mRo Nexus¶
The mRo Nexus is new member of mRo’s Pixracer autopilot family.
Overview¶
The mRo Nexus is a member of the next generation of mRobotics’ family of Pixracer autopilots. It has been designed for ultra compact applications which primarily use CAN peripherals, as well as standard GPS/Compass or Airspeed sensors. It includes an integrated ADS-B receiver for avoidance.
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 - STM32H743VIH6
- 2MB flash allows full features of ArduPilot to be flashed
- Sensors
- Gyro/Accelerometer: Invensense ICM-40609D / Gyro (? KHz)
- Barometer: DSP310
- RM3100 Precision Compass
- 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
- Dual CAN/UAVCAN ports
- MicroSD card reader
- Micro-C USB
- RGB LED
- GPS (serial + I2C)
- UART for serial RC input
- Connectors: GPS+I2C (USART4),CAN1, CAN2, USART7 (TxD, RxD), POWER-BRICK(VDD, Voltage, Current, GND).
- Dimensions
- Weight ?
- Size
Connector pin assignments¶
Unless noted otherwise all connectors are JST GH
UART7 connector¶
| PIN | SIGNAL | VOLTAGE/TOLERANCE |
|---|---|---|
| 1 | +5V | +5V |
| 2 | TX1 | +3.3V/5V |
| 3 | RX1 | +3.3V/5V |
| 4 | 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 |
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 |
Default UART order¶
| Parameter | Default Protocol** | Connector/Suggested Use |
|---|---|---|
| SERIAL0 | console | USB |
| SERIAL1 | Telemetry1 | UART7/Serial RC input |
| SERIAL2 | Telemetry2 | USB (second composite USB interface)/SLCAN |
| SERIAL3 | GPS1 | UART4/GPS |
** User may change SERIALx_PROTOCOL as required for application