R6, T6 | UART6 RX and TX | RC port |
| R7, T7 | UART7 RX and TX (RX is located in the plug for use with 4-in-1 ESCs) | DShot telemetry |
| LED | WS2182 addressable LED signal wire (not tested) | |
| Buz- | Piezo buzzer negative leg (Connect buzzer positive leg to 5V pad) | |
| 3V3 | 3.3V output (200 mA max) | |
| M1 to M4 | Motor signal outputs (located in plug for use in 4-in-1 ESCs) | |
| M5, M6 | Additional motor signal outputs (located on side of board) | |
| RSI | Analog RSSI (0-3.3V) input from receiver | |
| Boot | Bootloader button | |
<a id="bootloader"></a>
## PX4 Bootloader Update
The board comes pre-installed with [Betaflight](https://github.com/betaflight/betaflight/wiki).
Before PX4 firmware can be installed, the _PX4 bootloader_ must be flashed.
Download the [kakutef7_bl.hex](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/flight_controller/kakutef7/kakutef7_bl_0b3fbe2da0.hex) bootloader binary and read [this page](../advanced_config/bootloader_update_from_betaflight.md) for flashing instructions.
## Building Firmware
To [build PX4](../dev_setup/building_px4.md) for this target:
```sh
make holybro_kakutef7_default
```
## Installing PX4 Firmware
The firmware can be installed in any of the normal ways:
- Build and upload the source
```sh
make holybro_kakutef7_default upload
```
- [Load the firmware](../config/firmware.md) using _QGroundControl_.
You can use either pre-built firmware or your own custom firmware.
## Configuration
If you use a 4-in-1 ESC with Betaflight/Cleanflight motor assignment you can use the [Actuator](../config/actuators.md) configuration UI to set the motor ordering appropriately.
In addition to the [basic configuration](../config/index.md), the following parameters are important:
| Parameter | Setting |
| -------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------- |
| [SYS_HAS_MAG](../advanced_config/parameter_reference.md#SYS_HAS_MAG) | This should be disabled since the board does not have an internal mag. You can enable it if you attach an external mag. |
## Serial Port Mapping
| UART | Device | Port |
| ------ | ---------- | --------------------- |
| USART1 | /dev/ttyS0 | TELEM1 |
| USART2 | /dev/ttyS1 | TELEM2 |
| USART3 | /dev/ttyS2 | Debug Console |
| UART4 | /dev/ttyS3 | GPS1 |
| USART6 | /dev/ttyS4 | RC SBUS |
| UART7 | /dev/ttyS5 | ESC telemetry (DShot) |
<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
## Debug Port
### System Console
UART3 RX and TX are configured for use as the [System Console](../debug/system_console.md).
### SWD
The [SWD interface](../debug/swd_debug.md) (JTAG) pins are:
- `SWCLK`: Test Point 2 (Pin 72 on the CPU)
- `SWDIO`: Test Point 3 (Pin 76 on CPU)
- `GND`: As marked on board
- `VDD_3V3`: As marked on board
These are shown below.
![SWD Pins on Kakute F7 - CLK SWO](../../assets/flight_controller/kakutef7/debug_swd_port.jpg) ![SWD Pins on Kakute F7: GND and VDD_3V3](../../assets/flight_controller/kakutef7/debug_swd_port_gnd_vcc3_3.jpg)
DOC REMOVED: 202603
-->
docs/en/flight_controller/modalai_fc_v1.md
+5 -144
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@@ -1,146 +1,7 @@
# ModalAI Flight Core v1
<Redirect to="../flight_controller/autopilot_discontinued" />
<Badge type="info" text="Discontinued" /> <Badge type="tip" text="PX4 v1.11" />
<!--
# ModalAI Flight Core v1 (Discontinued)
::: warning
This frame has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available.
:::
::: warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://forum.modalai.com/) for hardware support or compliance issues.
:::
The ModalAI _Flight Core v1_ ([Datasheet](https://docs.modalai.com/flight-core-datasheet/)) is a flight controller for PX4, made in the USA.
The Flight Core can be paired with ModalAI VOXL for obstacle avoidance and GPS-denied navigation, or used independently as a standalone flight controller.
![FlightCoreV1](../../assets/flight_controller/modalai/fc_v1/main.jpg)
Flight Core is identical to the PX4 Flight Controller portion of [VOXL Flight](https://www.modalai.com/pages/eol) ([Datasheet](https://docs.modalai.com/voxl-flight-datasheet/)) which integrates the VOXL Companion Computer and Flight Core into a single PCB.
::: info
This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
:::
## Specification
| Feature | Details |
| :--------------- | :--------------------------------------------------------------- |
| Weight | 6 g |
| MCU | 216MHz, 32-bit ARM M7 [STM32F765II][stm32f765ii] |
| Memory | 256Kb FRAM |
| | 2Mbit Flash |
| | 512Kbit SRAM |
| Firmware | [PX4][px4] |
| IMUs | [ICM-20602][icm-20602] (SPI1) |
| | ICM-42688 (SPI2) |
| | [BMI088][bmi088] (SPI6) |
| Barometer | [BMP388][bmp388] (I2C4) |
| Secure Element | [A71CH][a71ch] (I2C4) |
| microSD Card | [Information on supported cards](../dev_log/logging.md#sd-cards) |
| Inputs | GPS/Mag |
| | Spektrum |
| | Telemetry |
| | CAN bus |
| | PPM |
| Outputs | 6 LEDs (2xRGB) |
| | 8 PWM Channels |
| Extra Interfaces | 3 serial ports |
| | I2C |
| | GPIO |
::: info
More detailed hardware documentation can be found [here](https://docs.modalai.com/flight-core-datasheet/).
:::
<!-- reference links for table above (improve layout) -->
[stm32f765ii]: https://www.st.com/en/microcontrollers-microprocessors/stm32f765ii.html
[bmp388]: https://www.adafruit.com/product/3966
[icm-20602]: https://invensense.tdk.com/products/motion-tracking/6-axis/icm-20602/
[bmi088]: https://www.bosch-sensortec.com/products/motion-sensors/imus/bmi088/
[px4]: https://github.com/PX4/PX4-Autopilot/tree/main/boards/modalai/fc-v1
[a71ch]: https://www.nxp.com/products/security-and-authentication/authentication/plug-and-trust-the-fast-easy-way-to-deploy-secure-iot-connections:A71CH
## Dimensions
![FlightCoreV1Dimensions](../../assets/flight_controller/modalai/fc_v1/dimensions.png)
## PX4 Firmware Compatibility
_Flight Core v1_ is fully compatible with the official PX4 Firmware from PX4 v1.11.
ModalAI maintains a [branched PX4 version](https://github.com/modalai/px4-firmware/tree/modalai-1.11) for PX4 v1.11.
This includes UART ESC support and improvements in VIO and VOA that are planned to be upstreamed.
More information about the firmware can be found [here](https://docs.modalai.com/flight-core-firmware/).
## QGroundControl Support
This board is supported in QGroundControl 4.0 and later.
## Availability
- No longer available
## Quick Start
### Orientation
The diagram below shows the recommended orientation, which corresponds to `ROTATION_NONE` starting with PX4 v1.11.
![FlightCoreV1Orientation](../../assets/flight_controller/modalai/fc_v1/orientation.png)
### Connectors
Detailed information about the pinouts can be found [here](https://docs.modalai.com/flight-core-datasheet-connectors/).
![FlightCoreV1Top](../../assets/flight_controller/modalai/fc_v1/top.png)
| Connector | Summary |
| --------- | ---------------------------------------------------------- |
| J1 | VOXL Communications Interface Connector (TELEM2) |
| J2 | Programming and Debug Connector |
| J3 | USB Connector |
| J4 | UART2, UART ESC (TELEM3) |
| J5 | Telemetry Connector (TELEM1) |
| J6 | VOXL-Power Management Input / Expansion |
| J7 | 8-Channel PWM Output Connector |
| J8 | CAN Bus Connector |
| J9 | PPM RC In |
| J10 | External GPS & Magnetometer Connector |
| J12 | RC input, Spektrum/SBus/UART Connector |
| J13 | I2C Display (Spare Sensor Connector) / Safety Button Input |
![FlightCoreV1Bottom](../../assets/flight_controller/modalai/fc_v1/bottom.png)
### User Guide
The full user guide is available [here](https://docs.modalai.com/flight-core/).
### How to Build
To [build PX4](../dev_setup/building_px4.md) for this target:
```sh
make modalai_fc-v1
```
## Serial Port Mapping
| UART | Device | Port |
| ------ | ---------- | ---------------------------------------- |
| USART1 | /dev/ttyS0 | GPS1 (J10) |
| USART2 | /dev/ttyS1 | TELEM3 (J4) |
| USART3 | /dev/ttyS2 | Debug Console (J2) |
| UART4 | /dev/ttyS3 | Expansion UART (J6) |
| UART5 | /dev/ttyS4 | TELEM2, Primary VOXL Communications (J1) |
| USART6 | /dev/ttyS5 | RC (J12) |
| UART7 | /dev/ttyS6 | TELEM1 (J5) |
| UART8 | /dev/ttyS7 | N/A |
<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
## Support
Please visit the [ModalAI Forum](https://forum.modalai.com/category/10/flight-core) for more information.
DOC REMOVED: 202603
-->
docs/en/flight_controller/modalai_voxl_flight.md
+5 -200
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@@ -1,202 +1,7 @@
# ModalAI VOXL Flight
<Redirect to="../flight_controller/autopilot_discontinued" />
<Badge type="info" text="Discontinued" /> <Badge type="tip" text="PX4 v1.11" />
<!--
# ModalAI VOXL Flight (Discontinued)
::: warning
This frame has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available.
:::
::: warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://forum.modalai.com/) for hardware support or compliance issues.
:::
The ModalAI VOXL Flight is one of the first computing platforms to combine the power and sophistication of Snapdragon with the flexibility and ease of use of PX4 on an STM32F7.
Made in the USA, VOXL Flight supports obstacle avoidance and GPS-denied (indoor) navigation fused with a PX4 flight controller on a single PCB.
![VOXL-Flight](../../assets/flight_controller/modalai/voxl_flight/voxl-flight-dk.jpg)
::: info
This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
:::
## Specifications
### System
| Feature | Details |
| :------ | :------ |
| Weight | 26 g |
### Companion Computer
| Feature | Details |
| :-------------------- | :---------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| Base Operation System | Linux Yocto Jethro with 3.18 kernel. Additional Linux Operating Systems can be used by running Docker on VOXL, details [here](https://docs.modalai.com/docker-on-voxl/) |
| Compute | Qualcomm Snapdragon 821 w/ 4GB LPDDR4 1866MHz, Snapdragon 821 [Datasheet](https://manuals.plus/m/1409295179a6c50b5baa1ae6a7113ff67112341756058e9d0466bdb832800a60) |
| CPU | Quad-core CPU up to 2.15GHz |
| GPU | Adreno 530 GPU at 624MHz |
| Compute DSP | Hexagon compute DSP (cDSP) 825MHz |
| Sensor DSP | Hexagon sensor DSP (sDSP) 700MHz |
| Video | 4k30 Video Capture h.264/5 w/ 720p FPV |
| Camera Interfaces | Support for MIPI-CSI2, USB UVC, HDMI |
| Wi-Fi | Pre-certified Wi-Fi module [QCNFA324 FCC ID:PPD-QCNFA324](https://fccid.io/PPD-QCNFA324), QCA6174A modem, 802.11ac 2x2 Dual-band, Bluetooth 4.2 (dual-mode) |
| 4G LTE | Optional add-on module |
| Microhard pDDL | [Optional add-on module](https://www.modalai.com/collections/voxl-add-ons/products/voxl-microhard-modem-usb-hub) |
| GNSS | WGR7640 10Hz |
| I/O | 1x USB3.0 OTG (ADB port), 1x USB2.0 (expansion port), 2x UART, 3x I2C, additional GPIO and SPI can be configured |
| Storage | 32GB (UFS 2.0), Micro SD Card |
| Software | Docker, OpenCV 2.4.11, 3.4.6, 4.2, ROS Indigo, Qualcomm Machine Vision SDK, see [GitLab](https://gitlab.com/voxl-public) for lots of open source examples! |
| IMUs | ICM-42688 (SPI10), ICM-20948 (SPI1) |
| Barometer | BMP280 |
### Flight Controller
| Feature | Details |
| :--------------- | :--------------------------------------------------------------- |
| MCU | 216MHz, 32-bit ARM M7 [STM32F765II][stm32f765ii] |
| Memory | 256Kb FRAM |
| | 2Mbit Flash |
| | 512Kbit SRAM |
| Firmware | [PX4][px4] |
| IMUs | [ICM-20602][icm-20602] (SPI1) |
| | ICM-42688 (SPI2) |
| | [BMI088][bmi088] (SPI6) |
| Barometer | [BMP388][bmp388] (I2C4) |
| Secure Element | [A71CH][a71ch] (I2C4) |
| microSD Card | [Information on supported cards](../dev_log/logging.md#sd-cards) |
| Inputs | GPS/Mag |
| | Spektrum |
| | Telemetry |
| | CAN bus |
| | PPM |
| Outputs | 6 LEDs (2xRGB) |
| | 8 PWM Channels |
| Extra Interfaces | 3 serial ports |
| | I2C |
| | GPIO |
<!-- reference links for above table (improve layout) -->
[stm32f765ii]: https://www.st.com/en/microcontrollers-microprocessors/stm32f765ii.html
[px4]: https://github.com/PX4/PX4-Autopilot/tree/main/boards/modalai/fc-v1
[icm-20602]: https://invensense.tdk.com/products/motion-tracking/6-axis/icm-20602/
[bmi088]: https://www.bosch-sensortec.com/products/motion-sensors/imus/bmi088/
[bmp388]: https://www.adafruit.com/product/3966
[a71ch]: https://www.nxp.com/products/security-and-authentication/authentication/plug-and-trust-the-fast-easy-way-to-deploy-secure-iot-connections:A71CH
::: info
More detailed hardware documentation can be found [here](https://docs.modalai.com/voxl-flight-datasheet/).
:::
## Dimensions
![FlightCoreV1Dimensions](../../assets/flight_controller/modalai/voxl_flight/voxl-flight-dimensions.jpg)
[3D STEP File](https://storage.googleapis.com/modalai_public/modal_drawings/M0019_VOXL-Flight.zip)
## PX4 Firmware Compatibility
_VOXL Flight_ is fully compatible with the official PX4 Firmware from PX4 v1.11.
ModalAI maintains a [branched PX4 version](https://github.com/modalai/px4-firmware/tree/modalai-1.11) for PX4 v1.11.
This includes UART ESC support and improvements in VIO and VOA that are planned to be upstreamed.
More information about the firmware can be found [here](https://docs.modalai.com/flight-core-firmware/).
## QGroundControl Support
This board is supported in QGroundControl 4.0 and later.
## Availability
No longer available.
## Quick Start
A quickstart from the vendor is located [here](https://docs.modalai.com/voxl-flight-quickstart/).
### voxl-vision-px4
The VOXL Flight runs [voxl-vision-px4](https://gitlab.com/voxl-public/voxl-sdk/services/voxl-vision-hub) on the companion computer portion of the hardware serving as a sort of MAVLink proxy.
For details, the source code is available [here](https://gitlab.com/voxl-public/voxl-sdk/services/voxl-vision-hub)
### Connectors
Detailed information about the pinouts can be found [here](https://docs.modalai.com/voxl-flight-datasheet-connectors/).
#### Top
![VOXLFlightTop](../../assets/flight_controller/modalai/voxl_flight/voxl-flight-top.jpg)
_Note: 1000 Series connectors accessible from the STM32/PX4_
| Connector | Summary | Used By |
| --------- | -------------------------------------- | --------------------------------- |
| J2 | Hires 4k Image Sensor (CSI0) | Snapdragon - Linux |
| J3 | Stereo Image Sensor (CSI1) | Snapdragon - Linux |
| J6 | Cooling Fan Connector | Snapdragon - Linux |
| J7 | BLSP6 (GPIO) and BLSP9 (UART) | Snapdragon - Linux |
| J13 | Expansion B2B | Snapdragon - Linux |
| J14 | Integrated GNSS Antenna Connection | Snapdragon - Linux |
| J1001 | Programming and Debug/UART3 | STM32 - PX4 |
| J1002 | UART ESC, UART2/TELEM3 | STM32 - PX4 |
| J1003 | PPM RC In | STM32 - PX4 |
| J1004 | RC Input, Spektrum/SBus/UART6 | STM32 - PX4 |
| J1006 | USB 2.0 Connector (PX4/QGroundControl) | STM32 - PX4 |
| J1007 | 8-Channel PWM/DShot Output | STM32 - PX4 |
| J1008 | CAN Bus | STM32 - PX4 |
| J1009 | I2C3, UART4 | STM32 - PX4 |
| J1010 | Telemetry (TELEM1) | STM32 - PX4 |
| J1011 | I2C2, Safety Button Input | STM32 - PX4 |
| J1012 | External GPS & Mag, UART1, I2C1 | STM32 - PX4 |
| J1013 | Power Input, I2C3 | STM32 - PX4 (powers whole system) |
#### Bottom
![VOXLFlightBottom](../../assets/flight_controller/modalai/voxl_flight/voxl-flight-bottom.jpg)
_Note: 1000 Series connectors accessible from the STM32/PX4_
| Connector | Summary | Used By |
| -------------- | --------------------------------------- | --------------------------- |
| J4 | Tracking/Optic Flow Image Sensor (CSI2) | Snapdragon - Linux |
| J8 | USB 3.0 OTG | Snapdragon - Linux, **adb** |
| J10 | BLSP7 UART and I2C off-board | Snapdragon - Linux |
| J11 | BLSP12 UART and I2C off-board | Snapdragon - Linux |
| VOXL microSD | | Snapdragon - Linux |
| PX4 microSD | 32Gb Max | STM32 - PX4 |
| Wi-Fi Antennas | Included | Snapdragon - Linux |
### User Guide
The full user guide is available [here](https://docs.modalai.com/voxl-flight-quickstart/).
### How to Build
To [build PX4](../dev_setup/building_px4.md) for this target:
```sh
make modalai_fc-v1
```
## Serial Port Mapping
_Note: mappings shown are for the PX4 controlled interfaces only_
| UART | Device | Port |
| ------ | ---------- | --------------------------------------- |
| USART1 | /dev/ttyS0 | GPS1 (J1012) |
| USART2 | /dev/ttyS1 | TELEM3 (J1002) |
| USART3 | /dev/ttyS2 | Debug Console (J1001) |
| UART4 | /dev/ttyS3 | Expansion UART (J6) |
| UART5 | /dev/ttyS4 | UART between PX4 and Companion Computer |
| USART6 | /dev/ttyS5 | RC (J1004) |
| UART7 | /dev/ttyS6 | TELEM1 (J1010) |
| UART8 | /dev/ttyS7 | N/A |
<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
## Support
Please visit the [ModalAI Forum](https://forum.modalai.com/category/8/voxl-flight) for more information.
DOC REMOVED: 202603
-->
docs/en/flight_controller/mro_x2.1.md
+7 -119
View File
@@ -1,122 +1,10 @@
<Redirect to="../flight_controller/autopilot_discontinued" />
<!--
# mRo-X2.1 Autopilot (Discontinued)
<Badge type="info" text="Discontinued" /> <!-- 202507 / PX4v1.16 -->
Doc removed 202603
text="Discontinued" 202507 / PX4v1.16
::: warning
This flight controller has been [discontinued](../flight_controller/autopilot_experimental.md) 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 (mRobotics) _mRo-X2.1_ autopilot is based on the [Pixhawk<sup>&reg;</sup>-project](https://pixhawk.org/) **FMUv2** open hardware design.
It runs PX4 on the [NuttX](https://nuttx.apache.org/) OS.
![mRo X2.1](../../assets/flight_controller/mro/mro_x2.1.jpg)
::: info
This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
:::
## Quick Summary
- Main System-on-Chip: [STM32F427](https://www.st.com/en/microcontrollers-microprocessors/stm32f427-437.html)
- CPU: STM32F427VIT6 ARM<sup>&reg;</sup> microcontroller - Revision 3
- IO: STM32F100C8T6 ARM<sup>&reg;</sup> microcontroller
- Sensors:
- Invensense<sup>&reg;</sup> 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
- Weight: 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.
![Mro Pixhawk 1 vs X2.1 comparison](../../assets/flight_controller/mro/px1_x21.jpg)
## Connectivity
- 2.54mm headers:
- GPS (UART4) 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)
- UART7 (Console)
- UART8 (OSD)
## PX4 BootLoader Issue
By default a mRo X2.1 might come preconfigured for ArduPilot<sup>&reg;</sup> 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](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/hardware/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:
1. Download and extract [BL_Update_X21.zip](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/hardware/BL_Update_X21.zip).
2. Find the folder _BL_Update_X21_. This contains a **bin** file and a subfolder named **/etc** containing an **rc.txt** file
3. Copy these files to your micro SD card's root directory and insert it into the mRO x2.1
4. Power on the mRO x2.1 Wait for it to boot and then reboot 1 time.
## Availability
This product can be ordered at the [mRobotics<sup>&reg;</sup> Store](https://store.mrobotics.io/mRo-X2-1-Rev-2-p/m10021a.htm).
## Wiring Guide
![mRo_X2.1_Wiring](../../assets/flight_controller/mro/mro_x21_wiring.png)
## 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](../dev_setup/building_px4.md) for this target:
```sh
make mro_x21_default
```
## Schematics
The board is documented on the mRo hardware repo: [x21_V2_schematic.pdf](https://github.com/mRoboticsIO/Hardware/blob/master/X2.1/Docs/x21_V2_schematic.pdf).
## Serial Port Mapping
| UART | Device | 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 |
<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434
-->
docs/en/flight_controller/nxp_rddrone_fmuk66.md
+4 -128
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@@ -1,131 +1,7 @@
<Redirect to="../flight_controller/autopilot_discontinued" />
<!--
# NXP RDDRONE-FMUK66 FMU (Discontinued)
<Badge type="info" text="Discontinued" />
::: warning
This flight controller has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available.
:::
::: warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://www.nxp.com/) for hardware support or compliance issues.
:::
RDDRONE-FMUK66 FMU is a reference design using NXP Semiconductor components that closely follows Pixhawk FMUv4 specifications while adding two wire automotive Ethernet 100BASET1 and secure element A71CH (RevC) or SE050 (RevD).
NXP provides the schematics, gerbers, BOM and source files so that anyone can duplicate, change or repurpose this design.
This is the official FMU for use with [HoverGames](https://www.hovergames.com/).
![RDDRONE-FMUK66 FMU Hero Image1](../../assets/flight_controller/nxp_rddrone_fmuk66/HoverGamesDrone_14042019_XL_020.jpg)
![RDDRONE-FMUK66 FMU Hero Image2](../../assets/flight_controller/nxp_rddrone_fmuk66/HoverGamesDrone_14042019_XL_021.jpg)
The NXP FMU and included peripherals have been tested to comply with FCC/CE/RoHs/REACH directives.
::: info
These flight controllers are [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
:::
## Quick Summary
- **Main FMU Processor:**
- Kinetis K66 MK66FN2MOVLQ18 microcontroller running at 180MHz Cortex-M4F MCU, 2MB Flash, 256KB SRAM, Dual USBs (FS + HS), Ethernet, 144-LQFP.
- **On-board sensors:**
- Accel/Gyro: BMI088/ICM42688 (RevD)...
- Accel/Magnetometer: FXOS8700CQ
- Gyro: FXAS21002CQ
- Magnetometer: BMM150
- Barometer: ML3115A2
- Barometer: BMP280
- **GPS:**
- u-blox Neo-M8N GPS/GLONASS receiver; integrated magnetometer IST8310
This FMU is provided only as a kit, and includes [Segger Jlink EDU mini debugger](https://www.segger.com/products/debug-probes/j-link/models/j-link-edu-mini/), DCD-LZ debugger adapter, USB-TTL-3V3 console cable, HolyBro GPS module, battery power module, SDCard and case, screws and stickers.
Telemetry radios ([HGD-TELEM433](https://www.nxp.com/part/HGD-TELEM433) and [HGD-TELEM915](https://www.nxp.com/part/HGD-TELEM915)) must be purchased separately to match ISM band frequencies used in your country.
![RDDRONE-FMUK66 FMU Kit](../../assets/flight_controller/nxp_rddrone_fmuk66/rddrone_fmu66_kit_img_contents.jpg)
A "Lite" version RDDRONE-FMUK66L is also available which does not include the power module, GPS, Jlink or USB-TTL-3V3 console cable or SDCard.[Scroll down to see FMUK66L in the buy section of the FMUK66 buy page](https://www.nxp.com/products/no-longer-manufactured/px4-robotic-drone-vehicle-flight-management-unit-vmu-fmu-rddrone-fmuk66:RDDRONE-FMUK66#buy)
Additional information can be found in the [Technical Data Sheet](https://www.nxp.com/products/no-longer-manufactured/px4-robotic-drone-vehicle-flight-management-unit-vmu-fmu-rddrone-fmuk66:RDDRONE-FMUK66). <!-- www.nxp.com/rddrone-fmuk66 -->
## Where to Buy {#store}
**RDDRONE-FMUK66** reference design kit may be purchased direct from NXP or from any of NXP's authorised worldwide network of [electronics distributors](https://www.nxp.com/support/sample-and-buy/distributor-network:DISTRIBUTORS).
- [Purchase Link](https://www.nxp.com/products/no-longer-manufactured/px4-robotic-drone-vehicle-flight-management-unit-vmu-fmu-rddrone-fmuk66:RDDRONE-FMUK66#buy) (www.nxp.com)
- Telemetry radios are purchased separately depending on frequency band:
- [HGD-TELEM433](https://www.nxp.com/part/HGD-TELEM433)
- [HGD-TELEM915](https://www.nxp.com/part/HGD-TELEM915)
::: info
_RDDRONE-FMUK66_ FMU is also included in the complete HoverGames drone kit: [KIT-HGDRONEK66](https://www.nxp.com/products/no-longer-manufactured/nxp-hovergames-drone-kit-including-flight-controller-and-peripherals:KIT-HGDRONEK66#buy)
:::
<!--
## Connectors
[Connector Diagram]
## Pinouts
[Pinouts listing or link]
## Dimensions
[Dimensions]
DOC REMOVED: 202603
-->
## Assembly/Setup
https://nxp.gitbook.io/hovergames
## 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](../dev_setup/building_px4.md) for this target:
```sh
make nxp_fmuk66-v3_default
```
## Debug Port
The [PX4 System Console](../debug/system_console.md) and the [SWD interface](../debug/swd_debug.md) run on the [DCD-LZ FMU Debug](https://nxp.gitbook.io/hovergames/rddrone-fmuk66/connectors/debug-interface-dcd-lz) port.
NXP's DCD-LZ is a 7 pin JST-GH connector and adds the nRST/MCU_RESET pin to the [Pixhawk 6-Pin standard debug port](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf).
The DCD-LZ breakout adapter permits the use of a standard 10 pin JTAG/SWD interface (i.e. using the Segger Jlink) and a standard 5 pin FTDI USB-TTL-3V3 type cable.
<!--
## Peripherals
* [List of anything people should use with this hardware]
-->
## Supported Platforms / Airframes
Any multicopter / airplane / rover or boat that can be controlled with normal RC servos or Futaba S-Bus servos.
The complete set of supported configurations can be seen in the [Airframes Reference](../airframes/airframe_reference.md).
![HoverGames Drone Kit](../../assets/flight_controller/nxp_rddrone_fmuk66/hovergames_drone_14042019_xl001.jpg)
::: tip
The NXP [HoverGames Drone Kit](https://www.nxp.com/kit-hgdronek66) (shown above) is a complete drone development kit that includes everything needed to build a quadcopter.
You only need to supply the 3S/4S LiPo battery.
:::
## Further info
- [HoverGames online documentation](https://nxp.gitbook.io/hovergames) PX4 user and programming guide, specific assembly, construction, debugging, programming instructions.
- 3DModels supporting HoverGames and RDDRONE-FMUK66 can be found on _Thingiverse_ at these search links: [fmuk66](https://www.thingiverse.com/search?q=fmuk66&type=things&sort=relevant), [hovergames](https://www.thingiverse.com/search?q=hovergames&type=things&sort=relevant).
![HoverGamesDronelogo](../../assets/flight_controller/nxp_rddrone_fmuk66/hovergames_colored_small.png)
docs/en/flight_controller/ocpoc_zynq.md
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<Redirect to="../flight_controller/autopilot_discontinued" />
<!--
# Aerotenna OcPoC-Zynq Mini Flight Controller (Discontinued)
<Badge type="info" text="Discontinued" />
::: warning
This flight controller has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available.
PX4 v1.11 is the last release that has (experimental) support for this platform.
See the [PX4v1.11 docs](https://docs.px4.io/v1.11/en/flight_controller/ocpoc_zynq#aerotenna-ocpoc-zynq-mini-flight-controller) for more information.
:::
![ocpoc-zynq-mini](../../assets/hardware/hardware-ocpoc-zynq-mini.jpg)
Doc removed 202603
Probably actually PX4 1.11 timeframes
-->
docs/en/flight_controller/omnibus_f4_sd.md
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# Omnibus F4 SD
<Redirect to="../flight_controller/autopilot_discontinued" />
::: warning
This flight controller has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available.
:::
<!--
# Omnibus F4 SD (Discontinued)
::: warning
PX4 does not manufacture this (or any) autopilot.
Contact the manufacturer for support or compliance issues.
:::
The _Omnibus F4 SD_ is a controller board designed for racers.
In contrast to a typical racer board it has some additional features, such as an SD card and a faster CPU.
<img src="../../assets/flight_controller/omnibus_f4_sd/board.jpg" width="400px" title="Omnibus F4 SD" />
These are the main differences compared to a [Pixracer](../flight_controller/pixracer.md):
- Lower price
- Fewer IO ports (though it's still possible to attach a GPS or a Flow sensor for example)
- Requires external pull up resistor on the I2C bus for external GPS, see [I2C](#i2c) below.
- Less RAM (192 KB vs. 256 KB) and FLASH (1 MB vs. 2 MB)
- Same board dimensions as a _Pixracer_, but slightly smaller form factor (because it has less connectors)
- Integrated OSD (not yet implemented in software)
::: tip
All the usual PX4 features can still be used for your racer!
:::
::: info
This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
:::
## Key Features
- Main System-on-Chip: [STM32F405RGT6](https://www.st.com/en/microcontrollers/stm32f405rg.html)
- CPU: 168 MHz ARM Cortex M4 with single-precision FPU
- RAM: 192 KB SRAM
- FLASH: 1 MB
- Standard racer form factor: 36x36 mm with standard 30.5 mm hole pattern
- MPU6000 Accel / Gyro
- BMP280 Baro (not all boards have it mounted)
- microSD (for logging)
- Futaba S.BUS and S.BUS2 / Spektrum DSM2 and DSMX / Graupner SUMD / PPM input / Yuneec ST24
- OneShot PWM out (configurable)
- Built-in current sensor
- Built-in OSD chip (AB7456 via SPI)
## Where to Buy {#store}
The board is produced by different vendors, with some variations (e.g. with or without a barometer).
::: tip
PX4 is compatible with boards that support the Betaflight OMNIBUSF4SD target (if _OMNIBUSF4SD_ is present on the product page the board should work with PX4).
:::
::: tip
Any Omnibus F4 labeled derivative (e.g. clone) should work as well. However, power distribution on these boards is of varying quality.
:::
These are the boards tested and known to work:
- [Hobbywing XRotor Flight Controller F4](https://www.hobbywing.com/en/products/info.html?id=164)
::: info
This board fits on top of the [Hobbywing XRotor Micro 40A 4in1 ESC](https://www.hobbywing.com/en/products/info.html?id=116) without soldering. This ESC board also provides power for the Omnibus board.
:::
Purchase from:
- [Hobbywing XRotor F4 Flight Controller w/OSD](https://www.getfpv.com/hobbywing-xrotor-f4-flight-controller-w-osd.html) (getfpv)
- Original Airbot Omnibus F4 SD
Purchase from:
- [Airbot (CN manufacturer)](https://store.myairbot.com/omnibusf4prov3.html)
- [Ready To Fly Quads (US reseller)](https://quadsrtf.com/product/flip-32-f4-omnibus-rev-2/)
Accessories include:
- [ESP8266 WiFi Module](../telemetry/esp8266_wifi_module.md) for MAVLink telemetry.
You need to connect these pins: GND, RX, TX, VCC and CH-PD (CH-PD to 3.3V). The baud rate is 921600.
## Connectors
Boards from different vendors (based on this design) can have significantly different layout.
Layouts/Silkscreens for various versions are shown below.
### Airbot Omnibus F4 SD
Below are silkscreens for the Airbot Omnibus F4 SD (V1), showing both top and bottom.
![Omnibus F4 SD v1 Silkscreen Top](../../assets/flight_controller/omnibus_f4_sd/silk-top.jpg)
![Omnibus F4 SD v1 Silkscreen Bottom](../../assets/flight_controller/omnibus_f4_sd/silk-bottom.jpg)
### Hobbywing XRotor Flight Controller F4
Below are silkscreens for the Hobbywing XRotor Flight Controller F4.
![Hobbywing XRotor Flight Controller F4 Silkscreen](../../assets/flight_controller/omnibus_f4_sd/hobbywing_xrotor_silk.png)
## Pinouts
### Radio Control
RC is connected to one of the following ports:
- UART1
- SBUS/PPM port (via inverter, internally goes to UART1)
::: info
Some Omnibus F4 boards have a jumper connecting either or both the MCU SBUS and PPM to a single pin header. Set your jumper or solder bridge to the appropriate MCU pin before use.
:::
### UARTs
- UART6: GPS port
- TX: MCU pin PC6
- RX: MCU pin PC7
- Airbot Omnibus F4 SD Pinout is on Port J10 (TX6/RX6):
![Omnibus F4 SD UART6](../../assets/flight_controller/omnibus_f4_sd/uart6.jpg)
- UART4
- TX: MCU pin PA0
- RX: MCU pin PA1
- 57600 baud
- This can be configured as the `TELEM 2` port.
- Airbot Omnibus F4 SD Pinout:
- TX: RSSI pin
- RX: PWM out 5
![Omnibus F4 SD UART4](../../assets/flight_controller/omnibus_f4_sd/uart4.jpg)
![Omnibus F4 SD UART4 Top](../../assets/flight_controller/omnibus_f4_sd/uart4-top.jpg)
### I2C
There is one I2C port available via:
- SCL: MCU pin PB10 (might be labeled as TX3)
- SDA: MCU pin PB11 (might be labeled as RX3)
::: info
You will need external pullups on both signals (clock and data).
You can use 2.2k pullups for example to attach an external mag.
:::
- Airbot Omnibus F4 SD Pinout is on Port J10 (SCL [clock] / SCA [data]):
<img src="../../assets/flight_controller/omnibus_f4_sd/uart6.jpg" title="Omnibus F4 SD UART6" />
Here is an example implementation. I used a Spektrum plug to get 3.3v from the DSM port, connecting only 3.3v + to each line via 2.2k resistor.
![Omnibus F4 SD Pullup](../../assets/flight_controller/omnibus_f4_sd/pullup-schematic.jpg)
![Omnibus F4 SD Pullup Implementation](../../assets/flight_controller/omnibus_f4_sd/pullup.jpg)
## Serial Port Mapping
| UART | Device | Port |
| ------ | ---------- | -------- |
| USART1 | /dev/ttyS0 | SerialRX |
| USART4 | /dev/ttyS1 | TELEM1 |
| USART6 | /dev/ttyS2 | GPS |
<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
## RC Telemetry
The Omnibus supports telemetry to the RC Transmitter using [FrSky Telemetry](../peripherals/frsky_telemetry.md) or [CRSF Crossfire Telemetry](#crsf_telemetry).
<a id="crsf_telemetry"></a>
### CRSF Crossfire Telemetry
[TBS CRSF Telemetry](../telemetry/crsf_telemetry.md) may be used to send telemetry data from the flight controller (the vehicle's attitude, battery, flight mode and GPS data) to an RC transmitter such as a Taranis.
Benefits over [FrSky telemetry](../peripherals/frsky_telemetry.md) include:
- Only a single UART is needed for RC and telemetry.
- The CRSF protocol is optimized for low latency.
- 150 Hz RC update rate.
- The signals are uninverted and thus no (external) inverter logic is required.
::: info
If you use CRSF Telemetry you will need to build custom PX4 firmware.
By contrast, FrSky telemetry can use prebuilt firmware.
:::
For Omnibus we recommend the [TBS Crossfire Nano RX](https://www.team-blacksheep.com/products/prod:crossfire_nano_rx), since it is specifically designed for small Quads.
On the handheld controller (e.g. Taranis) you will also need a [Transmitter Module](https://www.team-blacksheep.com/shop/cat:tbs-crossfire-radio-transmitter#product_listing).
This can be plugged into the back of the RC controller.
::: info
The referenced links above contain the documentation for the TX/RX modules.
:::
#### Setup
Connect the Nano RX and Omnibus pins as shown:
| Omnibus UART1 | Nano RX |
| ------------- | ------- |
| TX | Ch2 |
| RX | Ch1 |
Next update the TX/RX modules to use the CRSF protocol and set up telemetry.
Instructions for this are provided in the [TBS Crossfire Manual](https://www.team-blacksheep.com/media/files/tbs-crossfire-manual.pdf) (search for 'Setting up radio for CRSF').
#### PX4 CRSF Configuration
You will need to build custom firmware to use CRSF.
For more information see [CRSF Telemetry](../telemetry/crsf_telemetry.md#px4-configuration).
<!-- no longer available 202507 -->
## PX4 Bootloader Update {#bootloader}
The board comes pre-installed with [Betaflight](https://github.com/betaflight/betaflight/wiki).
Before PX4 firmware can be installed, the _PX4 bootloader_ must be flashed.
Download the [omnibusf4sd_bl.hex](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/flight_controller/omnibus_f4_sd/omnibusf4sd_bl_d52b70cb39.hex) bootloader binary and read [this page](../advanced_config/bootloader_update_from_betaflight.md) for flashing instructions.
## Building Firmware
To [build PX4](../dev_setup/building_px4.md) for this target:
```sh
make omnibus_f4sd_default
```
## Installing PX4 Firmware
You can use either pre-built firmware or your own custom firmware.
::: warning
If you use [CRSF Telemetry](../telemetry/crsf_telemetry.md#px4-configuration) in your radio system, as describe above, then you must use custom firmware.
:::
The firmware can be installed in any of the normal ways:
- Build and upload the source
```sh
make omnibus_f4sd_default upload
```
- [Load the firmware](../config/firmware.md) using _QGroundControl_.
## Configuration
In addition to the [basic configuration](../config/index.md), the following parameters are important:
| Parameter | Setting |
| ---------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------- |
| [SYS_HAS_MAG](../advanced_config/parameter_reference.md#SYS_HAS_MAG) | This should be disabled since the board does not have an internal mag. You can enable it if you attach an external mag. |
| [SYS_HAS_BARO](../advanced_config/parameter_reference.md#SYS_HAS_BARO) | Disable this if your board does not have a barometer. |
## Further Info
[This page](https://blog.unmanned.tech/omnibus-f4-flight-controller-guide/) provides a good overview with pinouts and setup instructions.
DOC REMOVED: 202603
-->
docs/en/flight_controller/pixfalcon.md
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<Redirect to="../flight_controller/autopilot_discontinued" />
<!--
# Pixfalcon Flight Controller (Discontinued)
<Badge type="info" text="Discontinued" px4_current="v1.15" year="2024"/>
::: warning
This flight controller has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available.
:::
::: warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://holybro.com/) for hardware support or compliance issues.
:::
The Pixfalcon autopilot (designed by [Holybro<sup>&reg;</sup>](https://holybro.com/)) is binary-compatible (FMUv2) derivative of the [Pixhawk 1](../flight_controller/pixhawk.md) design that has been optimized for space-constrained applications such as FPV racers. It has less IO to allow for the reduction in size.
![Pixfalcon hero image](../../assets/hardware/hardware-pixfalcon.png)
## Quick Summary
- Main System-on-Chip: [STM32F427](https://www.st.com/en/microcontrollers-microprocessors/stm32f427-437.html)
- CPU: 180 MHz ARM<sup>&reg;</sup> Cortex<sup>&reg;</sup> M4 with single-precision FPU
- RAM: 256 KB SRAM (L1)
- Failsafe System-on-Chip: STM32F100
- CPU: 24 MHz ARM Cortex M3
- RAM: 8 KB SRAM
- GPS: u-blox<sup>&reg;</sup> M8 (bundled)
### Connectivity
- 1x I2C
- 2x UART (one for Telemetry / OSD, no flow control)
- 8x PWM with manual override
- S.BUS / PPM input
## Availability:
No longer available.
Optional hardware:
- Optical flow: PX4 Flow unit from manufacturer [Holybro](https://holybro.com/products/px4flow)
- Digital Airspeed sensor from manufacturer [Holybro](https://holybro.com/products/digital-air-speed-sensor-ms4525do)
- On screen display with integrated Telemetry:
- Micro HKPilot Telemetry Radio Module with On Screen Display (OSD) unit - 433MHz. (Discontinued)
- Pure Telemetry options:
- [SIK Radios](../telemetry/sik_radio.md)
## 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](../dev_setup/building_px4.md) for this target:
```sh
make px4_fmu-v2_default
```
## Debug Port
This board does not have a debug port (i.e it does not have a port for accessing the [System Console](../debug/system_console.md) or the [SWD interface](../debug/swd_debug.md) (JTAG).
Developers will need to solder wires to the board test pads for SWD, and to the STM32F4 (IC) TX and RX to get a console.
## Serial Port Mapping
| UART | Device | Port |
| ------ | ---------- | ------------------------ |
| UART1 | /dev/ttyS0 | IO Debug |
| USART2 | /dev/ttyS1 | TELEM1 (No flow control) |
| UART4 | /dev/ttyS2 | GPS |
<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
text="Discontinued" px4_current="v1.15" year="2024". This change in 202603 -->
docs/en/flight_controller/pixhack_v3.md
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<Redirect to="../flight_controller/autopilot_discontinued" />
<!--
# CUAV Pixhack V3 (Discontinued)
<Badge type="info" text="Discontinued" />
Doc removed 202603
::: warning
This flight controller has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available.
:::
::: warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://store.cuav.net/) for hardware support or compliance issues.
:::
The CUAV _Pixhack V3_ flight controller board is a flexible autopilot intended primarily for manufacturers of commercial systems.
The board is a variant of the SOLO Pixhawk<sup>&reg;</sup> 2 (PH2) flight controller, which is in turn based on the [Pixhawk-project](https://pixhawk.org/) **FMUv3** open hardware design.
It runs PX4 on the [NuttX](https://nuttx.apache.org/) OS, and is fully compatible with both PX4 or ArduPilot<sup>&reg;</sup> (APM) firmware.
_Pixhack V3_ has significant improvements with respect to the original design, including better interface layout and the addition of vibration damping and a thermostat system.
![Pixhack v3](../../assets/flight_controller/pixhack_v3/pixhack_v3_157_large_default.jpg)
::: info
This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
:::
## Quick Summary
- Microprocessor:
- STM32F427
- STM32F100 (Failsafe co-processor)
- Sensors:
- Accelerometers (3): LS303D, MPU6000, MPU9250/hmc5983
- Gyroscopes (3): L3GD20, MPU6000, MPU9250
- Compass (2): LS303D, MPU9250
- Barometer (2): MS5611 X2
- Interfaces:
- MAVLink UART (2)
- GPS UART (2)
- DEBUG UART (1)
- RC IN (for PPM, SBUS, DSM/DSM2)
- RSSI IN: PWM OR 3.3ADC
- I2C (2)
- CAN BUS (1)
- ADC IN: 3.3V X1 , 6.6V X1
- PWM OUT: 8 PWM IO + 4 IO
- Power System:
- PM POWER IN: 4.5 ~ 5.5 V
- USB POWER IN: 5.0 V +- 0.25v
- Weight and Dimensions:
- Weight: 63g
- Width: 68mm
- Thickness: 17mm
- Length: 44mm
- Other Characteristics:
- Operating temperature: -20 ~ 60°C
## Availability
The board can be purchased from:
- [leixun.aliexpress.com/store](https://leixun.aliexpress.com/store)
## 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](../dev_setup/building_px4.md) for this target:
```sh
make px4_fmu-v3_default
```
<!-- Pinouts and Schematics: section removed as guides no longer published -->
## 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 |
-->
docs/en/flight_controller/pixhawk.md
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<Redirect to="../flight_controller/autopilot_discontinued" />
<!--
# 3DR Pixhawk 1 Flight Controller (Discontinued)
::: warning
This flight controller has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available.
You can use the [mRo Pixhawk](../flight_controller/mro_pixhawk.md) as a drop-in replacement.
:::
::: warning
PX4 does not manufacture this (or any) autopilot.
Contact the manufacturer for support or compliance issues.
:::
The _3DR Pixhawk<sup>&reg;</sup> 1_ autopilot is a popular general purpose flight controller based on the [Pixhawk-project](https://pixhawk.org/) **FMUv2** open hardware design (it combines the functionality of the PX4FMU + PX4IO).
It runs PX4 on the [NuttX](https://nuttx.apache.org/) OS.
![Pixhawk Image](../../assets/hardware/hardware-pixhawk.png)
Assembly/setup instructions for use with PX4 are provided here: [Pixhawk Wiring Quickstart](../assembly/quick_start_pixhawk.md)
## Key Features
- Main System-on-Chip: [STM32F427](https://www.st.com/en/microcontrollers-microprocessors/stm32f427-437.html)
- CPU: 180 MHz ARM<sup>&reg;</sup> Cortex<sup>&reg;</sup> M4 with single-precision FPU
- RAM: 256 KB SRAM (L1)
- Failsafe System-on-Chip: STM32F100
- CPU: 24 MHz ARM Cortex M3
- RAM: 8 KB SRAM
- Wifi: ESP8266 external
- GPS: u-blox<sup>&reg;</sup> 7/8 (Hobbyking<sup>&reg;</sup>) / u-blox 6 (3D Robotics)
- Optical flow: [PX4 Flow unit](../sensor/px4flow.md)
- Redundant power supply inputs and automatic failover
- External safety switch
- Multicolor LED main visual indicator
- High-power, multi-tone piezo audio indicator
- microSD card for high-rate logging over extended periods of time
Connectivity
- 1x I2C
- 1x CAN (2x optional)
- 1x ADC
- 4x UART (2x with flow control)
- 1x Console
- 8x PWM with manual override
- 6x PWM / GPIO / PWM input
- S.BUS / PPM / Spektrum input
- S.BUS output
# Where to Buy {#store}
Originally manufactured by 3DR&reg; this board was the original standard microcontroller platform for PX4&reg;. While the board is no longer manufactured by 3DR, you can use the [mRo Pixhawk](../flight_controller/mro_pixhawk.md) as a drop-in replacement.
Order mRo Pixhawk from:
- [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) - includes 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) - includes everything you need including telemetry radios
## Specifications
### Processor
- 32bit STM32F427 [Cortex-M4F](https://en.wikipedia.org/wiki/ARM_Cortex-M#Cortex-M4) core with FPU
- 168 MHz
- 256 KB RAM
- 2 MB Flash
- 32 bit STM32F103 failsafe co-processor
### Sensors
- ST Micro L3GD20H 16 bit gyroscope
- ST Micro LSM303D 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 (one with internal 3.3V transceiver, one on expansion connector)
- Spektrum DSM / DSM2 / DSM-X® Satellite compatible input
- Futaba S.BUS® compatible input and output
- PPM sum signal input
- RSSI (PWM or voltage) input
- I2C
- SPI
- 3.3 and 6.6V ADC inputs
- Internal microUSB port and external microUSB port extension
<lite-youtube videoid="gCCC5A-Bvv4" title="PX4 Pixhawk (3DR) Multicolor Led in action"/>
### Power System and Protection
- Ideal diode controller with automatic failover
- Servo rail high-power (max. 10V) and high-current (10A+) ready
- All peripheral outputs over-current protected, all inputs ESD protected
## Voltage Ratings
Pixhawk can be triple-redundant on the power supply if three power sources are supplied. The three rails are: Power module input, servo rail input, USB input.
### Normal Operation Maximum Ratings
Under these conditions all power sources will be used in this order to power the system
- Power module input (4.8V to 5.4V)
- Servo rail input (4.8V to 5.4V) **UP TO 10V FOR MANUAL OVERRIDE, BUT AUTOPILOT PART WILL BE UNPOWERED ABOVE 5.7V IF POWER MODULE INPUT IS NOT PRESENT**
- USB power input (4.8V to 5.4V)
### Absolute Maximum Ratings
Under these conditions the system will not draw any power (will not be operational), but will remain intact.
- Power module input (4.1V to 5.7V, 0V to 20V undamaged)
- Servo rail input (4.1V to 5.7V, 0V to 20V)
- USB power input (4.1V to 5.7V, 0V to 6V)
## Schematics
[FMUv2 + IOv2 schematic](https://raw.githubusercontent.com/PX4/Hardware/master/FMUv2/PX4FMUv2.4.5.pdf) -- Schematic and layout
::: info
As a CC-BY-SA 3.0 licensed Open Hardware design, all schematics and design files are [available](https://github.com/pixhawk/Hardware).
:::
## Connections
Pixhawk ports are shown below.
These use Hirose DF13 connectors (predating the JST-GH connectors defined in the Pixhawk connector standard).
::: warning
Many 3DR Pixhawk clones use Molex picoblade connectors instead of DF13 connectors.
They have rectangular instead of square pins, and cannot be assumed to be compatible.
:::
![Pixhawk Connectors](../../assets/flight_controller/pixhawk1/pixhawk_connectors.png)
::: tip
The `RC IN` port is for RC receivers only and provides sufficient power for that purpose.
**NEVER** connect any servos, power supplies or batteries to it or to the receiver connected to it.
:::
## Pinouts
#### TELEM1, TELEM2 ports
| Pin | Signal | Volt |
| ------- | --------- | ----- |
| 1 (red) | VCC | +5V |
| 2 (blk) | TX (OUT) | +3.3V |
| 3 (blk) | RX (IN) | +3.3V |
| 4 (blk) | CTS (IN) | +3.3V |
| 5 (blk) | RTS (OUT) | +3.3V |
| 6 (blk) | GND | GND |
#### GPS port
| Pin | Signal | Volt |
| ------- | -------- | ----- |
| 1 (red) | VCC | +5V |
| 2 (blk) | TX (OUT) | +3.3V |
| 3 (blk) | RX (IN) | +3.3V |
| 4 (blk) | CAN2 TX | +3.3V |
| 5 (blk) | CAN2 RX | +3.3V |
| 6 (blk) | GND | GND |
#### SERIAL 4/5 port
Due to space constraints two ports are on one connector.
| Pin | Signal | Volt |
| ------- | ------- | ----- |
| 1 (red) | VCC | +5V |
| 2 (blk) | TX (#4) | +3.3V |
| 3 (blk) | RX (#4) | +3.3V |
| 4 (blk) | TX (#5) | +3.3V |
| 5 (blk) | RX (#5) | +3.3V |
| 6 (blk) | GND | GND |
#### ADC 6.6V
| Pin | Signal | Volt |
| ------- | ------ | ----------- |
| 1 (red) | VCC | +5V |
| 2 (blk) | ADC IN | up to +6.6V |
| 3 (blk) | GND | GND |
#### ADC 3.3V
| Pin | Signal | Volt |
| ------- | ------ | ----------- |
| 1 (red) | VCC | +5V |
| 2 (blk) | ADC IN | up to +3.3V |
| 3 (blk) | GND | GND |
| 4 (blk) | ADC IN | up to +3.3V |
| 5 (blk) | GND | GND |
#### I2C
| Pin | Signal | Volt |
| ------- | ------ | -------------- |
| 1 (red) | VCC | +5V |
| 2 (blk) | SCL | +3.3 (pullups) |
| 3 (blk) | SDA | +3.3 (pullups) |
| 4 (blk) | GND | GND |
#### CAN
| Pin | Signal | Volt |
| ------- | ------ | ---- |
| 1 (red) | VCC | +5V |
| 2 (blk) | CAN_H | +12V |
| 3 (blk) | CAN_L | +12V |
| 4 (blk) | GND | GND |
#### SPI
| Pin | Signal | Volt |
| ------- | ------------ | ---- |
| 1 (red) | VCC | +5V |
| 2 (blk) | SPI_EXT_SCK | +3.3 |
| 3 (blk) | SPI_EXT_MISO | +3.3 |
| 4 (blk) | SPI_EXT_MOSI | +3.3 |
| 5 (blk) | !SPI_EXT_NSS | +3.3 |
| 6 (blk) | !GPIO_EXT | +3.3 |
| 7 (blk) | GND | GND |
#### POWER
| Pin | Signal | Volt |
| ------- | ------- | ----- |
| 1 (red) | VCC | +5V |
| 2 (blk) | VCC | +5V |
| 3 (blk) | CURRENT | +3.3V |
| 4 (blk) | VOLTAGE | +3.3V |
| 5 (blk) | GND | GND |
| 6 (blk) | GND | GND |
#### SWITCH
| Pin | Signal | Volt |
| ------- | -------------- | ----- |
| 1 (red) | VCC | +3.3V |
| 2 (blk) | !IO_LED_SAFETY | GND |
| 3 (blk) | SAFETY | GND |
## 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 |
<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
## Debug Ports
### Console Port
The [PX4 System Console](../debug/system_console.md) runs on the port labeled [SERIAL4/5](#serial-4-5-port).
::: tip
A convenient way to connect to the console is to use a [Zubax BugFace BF1](https://github.com/Zubax/bugface_bf1), as it comes with connectors that can be used with several different Pixhawk devices.
Simply connect the 6-pos DF13 1:1 cable on the [Zubax BugFace BF1](https://github.com/Zubax/bugface_bf1) to the Pixhawk `SERIAL4/5` port.
![Zubax BugFace BF1](../../assets/flight_controller/pixhawk1/dronecode_probe.jpg)
:::
The pinout is standard serial pinout, designed to connect to a [3.3V FTDI](https://www.digikey.com/en/products/detail/TTL-232R-3V3/768-1015-ND/1836393) cable (5V tolerant).
| 3DR Pixhawk 1 | | FTDI |
| ------------- | --------- | ---- | ---------------- |
| 1 | +5V (red) | | N/C |
| 2 | S4 Tx | | N/C |
| 3 | S4 Rx | | N/C |
| 4 | S5 Tx | 5 | FTDI RX (yellow) |
| 5 | S5 Rx | 4 | FTDI TX (orange) |
| 6 | GND | 1 | FTDI GND (black) |
The wiring for an FTDI cable to a 6-pos DF13 1:1 connector is shown in the figure below.
![Console Connector](../../assets/flight_controller/pixhawk1/console_connector.jpg)
The complete wiring is shown below.
![Console Debug](../../assets/flight_controller/pixhawk1/console_debug.jpg)
::: info
For information on how to _use_ the console see: [System Console](../debug/system_console.md).
:::
### SWD Port
The [SWD](../debug/swd_debug.md) (JTAG) ports are hidden under the cover (which must be removed for hardware debugging).
There are separate ports for FMU and IO, as highlighted below.
![Pixhawk SWD](../../assets/flight_controller/pixhawk1/pixhawk_swd.jpg)
The ports are ARM 10-pin JTAG connectors, which you will probably have to solder.
The pinout for the ports is shown below (the square markers in the corners above indicates pin 1).
![ARM 10-Pin connector pinout](../../assets/flight_controller/pixhawk1/arm_10pin_jtag_connector_pinout.jpg)
::: info
All Pixhawk FMUv2 boards have a similar SWD port.
:::
## 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](../dev_setup/building_px4.md) for this target:
```sh
make px4_fmu-v2_default
```
## Parts / Housings
- **ARM MINI JTAG (J6)**: 1.27 mm 10pos header (SHROUDED), for Black Magic Probe: FCI 20021521-00010D4LF ([Digi-Key](https://www.digikey.com/en/products/detail/20021521-00010T1LF/609-4054-ND/2414951),) or Samtec FTSH-105-01-F-DV-K (untested) or Harwin M50-3600542 ([Digikey](https://www.digikey.com/en/products/detail/harwin-inc/M50-3600542/2264370))
- JTAG Adapter Option #1: [BlackMagic Probe](https://1bitsquared.com/products/black-magic-probe). Note, may come without cables (check with manufacturer).
If so, you will need the **Samtec FFSD-05-D-06.00-01-N** cable ([Samtec sample service](https://www.samtec.com/products/ffsd-05-d-06.00-01-n) or [Digi-Key Link: SAM8218-ND](https://www.digikey.com/en/products/detail/samtec-inc/ffsd-05-d-06-00-01-n/1106577)) or [Tag Connect Ribbon](https://www.tag-connect.com/product/10-pin-cortex-ribbon-cable-4-length-with-50-mil-connectors) and a Mini-USB cable.
- JTAG Adapter Option #2: [Digi-Key Link: ST-LINK/V2](https://www.digikey.com/product-detail/en/stmicroelectronics/ST-LINK-V2/497-10484-ND) / [ST USER MANUAL](https://www.st.com/resource/en/user_manual/dm00026748.pdf), needs an ARM Mini JTAG to 20pos adapter: [Digi-Key Link: 726-1193-ND](https://www.digikey.com/en/products/detail/texas-instruments/MDL-ADA2/1986451)
- JTAG Adapter Option #3: [Olimex ARM-TINY](https://www.olimex.com/wiki/ARM-USB-TINY) or any other OpenOCD-compatible ARM Cortex JTAG adapter, needs an ARM Mini JTAG to 20pos adapter: [Digi-Key Link: 726-1193-ND](https://www.digikey.com/en/products/detail/texas-instruments/MDL-ADA2/1986451)
- **USARTs**: Hirose DF13 6 pos ([Digi-Key Link: DF13A-6P-1.25H(20)](https://www.digikey.com/products/en?keywords=H3371-ND))
- Mates: Hirose DF13 6 pos housing ([Digi-Key Link: Hirose DF13-6S-1.25C](https://www.digikey.com/products/en?keywords=H2182-ND))
- **I2C and CAN**: Hirose DF13 4 pos ([Digi-Key Link: DF13A-4P-1.25H(20)](https://www.digikey.com/en/products/detail/hirose-electric-co-ltd/DF13A-4P-1-25H-20/530666) - discontinued)
## Supported Platforms / Airframes
Any multicopter / airplane / rover or boat that can be controlled with normal RC servos or Futaba S-Bus servos.
Doc removed 202604
-->
docs/en/flight_controller/pixhawk3_pro.md
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<Redirect to="../flight_controller/autopilot_discontinued" />
<!--
# Pixhawk 3 Pro (Discontinued)
::: warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://store-drotek.com/) for hardware support or compliance issues.
:::
The Pixhawk<sup>&reg;</sup> 3 Pro is based on the FMUv4 hardware design (Pixracer) with some upgrades and additional features.
The board was designed by [Drotek<sup>&reg;</sup>](https://drotek.com) and PX4.
![Pixhawk 3 Pro hero image](../../assets/hardware/hardware-pixhawk3_pro.jpg)
::: info
The main hardware documentation is here: https://drotek.gitbook.io/pixhawk-3-pro/hardware
:::
::: tip
This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md) by the PX4 maintenance and test teams.
:::
## Quick Summary
- Microcontroller: **STM32F469**; Flash size is **2MiB**, RAM size is **384KiB**
- **ICM-20608-G** gyro / accelerometer
- **MPU-9250** gyro / accelerometer / magnetometer
- **LIS3MDL** compass
- Sensors connected via two SPI buses (one high rate and one low-noise bus)
- Two I2C buses
- Two CAN buses
- Voltage / battery readings from two power modules
- FrSky<sup>&reg;</sup> Inverter
- 8 Main + 6 AUX PWM outputs (Separate IO chip, PX4IO)
- microSD (logging)
- S.BUS / Spektrum / SUMD / PPM input
- JST GH user-friendly connectors: same connectors and pinouts as Pixracer
## Where to buy
No longer available.
## 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](../dev_setup/building_px4.md) for this target:
```sh
make px4_fmu-v4pro_default
```
## Debug Port
The board has FMU and IO debug ports as shown below.
![Debug Ports](../../assets/flight_controller/pixhawk3pro/pixhawk3_pro_debug_ports.jpg)
The pinouts and connector comply with the [Pixhawk Debug Mini](../debug/swd_debug.md#pixhawk-debug-mini) interface defined in the [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf) (JST SM06B connector).
| Pin | Signal | Volt |
| ------- | ---------------- | ----- |
| 1 (red) | VCC TARGET SHIFT | +3.3V |
| 2 (blk) | CONSOLE TX (OUT) | +3.3V |
| 3 (blk) | CONSOLE RX (IN) | +3.3V |
| 4 (blk) | SWDIO | +3.3V |
| 5 (blk) | SWCLK | +3.3V |
| 6 (blk) | GND | GND |
For information about wiring and using this port see:
- [SWD Debug Port](../debug/swd_debug.md)
- [PX4 System Console](../debug/system_console.md#pixhawk_debug_port) (Note, the FMU console maps to UART7).
## Serial Port Mapping
| UART | Device | Port |
| ------ | ---------- | --------------------- |
| UART1 | /dev/ttyS0 | WiFi |
| USART2 | /dev/ttyS1 | TELEM1 (flow control) |
| USART3 | /dev/ttyS2 | TELEM2 (flow control) |
| UART4 | |
| UART7 | CONSOLE |
| UART8 | SERIAL4 |
<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
DOC REMOVED: 202603
-->
docs/en/flight_controller/pixhawk4_mini.md
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<Redirect to="../flight_controller/autopilot_discontinued" />
<!--
# Holybro Pixhawk 4 Mini (Discontinued)
<Badge type="info" text="Discontinued" px4_current="v1.15" year="2024"/>
::: warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://holybro.com/) for hardware support or compliance issues.
:::
The _Pixhawk<sup>&reg;</sup> 4 Mini_ autopilot is designed for engineers and hobbyists who are looking to tap into the power of _Pixhawk 4_ but are working with smaller drones.
_Pixhawk 4 Mini_ takes the FMU processor and memory resources from the _Pixhawk 4_ while eliminating interfaces that are normally unused.
This allows the _Pixhawk 4 Mini_ to be small enough to fit in a 250mm racer drone.
_Pixhawk 4 Mini_ was designed and developed in collaboration with Holybro<sup>&reg;</sup> and Auterion<sup>&reg;</sup>.
It is based on the [Pixhawk](https://pixhawk.org/) **FMUv5** design standard and is optimized to run PX4 flight control software.
![Pixhawk4 mini](../../assets/flight_controller/pixhawk4mini/pixhawk4mini_iso_1.png)
::: tip
This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md) by the PX4 maintenance and test teams.
:::
## Quick Summary
- Main FMU Processor: STM32F765
- 32 Bit Arm® Cortex®-M7, 216MHz, 2MB memory, 512KB RAM
- On-board sensors:
- Accel/Gyro: ICM-20689
- Accel/Gyro: BMI055 or ICM20602
- Magnetometer: IST8310
- Barometer: MS5611
- GPS: u-blox Neo-M8N GPS/GLONASS receiver; integrated magnetometer IST8310
- Interfaces:
- 8 PWM outputs
- 4 dedicated PWM/Capture inputs on FMU
- Dedicated R/C input for CPPM
- Dedicated R/C input for Spektrum / DSM and S.Bus with analog / PWM RSSI input
- 3 general purpose serial ports
- 2 I2C ports
- 3 SPI buses
- 1 CANBuses for CAN ESC
- Analog inputs for voltage / current of battery
- 2 additional analog input
- Power System:
- Power Brick Input: 4.75~5.5V
- USB Power Input: 4.75~5.25V
- Servo Rail Input: 0~24V
- Max current sensing: 120A
- Weight and Dimensions:
- Weight: 37.2g
- Dimensions: 38x55x15.5mm
- Other Characteristics:
- Operating temperature: -40 ~ 85°c
Additional information can be found in the [_Pixhawk 4 Mini_ Technical Data Sheet](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/flight_controller/pixhawk4mini/pixhawk4mini_technical_data_sheet.pdf).
## Where to Buy {#store}
No longer available.
## Interfaces
![Pixhawk 4 Mini interfaces](../../assets/flight_controller/pixhawk4mini/pixhawk4mini_interfaces.png)
::: warning
The **RC IN** and **PPM** ports are for RC receivers only. These are powered! NEVER connect any servos, power supplies or batteries (or to any connected receiver).
:::
## Pinouts
Download _Pixhawk 4 Mini_ pinouts from [here](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/flight_controller/pixhawk4mini/pixhawk4mini_pinouts.pdf).
## Dimensions
![Pixhawk 4 Mini Dimensions](../../assets/flight_controller/pixhawk4mini/pixhawk4mini_dimensions.png)
## Voltage Ratings
_Pixhawk 4 Mini_ can have power supply redundancy — if two power sources are supplied. The power rails are: **POWER** and **USB**.
::: info
The output power rail of **MAIN OUT** does not power the flight controller board (and is not powered by it).
You must [supply power](../assembly/quick_start_pixhawk4_mini.md#power) to one of **POWER** or **USB** or the board will be unpowered.
:::
**Normal Operation Maximum Ratings**
Under these conditions all power sources will be used in this order to power the system:
1. **POWER** (4.75V to 5.5V)
1. **USB** input (4.75V to 5.25V)
**Absolute Maximum Ratings**
Under these conditions the system will remain intact.
1. **POWER** input (0V to 6V undamaged)
1. **USB** input (0V to 6V undamaged)
1. Servo input: VDD_SERVO pin of **MAIN OUT** (0V to 24V undamaged)
## Assembly/Setup
The [_Pixhawk 4 Mini_ Wiring Quick Start](../assembly/quick_start_pixhawk4_mini.md) provides instructions on how to assemble required/important peripherals including GPS, Power Management Board, etc.
## 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](../dev_setup/building_px4.md) for this target:
```sh
make px4_fmu-v5_default
```
## Debug Port
The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) run on the **FMU Debug** port.
In order to access these ports, the user must remove the _Pixhawk 4 Mini_ casing.
![Pixhawk 4 Mini FMU Debug](../../assets/flight_controller/pixhawk4mini/pixhawk4mini_fmu_debug.png)
The port has a standard serial pinout and can be connected to a standard FTDI cable (3.3V, but it's 5V tolerant) or a [Zubax BugFace BF1](https://github.com/Zubax/bugface_bf1).
The pinout uses the standard [Pixhawk debug connector](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf) pinout. Please refer to the [wiring](../debug/system_console.md) page for details of how to wire up this port.
## Serial Port Mapping
| UART | Device | QGC Parameter Description | Port Label on FC |
| :----: | :--------: | :-----------------------: | :----------------------: |
| UART1 | /dev/ttyS0 | GPS1 | GPS Module |
| USART2 | /dev/ttyS1 | TELEM1 | TELEM1 |
| USART3 | /dev/ttyS2 | TELEM2 | N/A |
| UART4 | /dev/ttyS3 | TELEM/SERIAL4 | UART/l2C B |
| USART6 | /dev/ttyS4 | N/A | RC IN |
| UART7 | /dev/ttyS5 | N/A | Debug |
| UART8 | /dev/ttyS6 | N/A | Not connected (no PX4IO) |
## Peripherals
- [Digital Airspeed Sensor](https://holybro.com/products/digital-air-speed-sensor-ms4525do)
- [Telemetry Radio Modules](../telemetry/index.md)
- [Rangefinders/Distance sensors](../sensor/rangefinders.md)
## Supported Platforms
Motors and servos are connected to the **MAIN OUT** ports in the order specified for your vehicle in the [Airframe Reference](../airframes/airframe_reference.md).
This reference lists the output port to motor/servo mapping for all supported air and ground frames (if your frame is not listed in the reference then use a "generic" airframe of the correct type).
::: warning
_Pixhawk 4 Mini_ does not have AUX ports.
The board cannot be used with frames that require more than 8 ports or which use AUX ports for motors or control surfaces.
It can be used for airframes that use AUX for non-essential peripherals (e.g. "feed-through of RC AUX1 channel").
:::
## Further info
- [_Pixhawk 4 Mini_ Technical Data Sheet](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/flight_controller/pixhawk4mini/pixhawk4mini_technical_data_sheet.pdf)
- [FMUv5 reference design pinout](https://docs.google.com/spreadsheets/d/1-n0__BYDedQrc_2NHqBenG1DNepAgnHpSGglke-QQwY/edit#gid=912976165).
DOC REMOVED: 202603
-->
docs/en/flight_controller/pixhawk_mini.md
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<Redirect to="../flight_controller/autopilot_discontinued" />
<!--
# Holybro Pixhawk Mini (Discontinued)
::: warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://holybro.com/) for hardware support or compliance issues.
:::
The Holybro _Pixhawk<sup>&reg;</sup> Mini_ autopilot is a next-generation evolution of the Pixhawk.
It is about 1/3rd the size of the original Pixhawk and has more powerful processors and sensors.
The Pixhawk Mini is based on the PX4 open-hardware project and has been optimized for the PX4 flight stack.
![Pixhawk Mini](../../assets/flight_controller/pixhawk_mini/pixhawk_mini_hero.jpg)
Wiring information is available [below](#wiring).
::: info
This flight controller was designed by 3DR in collaboration with HobbyKing<sup>&reg;</sup>.
It was formerly known as the 3DR Pixhawk Mini.
:::
::: tip
This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md) by the PX4 maintenance and test teams.
:::
## Specifications
**Processors:**
- **Main Processor:** STM32F427 Rev 3
- **IO Processor:** STM32F103
**Sensors:**
- **Accel/Gyro/Mag:** MPU9250
- [deprecated](https://github.com/PX4/PX4-Autopilot/pull/7618) by the PX4 firmware
- **Accel/Gyro:** ICM20608
- **Barometer:** MS5611
**Voltage ratings:**
- **Power module output:** 4.1\~5.5V
- **Max input voltage:** 45V (10S LiPo)
- **Max current sensing:** 90A
- **USB Power Input:** 4.1\~5.5V
- **Servo Rail Input:** 0\~10V
**Interfaces:**
- 1 x UART Serial Port (for GPS)
- Spektrum DSM/DSM2/DSM-X® Satellite Compatible RC input
- Futaba S BUS® Compatible RC input
- PPM Sum Signal RC Input
- I2C (for digital sensors)
- CAN (for digital motor control with compatible controllers)
- ADC (for analog sensors)
- Micro USB Port
**Weight and dimensions:**
- **Dimensions:** 38x43x12mm
- **Weight:** 15.8g
**GPS module (supplied with kit):**
- **GNSS receiver:** u-blox<sup>&reg;</sup> Neo-M8N; compass HMC5983
- **Weight:** 22.4g
- **Dimensions:** 37x37x12mm
## Where to Buy {#store}
Discontinued.
## Connector assignments
`<To be added>`
## Features
Key features of the Pixhawk Mini are:
- Advanced 32 bit ARM Cortex® M4 Processor running NuttX RTOS
- 8 PWM/servo outputs
- Multiple connectivity options for additional peripherals (UART, I2C, CAN)
- Redundant power supply inputs and automatic failover
- Integrated safety switch and optional external safety button for easy motor activation
- Multicolor LED indicator
- Integrated multi-tone piezo audio indicator
- microSD card for long-time high-rate logging
- Easy-to-use Micro JST connectors
The Pixhawk Mini is shipped with new **GPS module**:
- Based on the u-blox M8N
- Concurrent reception of up to 3 GNSS (GPS, Galileo, GLONASS, BeiDou)
- Industry leading -167 dBm navigation sensitivity
- Security and integrity protection
- Supports all satellite augmentation systems
- Advanced jamming and spoofing detection
- Product variants to meet performance and cost requirements
## Kit package
The _Pixhawk Mini_ is shipped with the following contents:
| Component | Image |
| ------------------------------------------------------------------ | ------------------------------------------------------------------------------------------------------------------------------------ |
| Pixhawk Mini Autopilot | ![Pixhawk Mini](../../assets/flight_controller/pixhawk_mini/pixhawk_mini_drawing.png) |
| GPS module | ![Compass+GPS module](../../assets/flight_controller/pixhawk_mini/pixhawk_mini_compass_drawing.png) |
| Quad Power Distribution Board | ![Quad Power Distribution Board](../../assets/flight_controller/pixhawk_mini/pixhawk_mini_quad_power_distribution_board_drawing.png) |
| 8 Channel PWM Breakout board | ![8 Channel PWM Breakout board](../../assets/flight_controller/pixhawk_mini/pixhawk_mini_8_channel_pwm_breakout_board_drawing.png) |
| 4-pin cable (for I2C) | ![4-pin cable (for I2C)](../../assets/flight_controller/pixhawk_mini/pixhawk_mini_4_pin_cable_drawing.png) |
| RC-in cable for PPM/SBUS | ![RC-in cable for PPM/SBUS](../../assets/flight_controller/pixhawk_mini/pixhawk_mini_rc_in_cable_drawing.png) |
| 6 to 6/4 ‘Y’ adapter for GPS and additional I2C devices | ![6 to 6/4 ‘Y’ adapter](../../assets/flight_controller/pixhawk_mini/pixhawk_mini_6_to_6_and_4_pin_Y_cable_drawing.png) |
| 6 pin cable (2) (for power distribution board and for compass/gps) | ![6 pin cable](../../assets/flight_controller/pixhawk_mini/pixhawk_mini_6_pin_cable_drawing.png) |
| 6 pin JST to DF13 for legacy telemetry radio | ![6 pin JST to DF13](../../assets/flight_controller/pixhawk_mini/pixhawk_mini_6pin_JST_to_DF13_cable_drawing.png) |
| Safety switch | ![Safety switch](../../assets/flight_controller/pixhawk_mini/pixhawk_mini_safety_switch_drawing.png) |
| 8 Channel PWM Breakout cable | ![8 Channel PWM Breakout cable](../../assets/flight_controller/pixhawk_mini/pixhawk_mini_8channel_pwm_breakout_cable_drawing.png) |
| Mounting foam | ![Mounting foam](../../assets/hardware/mounting/3dr_anti_vibration_mounting_foam.png) |
| I2C breakout board ? - not listed parts on handout | - |
## Optional accessories
- Telemetry Radio Sets: 915 MHz (USA), 433 MHz (European)
::: info
When installing the 3DR telemetry radios, use the connectors that come with Pixhawk Mini, rather than those that come with the radios.
:::
- 3DR 10S Power Module
- WiFi Telemetry Radio
- Digital Airspeed Sensor
## Compatibility
### RC radio
- PPM output RC receivers
- Spektrum DSM RC receivers
- Futaba S BUS RC receivers
### ESCs
- All standard PWM input ESCs
## Connector pin assignments (pin outs)
![Pixhawk Mini - Connector Pinouts](../../assets/flight_controller/pixhawk_mini/pixhawk_mini_pinout.png)
## Product comparisons
### Pixhawk Mini vs Pixhawk (original)
- One-third the size - from 50x81.5x15.5mm to 38x43x12mm.
- Rev 3 processor for full utilization of 2MB flash memory.
- Improved sensors, both primary and secondary IMU MPU9250 and ICM20608 respectively.
The result is more stable, more reliable flight and navigation.
- GPS+Compass module included. Features the Neo M8N with GLONASS support; compass HMC5983.
Expect faster and stronger GPS lock.
- Micro JST connectors instead of DF-13.
These are much easier to work with.
- Integrated piezo speaker and safety switch.
- Natively supports 4S batteries with the included PDB.
### Pixhawk Mini vs Pixfalcon
- Improved sensors, both primary and secondary IMU MPU9250 and ICM20608 respectively.
Expect better vibration handling and reliability.
- CAN interface for UAVCAN support.
- Includes 8-channel breakout servo rail for planes and other vehicles requiring powered PWM output.
- Includes I2C breakout board for a total of 5 I2C connections.
- Similar size.
Pixhawk Mini features an advanced processor and sensor technology from ST Microelectronics® and a NuttX real-time operating system, delivering excellent performance, flexibility, and reliability for controlling any autonomous vehicle.
## Known issues
- Some Pixhawk Minis have a [hardware defect](https://github.com/PX4/PX4-Autopilot/issues/7327#issuecomment-317132917) that makes the internal MPU9250 IMU unreliable.
- The problem is only present in older hardware revisions, because [it was fixed at some point by the manufacturer](https://github.com/PX4/PX4-Autopilot/issues/7327#issuecomment-372393609).
- To check whether a specific board is affected or not, leave the board disconnected for some time, then power it on and try to start the mpu9250 driver from the PX4 command line. If the board is affected, the driver will not start.
- The MPU9250 is [disabled by default](https://github.com/PX4/PX4-Autopilot/pull/7618) on the PX4 firmware.
- The defective Pixhawk Minis will not calibrate without an external magnetometer or an attached GPS, even indoor.
- When using an external GPS, [this is not a problem](https://github.com/PX4/PX4-Autopilot/pull/7618#issuecomment-320270082) because the secondary ICM20608 provides the accelerometer and the gyro, while the external GPS provides the magnetometer.
<a id="wiring"></a>
## Wiring Quick Start
::: warning
The _Pixhawk Mini_ is no longer manufactured or available from 3DR.
:::
This quick start guide shows how power the [Pixhawk Mini](../flight_controller/pixhawk_mini.md) and connect its most important peripherals.
### Standard Wiring Chart
The image below shows standard _quadcopter_ wiring using the _Pixhawk Mini Kit_ and 3DR Telemetry Radios (along with ESC, motor, battery and a ground control station running on a phone).
We'll go through each main part in the following sections.
![Pixhawk Mini Electronics Wiring for QAV250 (off frame)](../../assets/airframes/multicopter/lumenier_qav250_pixhawk_mini/qav250_wiring_image_pixhawk_mini.jpg)
::: info
The output wiring/powering is slightly different for other types of vehicles. This is covered in more detail below for VTOL, Plane, Copter.
:::
### Mount and Orient Controller
The _Pixhawk Mini_ should be mounted on the frame using
vibration-damping foam pads (included in the kit). It should be
positioned as close to your vehicle's center of gravity as possible, oriented top-side up
with the arrow points towards the front of the vehicle.
![Pixhawk Mini recommended orientation](../../assets/flight_controller/pixhawk_mini/pixhawk_mini_mounting_arrow.jpg)
![Mounting foam](../../assets/hardware/mounting/3dr_anti_vibration_mounting_foam.png)
::: info
If the controller cannot be mounted in the recommended/default orientation (e.g. due to space constraints) you will need to configure the autopilot software with the orientation that you actually used: [Flight Controller Orientation](../config/flight_controller_orientation.md).
:::
### GPS + Compass
Attach the 3DR GPS + Compass to the Pixhawk Mini's **GPS&I2C** port (top right) using the supplied 6 pin cable.
The GPS/Compass should be mounted on the frame as far away from other electronics as possible, facing the front of the vehicle (separating the compass from other electronics will reduce interference).
![Connecting compass/GPS to Pixhawk Mini](../../assets/flight_controller/pixhawk_mini/pixhawk_mini_with_compass.jpg)
NOTE - INSERT IMAGE SHOWING BOTH PORTS? OR FRONT-FACING image of GPS&I2C
The compass must be calibrated before it is first used: [Compass Calibration](../config/compass.md)
### Power
The image below shows typical power-supply wiring when using _Pixhawk Mini_ in a Quadcopter.
This uses the _Quad Power Distribution Board_ that comes in the kit to supply both the Pixhawk Mini and the ESC/Motor from the battery (and can also power other accessories).
::: info
The _Quad Power Distribution Board_ includes a power module (PM) that is suitable for batteries <= 4S.
The _3DR 10S Power Module_ (Discontinued) is recommended if you need more power.
:::
![Pixhawk Mini - Powering](../../assets/flight_controller/pixhawk_mini/pixhawk_mini_powering_quad_board.jpg)
The _Pixhawk Mini_ is powered through the **PM** port.
When using a power module (as in this case) the port will also read analog voltage and current measurements.
Up to 4 ESCs can be separately powered from the power distribution board (though in this case we only have one connected).
The control signals come from MAIN OUT. In this case there is only one control channel, which is connected to the ESC via the _8 Channel PWM Breakout Board_.
The Pixhawk Mini output rail (MAIN OUT) cannot power attached devices (and does not need to in the circuit as shown).
For vehicles where MAIN OUT is attached to devices that draw power (e.g. a servo used in a plane) then you will need to power the rail using a BEC (battery elimination circuit).
The included breakout board allows one channel to provide power on the other outputs.
### Radio Control
Pixhawk Mini supports many different radio receiver models:
- Spektrum and DSM receivers connect to the **SPKT/DSM** input.
<img src="../../assets/flight_controller/pixhawk_mini/pixhawk_mini_port_spkt_dsm.png" width="350px" title="Pixhawk Mini - Radio port for Spektrum receivers" />
- PPM-SUM and S.BUS receivers connect to the **RCIN** port.
<img src="../../assets/flight_controller/pixhawk_mini/pixhawk_mini_port_rcin.png" width="350px" title="Pixhawk Mini - Radio port for PPM receivers" />
- PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **RCIN** port _via a PPM encoder_ [like this one](https://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels).
For more information about selecting a radio system, receiver compatibility, and binding your transmitter/receiver pair, see: [Remote Control Transmitters & Receivers](../getting_started/rc_transmitter_receiver.md).
### Safety switch (optional)
The controller has an integrated safety switch that you can use for motor activation once the autopilot is ready to take off.
If this switch is hard to access on a particular vehicle you can attach the (optional) external safety button, as shown below.
![Pixhawk Mini - Optional Switch](../../assets/flight_controller/pixhawk_mini/pixhawk_mini_safety_switch_wiring.jpg)
### Telemetry Radios
### Motors
The mappings between MAIN/AUX output ports and motor/servos for all supported air and ground frames are listed in the [Airframe Reference](../airframes/airframe_reference.md).
::: warning
The mapping is not consistent across frames (e.g. you can't rely on the throttle being on the same output for all plane frames).
Make sure to use the correct mapping for your vehicle.
:::
::: tip
If your frame is not listed in the reference then use a "generic" airframe of the correct type.
:::
- The output rail must be separately powered, as discussed in the [Power](#power) section above.
- Pixhawk Mini cannot be used for QuadPlane VTOL airframes. This is because QuadPlane requires 9 outputs (4 Main, 5 AUX) and the Pixhawk Mini only has 8 outputs (8 Main).
<img src="../../assets/flight_controller/pixhawk_mini/pixhawk_mini_port_main_out.png" width="350px" title="Pixhawk Mini - port for motors/servos" />
### Other Peripherals
The wiring and configuration of other components is covered within the topics for individual [peripherals](../peripherals/index.md).
### Configuration
General configuration information is covered in: [Autopilot Configuration](../config/index.md).
QuadPlane specific configuration is covered here: [QuadPlane VTOL Configuration](../config_vtol/vtol_quad_configuration.md)
## 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](../dev_setup/building_px4.md) for this target:
```sh
make px4_fmu-v3_default
```
## Debug Port
This board does not have a debug port (i.e it does not have a port for accessing the [System Console](../debug/system_console.md) or [SWD interface](../debug/swd_debug.md)).
Developers will need to solder wires to the board test pads for SWD, and to the STM32F4 (IC) TX and RX to get a console.
Doc removed 202603
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