Supported AutoPilot Controller Boards

Currently ArduPilot supports the following autopilot boards.

Pixhawk

Next-generation PX4, with more memory, improved sensors and a much easier-to-use design. See the product overview (store) and Pixhawk Overview (wiki) for more information.

Purchase store.3drobotics.com
Specifications

Product Description

OS:

NuttX

CPU:

32-bit STM32F427 Cortex M4 core with FPU

32 bit STM32F103 failsafe co-processor

Memory:

168 MHz/256 KB RAM/2 MB Flash

Sensors:

ST Micro L3GD20 3-axis 16-bit gyroscope

ST Micro LSM303D 3-axis 14-bit accelerometer / compass (magnetometer)

Invensense MPU 6000 3-axis accelerometer/gyroscope

MEAS MS5611 barometer

Interfaces:

5x UART (serial ports), one high-power capable, 2x with HW flow control

2x CAN

Spektrum DSM / DSM2 / DSM-X® Satellite compatible input up to DX8 (DX9 and above not supported)

Futaba S.BUS® compatible input and output

PPM sum signal

RSSI (PWM or voltage) input

I2C®

SPI

3.3 and 6.6V ADC inputs

External microUSB port

Power System:

Ideal diode controller with automatic failover

Servo rail high-power (7 V) and high-current ready

All peripheral outputs over-current protected, all inputs ESD protected

Weight and Dimensions:

Weight: 38g (1.31oz)

Width: 50mm (1.96”)

Thickness: 15.5mm (.613”)

Length: 81.5mm (3.21”)

Setup Pixhawk Overview, Powering
Design files

Schematic

Layout

APM2.x

APM2 is a popular AVR2560 8-bit autopilot.

Note

APM 2.6 is compatible with Copter 3.2 and earlier only (to use APM:Copter version 3.3 and later, please purchase a Pixhawk). Plane and Rover have full support for APM 2.6 in all existing releases. This board is not recommended for any new users.

Purchase store.jdrones.com
Specifications

OS:

None

CPU:

AtMega 2560

Memory:Sensors:

3-axis gyro, accelerometer

High-performance Barometric pressure sensor

MS5611-01BA03

Interfaces:

Power System:

Archived:APM 2.5 and 2.6 Overview

Weight and Dimensions:

Weight:

Width: 40.7 mm

Thickness:

Length: 66.5mm

Setup Archived:APM 2.5 and 2.6 Overview
Design files

APM schematic diagram

APM board layout

PX4

A 32 bit ARM based autopilot with many advanced features, using the NuttX real-time operating system. See the PX4 Overview (wiki) for more information.

Purchase Not available
Specifications

OS:

NuttX

CPU:

ARM Cortex-M4F microcontroller running at 168MHz with DSP and floating-point hardware acceleration.

Memory:

1024KB of flash memory, 192KB of RAM

Sensors:

MEMS accelerometer and gyro, compass and barometric pressure sensor.

Interfaces:

?

Power System:

?

Weight and Dimensions:

Weight: 8.10 g

Width:

Thickness:

Length:

Setup Archived:PX4FMU Overview
Design files

Module homepage

Manual

Schematics download

Eagle files for version 1.6 download

Eagle files for version 1.7 download

Arsov AUAV-X2

Arsov AUAV-X2 is a high quality, compact, light weight and cost effective alternative to the PX4 V2 or PixHawk autopilots. It is 100% compatible with the PX4 firmware.

Purchase www.auav.co
Specifications

OS:

NuttX

CPU:

STM32F427VI ARM microcontroller

STM32F100C8T6 ARM microcontroller

Memory:

Sensors:

Gyroscope: ST Micro L3GD20

Accelerometer: ST Micro LSM303D

Gyro: Invensense MPU 6000

MEAS MS5611 barometer

Interfaces:

3 x UART

1 x CAN

1 x I2C

1 x SPI

2 x ADC

8 x PWM Receiver Inputs

8 Spare IO Pins

2 x JTAG connection specifically for the TC2030-CTX-NL 6-Pin cable

micro SD card holder

micro USB connector

Power System:

New power supply based on TPS63061 DC-DC Buck-Boost

Weight and Dimensions:

Weight:

Width:

Thickness:

Length:

Setup Manual
Design files

License

Main Board Design Files

mIMU Board Design Files

Erle-Brain 2 autopilot

Erle-Brain 2 An autopilot for making drones and robots powered by Debian/Ubuntu and with official support for the Robot Operating System (ROS). It has access to the first app store for drones and robots.

Note

Erle-Brain 2 is a commercial artificial robotic brain that runs APM autopilot. It combines a Raspberry Pi 2, a sensor cape and other components in order to achieve a complete embedded Linux board.

Purchase Erle-Brain2 (store)
Specifications

OS:

Linux Debian or Ubuntu

CPU:

900MHz quad-core ARM Cortex-A7 CPU

Sensors:

Gravity sensor, gyroscope, digital compass, Pressure sensor and temperature sensor, ADC for battery sensing

Interfaces:

12x PWM, 1x RC IN, 1x Power Module Connector, 1x I2C connector, 1x UART connector, 4 USB ports, Full HDMI port, 10/100 Ethernet, Combined 3.5mm audio jack and composite.

Camera (optional): 5MP Fixed focus lens, 2592 x 1944 pixel static images, supports 1080p30, 720p60 and 640x480p60/90 video record

Power System:

Traditional Power modules

Weight and Dimensions:

Weight: 100 grams

70x96x20mm (without camera)

70x96x58.3mm (with camera),

Setup Documentation

Erle-Brain 1 autopilot (discontinued)

Erle-Brain An autopilot for making drones powered by Ubuntu and with official support for the Robot Operating System (ROS). It has access to the first app store for drones and robots.

Note

Erle-Brain is a commercial autopilot. It combines a BeagleBone Black, the PixHawk Fire Cape (above) and other components.

Purchase erle-brain
Specifications

OS:

Linux Ubuntu

CPU:

Cortex-A8 @ 1 GHz,

Memory:

512 MB DDR3 with 4GB of flash memory (8bit Embedded MMC)

Sensors:

MPU6000, MPU9250, LSM9DS0, MS5611-01BA

Interfaces:

SPI, 3xI2C, 2xUART, CAN, Buzzer, Safety, 8 PWM channels, PPM, S.Bus, ADC, Specktrum, 2xUSB, Ethernet

Power System:

Traditional Power modules

Weight and Dimensions:

Weight: 110 grams

Width: 75 cm

Thickness PCB: 1.6 mm

Length: 92 cm

Setup

Updating software

BeaglePilot Project (wiki)

Building ArduPilot for BeagleBone Black on Linux (wiki)

Design files

Design files

Erle-Brain Linux Autopilot

PixHawk Fire Cape (PXF)

The PixHawk Fire Cape (PXF) is a daughter board for the BeagleBone Black (BBB) development board that allows to create a fully functional Linux autopilot for drones. The combination of BBB and PXF allows to a Linux computer is a fully functional autopilot (one example is the Erle-Brain autopilot).

Purchase http://erlerobotics.com/blog/product /pixhawk-fire-cape/
Specifications

OS:

Linux Debian, Linux Ubuntu

CPU:

Memory:

Sensors:

MPU6000, MPU9250, LSM9DS0, MS5611-01BA

Interfaces:

SPI, 3xI2C, 2xUART, CAN, Buzzer, Safety, 8 PWM channels, PPM, S.Bus, ADC, Specktrum

Power System:

Traditional Power modules

Weight and Dimensions:

Weight: 16 grams

Width: 55 cm

Thickness: 1.6 mm

Length: 85 cm

Setup

Updating the software

BeaglePilot Project (wiki)

Building ArduPilot for BeagleBone Black on Linux (wiki)

Design files https://github.com/ArduPilot/PXF

PixHawk Fire Mini Cape (PXFmini)

The PixHawk Fire Mini Cape (PXFmini) is a daughter board designed for the low cost Raspberry Pi zero that allows to create a fully functional Linux autopilot for drones. Inspired in the PXF cape, provides a minimalist approach which allows having a reduced size/lightweight and low-cost.

Purchase pxfmini
Specifications

OS:

Linux Debian, Linux Ubuntu

CPU:

Memory:

Sensors:

MPU9250, MS5611-01BA, ADS1115

Interfaces:

2xI2C, 1xUART, 1xPPM-SUM, JST-GH type connectors

8xPWM channels

Power System:

Traditional Power modules

Weight and Dimensions:

Weight: 15 grams

Dimension: 31x73mm

Setup Setup
Design files To be delivered in February 2016

BBBMINI Cape

Low budget DIY Autopilot Cape for BeagleBone Black running ArduPilot on Linux.

Purchase DIY
Specifications

OS: Debian Linux

CPU: Cortex-A8 @ 1 GHz

Memory: 512 MB DDR3 and 4GB of flash memory

Sensors:

MPU9250, MS5611, HC-SR04

Interfaces:

2 x SPI, I2C, 2 x UART, CAN, 12 x PWM channels + 3 x PWM for X-Quad configuration, PPM, S.Bus, Spektrum

Power System:

Power module / UBEC

Weight and Dimensions:

Weight: 36 grams

Width: 55 mm

Thickness: 1.6 mm

Length: 86 mm

Setup https://github.com/mirkix/BBBMINI
Design files https://github.com/mirkix/BBBMINI

APM1 (discontinued)

An AVR2560 based autopilot with separate sensor board (aka “oilpan”). As with APM2 this is no longer supported by Copter. Not recommended for any new users.

Closed boards

The following boards are known to be closed (they do not publish their design files).

Parrot Bebop Drone

The Bebop Drone is a Wifi controlled quadrotor UAV that uses this Linux autopilot and which can run Copter firmware.

From Copter 3.3 the Bebop can run ArduPilot. Instructions for converting a Bebop to run ardupilot are here.

Purchase Parrot Store
Specifications

OS:

Linux (Busybox)

CPU:

Parrot P7 dual-core CPU Cortex 9 with quad core GPU

Memory:

8GB flash

Sensors:

MPU6050 for accelerometers and gyroscope (I2C),

AKM 8963 compass,

MS5607 barometer,

Furuno GN-87F GPS,

Sonar,

Optical-flow,

HD camera

Interfaces:

1x UART serial ports, USB, Built-in Wifi

Power System:

Weight and Dimensions (with hull):

Weight: 400 grams

Width: 33 cm

Thickness: 38 cm

Length: 36 cm

Setup Building for Bebop on Linux <building-for-bebop-on-linux> __ (wiki)
Design files NA

Note

Some of this information was taken from the Paparazzi UAV wiki page on the Bebop.

VRBrain

VRBrain is a multipurpose controller board that comes loaded with a 32 bit version of Copter firmware. At time of writing the latest version is VR Brain 5.

Purchase vrbrain.wordpress.com/store/
Specifications

OS:

NuttX

CPU:

ARM CortexM4F microcontroller with DSP and FPU.

Memory:

1024KB flash memory, 192KB of RAM.

Sensors:

mems accelerometer and gyroscope.

barometer with 10 cm resolution.

2 SPI expansion BUS for optional IMU

1 sonar input.

Interfaces:

8 RC Input standard PPM , PPMSUM , SBUS

8 RC Output at 490 hz

1 integrated high speed data flash for logging data

1 Can bus 2 i2c Bus

3 Serial port available one for GPS 1 for serial option 1 for serial telemetry.

3 digital switch (ULN2003).

Jtag support for onboard realtime debugger.

1 Buzzer output.

1 Input for control lipo voltage

Power System:

Weight and Dimensions:

Weight: ?

Width: 4 cm

Thickness: ?

Length: 6 cm

Setup Quick Start Guide
Design files ?

Qualcomm Snapdragon Flight Kit

The Qualcomm® Snapdragon Flight™ Kit (Developer’s Edition) is small (58x40mm) but offers a lot of CPU power and two on-board cameras. It contains 4 ‘Krait’ ARM cores which run Linux (Ubuntu 14.04 Trusty, by default), and 3 ‘Hexagon’ DSP cores which run the QURT RTOS. In addition it includes Wi-Fi, Bluetooth connectivity, automotive-grade GPS and many more features.

Information about using this board with ArduPilot can be found here: Building for Qualcomm Snapdragon Flight Kit, QURT Port (Github) and QFlight Port (Github).

Warning

Due to some rather unusual licensing terms from Intrinsyc we cannot distribute binaries of ArduPilot (or any program built with the Qualcomm libraries). So you will have to build the firmware yourself.

Purchase shop.intrinsyc.com/products/snapdra gon-flight-dev-kit
Specifications

OS:

Ubuntu Linux (Ubuntu 14.04 Trusty by default)

System on a Chip: System-on-Chip: Snapdragon 801

CPU: Quad-core 2.26 GHz Krait

DSP: Hexagon DSP (QDSP6 V5A) – 801 MHz+256KL2 (running the flight code)

GPU: Qualcomm® Adreno™ 330 GPU

Memory:

RAM: 2GB LPDDR3 PoP @931 MHz

Storage: 32GB eMMC Flash

Sensors:

GPS: Telit Jupiter SE868 V2 module

Omnivision OV7251 on Sunny Module MD102A-200 (Optic Flow camera - 640×480)

Sony IMX135 on Liteon Module 12P1BAD11 (4K High Res camera)

MPU: Invensense MPU-9250 9-Axis Sensor, 3x3mm QFN

Baro: Bosch BMP280 barometric pressure sensor

Interfaces:

CSR SiRFstarV @ 5Hz via UART

uCOAX connector on-board for connection to external GPS patch antenna

BT/WiFi: BT 4.0 and 2G/5G WiFi via QCA6234

Wifi: Qualcomm® VIVE™ 1-stream 802.11n/ac with MU-MIMO † Integrated digital core

802.11n, 2×2 MIMO with 2 uCOAX connectors on-board for connection to external antenna

One USB 3.0 OTG port (micro-A/B)

Micro SD card slot

Gimbal connector (PWB/GND/BLSP)

ESC connector (2W UART)

I2C

60-pin high speed Samtec QSH-030-01-L-D-A-K expansion connector

2x BLSP (BAM Low Speed Peripheral)

USB

Power System:

5VDC via external 2S-6S battery regulated down to 5V via APM adapter

Weight and Dimensions:

Weight: ?

Width: 58mm for pcb (68 with pcb+connectors+camera)

Thickness: ?

Length: 40mm for pcb (52 with pcb+connectors+camera)Additional information can be found at www.intrinsyc.com/qualcomm-snapdrag on-flight-details/ (behind short survey).

Setup ?
Design files ?