AUAV-X1 , a new vision of the PX4 autopilot


Arsov RC Technology is proud to introduce a new vision of the PX4 v2 Autopilot board. The Arsov AUAV X1 is another elegant design from Phillip Kocmoud and Nick Arsov. Our goal was to product a high quality, compact, lightweight and cost effective alternative to the PX4 V2 or PixHawk autopilots. This is our first attempt to join the PX4 community after developing several successful designs for the MatrixPilot community. After we have finalized the design we will release the design files and schematics. The schematics will be released immediately to new owners. Initial supplies are limited and a deposit insures a boards in the first production run.

Early March , 2014

MEAS MS5611-01BA03 barometer

Memory - 8Mb SPI Flash. Could be expanded on demand up to 1Gb.

microIMU – choose one of the following 5 IMU offerings:
-ST Micro L3GD20H + LSM303D
-ST Micro L3GD20H + LSM303D + MPU6500
-Invensense MPU 6500
-Invensense MPU9250
-Maxim MAX21100
-Connector only for remotely mounted IMU

New power supply based on TPS63061 DC-DC Buck-Boost
The TPS63061 device provides a power supply solution for products powered by either three-cell up to six-cell alkaline, NiCd or NiMH battery, or a one-cell or dual-cell Li-Ion or Li-polymer battery. Output currents can go as high as 2A while using a dual-cell Li-Ion or Li-Polymer Battery, and discharge it down to 5V or lower. So you can connect a 2 cell Li-Po directly to the AUAV X1, and run it completely flat before brownout. Since it's a buck-boost converter, you can also power from a 5V BEC while still in regulation. Additional info about this Buck-Boost regulator could be found here -

4 x UARTs - 3 of them have Vcc, Tx, Rx, GND and one has a full set - Vcc, Tx, Rx, RTS, CTS, GND
1 x CAN with MAX3051
1 x I2C
1 x SPI
2 x ADC + 2 x ADC for current and voltage sensing
8 x PWM Receiver Inputs
8 x PWM Servo Outputs
2 x JTAG connection specifically for the TC2030-CTX-NL 6-Pin cable
micro SD card holder
micro USB connector
All inputs and outputs are ESD and EMI protected

30mm x 43mm

For additional information and availability, please visit our websites for US or for EU.

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  • ABL, it is all about choice. We do not expect anyone will replace their microIMU or buy the connector only microIMU option. We have that option if someone asks. If we make a long board, we will get requests for a short board... You get the picture.

  • Roberto, We use SPI currently, I2C seems to be an option but at a slower speed, Nick and I prefer SPI. I expect most people will choose to have the IMU soldered on board and as you described a 2nd remote IMU hooked to the other SPI or I2C interface. It seems the requirement of needing a 2nd backup IMU is not very high. Maybe a 2nd IMU configured for a higher rate to prevent complete loss of orientation should the lower rated one becomes saturated. Like with a catapult launch. You might get a combined benefit of high accuracy and high rate tolerance by having 2 complimentary IMUs?

  • Rana, Yes, that is the microIMU. There was a sensor change of the later revisions of the PX4v2 Design. The most recent version added a MPU6000 to the existing ST Micro L3GD20H + LSM303D. In the software, it appears the you must choose 1 or the other to use.

    That said either of these 2 options should work:
    -ST Micro L3GD20H + LSM303D
    -ST Micro L3GD20H + LSM303D + MPU6500

  • Moderator

    Philip , ABL

    So about external IMU we choose to have one solder on board and the other one as secondary imu connected by a shilded flat cable. So it's not act as antenna. In our design the main problem is vibration on acc , i think thatm microimu approach don't solve it . The other problem that i see is on chip choose as imu .. my impression is that you like the i2c imu ... in our experience it's could be a problem.



  • Hi Phillip !

    Is this marked in red, the MicroIMU ? What sensor board should I opt at the time of buying, so that the existing latest firmware of PX4 works ?


  • Please, tell me, how many users swapped IMU's on AUAV1?

    No, seriously? Including devs...

    You're adding one aditional point of failure, which also needs to be positioned properly (you can't solder IMU board at angle for example, at least, without proper cal).

    Also, cable with all power on it (yes, i know, SPI/i2c is low power but anyway) works as antenna, ppl who try to get max from their equipment won't be happy when they need to shield yet another board/cable.

    Oh, many reasons to keep it in one piece. Release several types of boards if you want, just do not make IMU on cable...

  • Wojciech, absolutely correct. The microIMU board could be removed and replaced, but that would require a certain amount of skill to complete successfully.

  • ABL, I agree with you, but different people want different options for different reason. If someone wants a remote IMU and they know the Pros/Cons then we have a solution for them.

  • Rana, as a way of lower cost and still allowing variety, We decided to modularize the IMU components into a small PCB we call our "microIMU". This allows the end user to choose what sensor suite they would like the board to have. It also allows us to add new sensors effortlessly when they become available. One of the microIMU options is just a PCB with a connector soldered to the board where the microIMU is placed. You would need to purchase a sensor filled microIMU, attach it to a cable and hook up to this connector.

    The other added benefit is we could also use the same boards on out MatixPilot line of boards. 

  • I'm only guessing, but from what I see the so called "micro IMU" sensor suite is already soldered to the board board ?
    And depending on your choice they will or won't be soldered?
    Am I correct in saying that?

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