Pixracer Pro

The Pixracer Pro is the next generation autopilot of mRo’s Pixracer family.

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Overview

The Pixracer Pro is the next generation of mRobotics’ family of Pixracer autopilots. It has been designed primarily for the demanding requirements of small multicopters, but of course can be used on planes and other vehicles which require no more than 8 pwm outputs for controlling escs and motors.

Tip

At time of writing the autopilot is still being evolved/improved. The final version may very slightly from the information provided here.

Specifications

  • Processor:

    • MCU - STM32H743IIK6

    • 2MB flash allows full features of ArduPilot to be flashed

    • 256KB FRAM - FM25V02-G

  • Sensors

    • Gyro/Accelerometer: Invensense ICM-20948 / Gyro / Mag (? KHz)

    • Gyro/Accelerometer: Invensense ICM-20602 Accel / Gyro (? KHz)

    • Gyro/Accelerometer: Bosch BMI088 Accel / Gyro (? KHz)

    • Barometer: DSP310

  • Power

    • 5-5.5VDC from USB or PowerBrick connector. Optional/recommended ACSP4 +5V/+12V Power Supply.

    • Ultra low noise LDOs for sensors and FMU

  • Interfaces/Connectivity

    • MicroSD card reader

    • Micro-C USB

    • RGB LED

    • GPS (serial + I2C)

    • TELEM1/TELEM2

    • FrSky Telemetry serial port

    • On-Board Buzzer

    • 8 Servo/Motor Outputs, 3.3V (default) or 5V level selectable (GPIO 74)

    • Connectors: GPS+I2C (USART4), RC-IN/PPM-IN/RSSI/SBus-IN/Spektrum-IN, USART3 (TxD, RxD, CTS, RTS), USART2 (TxD, RxD, CTS, RTS), USART8(FRSky-IN/FRSky-OUT), CAN1, CAN2, SERVO1-SERVO8, USART1/USART7 (TxD, RxD), SPI6, POWER-BRICK (VDD, Voltage, Current, GND).

  • Dimensions

    • Weight ?

    • Size

Connector pin assignments

Unless noted otherwise all connectors are JST GH

USART2,USART3 (TELEM1/TELEM2)connectors

PIN

SIGNAL

VOLTAGE/TOLERANCE

1

+5V

+5V

2

TX

+3.3V/5V

3

RX

+3.3V/5V

2

CTS

+3.3V

3

RTS

+3.3V/5V

6

GND

GND

UART1/UART7 connector

PIN

SIGNAL

VOLTAGE/TOLERANCE

1

+5V

+5V

2

TX1

+3.3V/5V

3

RX1

+3.3V/5V

4

GND

GND

5

+5V

+5V

6

TX7

+3.3V/5V

7

RX7

+3.3V/5V

8

GND

GND

USART4 (GPS+I2C) connector

PIN

SIGNAL

VOLTAGE/TOLERANCE

1

+5V

+5V

2

TX

+3.3V/5V

3

RX

+3.3V/5V

4

SCL

+3.3V/5V

5

SDA

+3.3V/5V

6

GND

GND

USART8 (FrSky Telemetry)

PIN

SIGNAL

VOLTAGE/TOLERANCE

1

+5V

+5V

2

TX

+3.3V/5V

3

RX

+3.3V/5V

4

GND

GND

RC/RSSI Input Connector(accepts PPM / S.BUS / Spektrum / SUMD / ST24)

PIN

SIGNAL

VOLTAGE/TOLERANCE

1

+4.5V

+4.5V **

2

RC input (USART6 RX)

+3.3V/5V

3

RSSI input

+3.3V/5V

4

+3.3V

+3.3V (for Spektrum RX power)

5

GND

GND

** normally supply outputs only valid when power module is powered, but this output is also active when USB is connected.

CAN1 and CAN2 connectors

PIN

SIGNAL

VOLTAGE/TOLERANCE

1

+5V

+5V

2

CH

+3.3V/5V

3

CL

+3.3V/5V

4

GND

GND

Power connector

PIN

SIGNAL

VOLTAGE/TOLERANCE

1

+5V in

+5V

2

+5V in

+5V

3

CURR sense in

+3.3V/5V

4

VOLT sense in

+3.3V/5V

5

GND

GND

6

GND

GND

SPI6 connector

PIN

SIGNAL

VOLTAGE/TOLERANCE

1

+5V in

+5V

2

MISO

+3.3V/5V

3

SCK

+3.3V/5V

4

CS

+3.3V/5V

5

MOSI

+3.3V/5V

6

GND

GND

Default UART order

Parameter

Default Protocol**

Connector

SERIAL0

console

USB

SERIAL1

Telemetry1

USART2 (supports CTS and RTS signaling)

SERIAL2

Telemetry2

USART3 (supports CTS and RTS signaling)

SERIAL3

GPS1

UART4

SERIAL4

GPS2

UART8 (targeted for FrSky Telem, but must change SERIAL4_PROTOCOL)

SERIAL5

USER

USART1

SERIAL6

USER

UART7

SERIAL7

SLCAN

USB (second composite USB interface)

** User may change SERIALx_PROTOCOL as required for application

Dshot capability

All motor/servo outputs are Dshot and PWM capable. However, mixing Dshot and normal PWM operation for outputs is restricted into groups, ie. enabling Dshot for an output in a group requires that ALL outputs in that group be configured and used as Dshot, rather than PWM outputs. The output groups that must be the same (PWM rate or Dshot, when configured as a normal servo/motor output) are: 1/2/3/4, 5/6, and 7/8.

Where to Buy

See also