Introducing the AUAV X2.1 Flight Controller


The AUAV X2.1 is all about lessons learned. The X2 was a very successful board but there was still room for improvement. Following the PixRacer project we had time to invest into making the X2 the high quality PixHawk replacement we intended it to be. Major changes include: updated IMU sensors, power supply has been redesigned, headers have been laid out more logically, remote USB connector, industry standard 30.5mm mounting points.

Questions and comments are welcome!

Phil and Nick

Available: October 1, 2016

Price: $130


Main: STM32F427VIT6 ARM microcontroller - Revision 3
IO: STM32F100C8T6 ARM microcontroller

Next Generation Sensors:

Invensense MPU9250 9DOF
Invensense ICM-20608 6DOF
MEAS MS5611 barometer

New Power OR-ing schematic with reverse voltage protection. 5V power module is required!


2.54mm headers:
RC input
PPM input
Spektrum input
RSSI input
sBus input
sBus output
Power input
Buzzer output
LED output
8 x Servo outputs
6 x Aux outputs
USART7 (Console)

JST GH connectors:
USART2 with flow control (Telem 1)
USART3 with flow control (Telem 2)
USB (150mm GH to Micro USB cable included for convenient mounting)
JTAG FMU Processor
JTAG IO Processor

Size: 36mm x 50mm

Mounting Points: 30.5mm x 30.5mm 3.2mm diameter

Weight: 10.9g





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  • Developer

    Hello Tobias, 

    I'm trying to recall here. The X2.1 exposes the same pins as PixHawk1, if a remember correctly, some of those pins might need custom code due to a bug or a software issue that is affecting all hardware based on PixHawk1, this includes x2.1. 

  • Hi,

    I ordered 2 of them because I have read that there are aux channels and that it is like a PixHawk. No I read on Github that the aux channels need custom code? Is that true?

  • I have one of those. After initial Confusion with IMU Orientation it is working as it should :-)

    Shipment was fast even with the non recommended Shipping option. Quality is flawless.
  • Hi,
    I would like to buy an light and high quality autopilot with more than 6 PWM outputs to run Arducopter on it.

    The mRo x2.1 Rev 2 seems to me the most interesting option currently. But I can only find 3 topics about the autopilot in the forum.
    And now I’m wondering why? Is it a bad idea to buy that autopilot because it is rare and will lack support soon?
    Has anyone experience ordering at mRo from Germany?

  • Developer

    Hello Luc Maximilien, 

    Yes, the orientation for Ardupilot is moved 90 because of the bootloader configuration. We will post instructions on how to update it (But after Mission Planner is updated). Future shipped boards will include this new update. 

    Right now I'm working on this case for X2.1, is my first 3D Cad design so don't expect much:

    This case will allow you to populate pins on right angle or upward configuration. Also, is 3D printer friendly. 

    Login / Signin to Onshape - the modern CAD system used by thousands of companies worldwide.
  • I have receive yesterday  the board and was able to install Arduplane 3.8.2 with Mission Planner.

    Parameter AHRS_ORIENTATION must set to 2 if you mount your board with front in front of the plane.

    Do someone knows where I can find  a 3D file  for printing the case for the X2.1 V2 ?

  • Thanks for the reply Jordi.

    Mine has shipped yesterday , I'm curious to test it and compare the X2.1 to traditional Pixhawk .

    Hope that Invensense sensors will make the difference.

    More outputs in a smaller factor is an advantage over Pixracer.

  • Developer

    Hello Luc, 

    The MRC0253 will be available soon, is very new and we haven't been able to add it to the store yet, but is available in the X2.1 kit. 

    The I2C can be accessed through the GPS connector (as standard). We have cables that split the I2C signal out from the GPS, the MRC0218. Also, our GPS offers an auxiliary i2C output for convenience, you also check our GPS/i2c splitter or our Active i2c HUB. So you have plenty of options to play with. =) 

    All the kits include the JST-GH to USB converter, which is always needed, so you should be covered. 

    You can check our manual here


    mRo 6-Pins JST-GH to 6-Pins JST-GH and 4-Pins JST-GH - MRC0218
  • Hello Jordi,

    can you explain where the I2C connector is located actually ?

    So finally to use the board the user must buy also the Basic Cable set or it will not be able to connect the board via Usb since no Usb connector on the board.

    The cable MRC0253 is not available alone in Mrobotics shop.

    When it will be restocked ?

  • Thank you Jordi! 

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