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

Glad to see it has all 6 AUX outputs. I guess the last picture is the USB connector.
What’s the “KILL” pin on the front headers?

This is SBus Out, No Connection, Ground. We do not intend to provide power from this connection.

So the ‘Kill’ means the SBUS output is not used? Will it be opened in future?

Nice! Please make sure to sync with me on the boot loader. I want to make sure users can use the 2MB flash and that will require proper identification in the bootloader and a new Firmware config.

@Orico4 Sbus out should work the same as on Pixhawk (FMUv2). I haven’t tested it myself though.
And Sbus out is the pin labeled “SORI”, not KILL

KILL is not connected currently and will be used in the future.
Both signals have 100% the same function as of Pixhawk.
The main differences between X2 and X2.1 are:

  1. Sensors - X2.1 uses MPU9250, ICM20608 ( baro is the same - MS5611 )
  2. Power manager - X2.1 uses LTC4415 for Brick/USB OR-ing, plus MOSFET for reverse polarity protection
  3. TPS2066 current limited switch for 5V_PERIPH
  4. TJA1051T for CAN
  5. Ultra low noise LDOs for 3.3V
  6. 220R to all I/Os
  7. FMU battery backup
  8. IOSoC uses STM32F103C8T6 instead STM32F100C8T6

The new board looks good Phil! I like the usb connector, creates easy access to connect to, the one thing I always have trouble with in the first version. Great job!