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.

E-mail me when people leave their comments –

You need to be a member of diydrones to add comments!

Join diydrones


  • Beautiful Nick!  I am looking forward to hearing more on this.  I have been looking at the Lisa S, but if all works well with your board, and proves to be a seamless integration with the existing PX4/Pixhawk software architecture,  I won't think twice about buying a handful.  In fact, I will make a preorder tomorrow.  

  • Excellent Phillip ! Thanks for the clarity. I am placing order for AUAV-X1, with combination of "ST Micro L3GD20H + LSM303D + MPU6500" so that Pixhawk firmware works for this.

  • Rana, Please be aware our board is not a "PX4v2", the "PX4v2" refers to the latest version of the PX4 boards that include the IMU and MCU on the same PCB. 3D Robotics sells this board as the Pixhawk.

    In addition to the parts listed, the Pixhawk also has a ST Micro LSM303D 3-axis 14-bit accelerometer / magnetometer.

    If you research Invensense you will discover that the MPU6500 is the newer smaller replacement to the MPU6000. The are phasing the MPU6000 out as per their site. The microIMU board that offers the 2 choices of chips is the ST Micro L3GD20H + LSM303D + MPU6500 board. Be aware that currently you need to choose either the ST Micro L3GD20H + LSM303D or the MPU6000 in the firmware. Because of this we also offer boards with either of those IMU options separately to save money.

    Simple answer is to match the Pixhawk boards IMU choose the ST Micro L3GD20H + LSM303D + MPU6500 board.

    Will it work... Yes. Even though this is a completely new board design, we choose to keep the main components the same. We also made sure to use the same I/O pin assignments to interconnect them together.

    The first production batch is expected to be in both Nick and my hands, tested and ready to ship out in the first half of March 2014.

  • yes it will be my next board but we haven t any news since the anounced..i hope the price for the light version will be cheaper !

  • Roberto Navoni
    I very much like your approach too :) VRBrain is a great platform, and it's probably more mature than anything else on stm32 for now:)
    Very exciting news about High End Analog Devices IMU  :)
    Can't wait for more news about the VRBrain 5.0

  • Just to avoid confusion, don't call Nick's board a "PX4 V2". Its name is AUAV-X1, wich could run the PX4 firmware.

    I agree with Roberto about noise, both conducted and radiated, generated by the TPS regulator. Take care of ground line design, current loops, ground plane connection,.... Not so easy as simply reading and following the base recommendations.


  • Thanks Phillip and Nick, 3DR PX4 has following on-board sensors;
    MPU-6000 (3D ACC / Gyro)
    L3GD20 (3D Gyro)
    HMC5883L (3D Mag)
    MS5611 (barometric pressure)

    Your PX4 V2 do not seems to have a combination option for all the same sensors then how the existing PX4 firmware will work with PX4 V2 ?

    My question in only and only from user perspective, for which I expect a very straight forward type of answer like yes or no.

    If I opt for your latest version of PX4 V2, which has on-board MPU6000, as said by Phillip, what is the combination of additional sensors I need to choose while buying so that Latest PX4 firmware works on my PX4 V2 ?

    Have you tested the prototype of PX4 V2 with the firmware of existing PX4 ?
    When the shipment expected ?

  • Hi guys,

    The final price will be calculated after the first batch. The announced one is for preorders. I hope that the final price will be close to that calculation.

    About the IMU - we have a micro "sandwich" for everyone - if you prefer "no mag onboard" - o.k., you could choose between MPU6500 and MAX21100, or even ST set...just don't use the LSM303 integrated mag. If you prefer a mag onboard, no problem, you can get MPU9250 or ST set. This type of micro IMU board gives us an opportunity to try any new sensor when available.

  • YES 100$ and swapable IMU and a nice form factor and usable connectors what great stuff! Is that the final price Mr.Arsov? I really doubt that EMI with this desgin is more an issue than with any other design. Well, onboard MAGs are...onboard mags so I am fine with that. Most Mag trouble will come from the high current motor power leads, but you can always go external.

  • Moderator

    Hi Philip , 

    we are doing a lot of test on different kind of imu ... also High End Analog device IMU. 

    In my test i decide to mantain only MPU6000 in my entry level design , for pro i'm using Analog Device imu and sensor. It's available for VRBrain 5.0 external imu. The other important sensor is magnetometer and don't is a good position the position near pin header where there is pin header a lot of random interference :( 

    I don't consider any kind of imu sensor that use i2c because on stm32 i2c sometime could have strange problem ... :) 

    On VRBrain 4.5 i develop an interesting pedometer application that work fine use two sensor at the same times 2 instance of AHRS class... one as advanced compensated compass gyro other as advanced pedometer. It work great !

    We also working a secret project for Action Sport application for important brand :)

    I think that this application  will be present in two weeks ...

    I'm very happy that a lot of great developer decide to choose stm32 as micro controller for future autopilot development could be interesting understand who are the coder that can help the core team on this new great platform. The problem is not the hardware the problem is develop a great firmware ... :)



This reply was deleted.