# mRo Control Zero F7 Flight Controller
The mRo Control Zero F7® is a new flight controller from mRo.
It is a no-compromise triple IMU commercial grade flight controller. It includes 8x PWM outputs (DShot capable), 3x IMUs, 1x Magnetometer, 1x Barometric Pressure Sensor (Altimeter), 6x UART, and SD Card, all packed into a 32mm x 20mm PCB. The PWMs are bidirectional, EMI protected, and level shifted to 5V logic levels. All accessed using front and rear 30pin Molex PicoClasp connectors. A durable plastic case, conformal board coating, and optional temperature calibration included.
Note This flight controller is manufacturer supported.
# Key Features
Microprocessor:
- 32-bit STM32F777 Cortex® M4 core with FPU rev. 3
- 216 MHz/512 KB RAM/2 MB Flash
- F-RAM Cypress MF25V02-G 256-Kbit nonvolatile memory (Flash memory that performs as fast as RAM)
Sensors:
- Bosch BMI088 3-axis accelerometer/gyroscope (internally vibration dampened)
- Invensense ICM-20602 3-axis accelerometer/gyroscope
- Invensense ICM-20948 3-axis accelerometer/gyroscope/magnetometer
- Infineon DPS310 barometer (So smooth and NO more light sensitivity)
Interfaces:
- 6x UART (serial ports total), 3x with HW flow control, 1x FRSky Telemetry (D or X types), 1x Console and 1x GPS+I2C
- 8x PWM outputs (all DShot capable)
- 1x CAN
- 1x I2C
- 1x SPI
- Spektrum DSM / DSM2 / DSM-X® Satellite compatible input and binding
- Futaba S.BUS® & S.BUS2® compatible input
- FRSky Telemetry port output
- Graupner SUMD
- Yuneec ST24
- PPM sum input signal
- 1x JTAG (TC2030 Connector)
- 1x RSSI (PWM or voltage) input
- Tricolor LED
Weight and Dimensions (Uncased):
- Weight: 5.3g (0.19oz)
- Width: 20mm (0.79")
- Length: 32mm (1.26")
Power System:
- 3x Ultra low noise LDO voltage regulator
# Purchase
# Building Firmware
Tip Most users will not need to build this firmware! It is pre-built and automatically installed by QGroundControl when appropriate hardware is connected.
To build PX4 for this target:
make mro_ctrl-zero-f7
# Debug Ports
# Console Port
The PX4 System Console runs on USART7 using the pins listed below. This is a standard serial pinout, designed to connect to a 3.3V FTDI cable (5V tolerant).
| mRo control zero f7 | FTDI | |
|---|---|---|
| 17 | USART7 Tx | 5 |
| 19 | USART7 Rx | 4 |
| 6 | USART21 GND | 1 |
# SWD Port
The SWD port (JTAG) for FMU debugging is a TC2030 debug connector, as shown below.
You can use the Tag Connect cable TC2030 IDC NL below (with associated retaining clip) to attach to either a BlackMagic probe or a ST-LINK V2 debugger.
There is also an ARM20-CTX 20-Pin to TC2030-IDC adapter that can be used with other debug probes.
# Pinouts
# Serial Port Mapping
| UART | Device | Port |
|---|---|---|
| USART2 | /dev/ttyS0 | TELEM1 (flow control) |
| USART3 | /dev/ttyS1 | TELEM2 (flow control) |
| UART4 | /dev/ttyS2 | GPS1 |
| USART6 | /dev/ttyS3 | Flex port (can be configured as SPI or UART with Flow Control). |
| UART7 | /dev/ttyS4 | CONSOLE |
| UART8 | /dev/ttyS5 | Free serial port (typically for FrSky telemetry) |