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This adds documentation of NXP MR-VMU-RT1176 flightcontrol (Pixhawk 6X-RT derivate with just NXP secific baseboard).

en/flight_controller/autopilot_manufacturer_supported.md

@@ -34,7 +34,8 @@ The boards in this category are:
 - [ModalAI VOXL 2](../flight_controller/modalai_voxl_2.md)
 - [mRobotics-X2.1](../flight_controller/mro_x2.1.md) (FMUv2)
 - [mRo Control Zero](../flight_controller/mro_control_zero_f7.md)
-- [NXP FMUK66](../flight_controller/nxp_rddrone_fmuk66.md) (www.nxp.com)
+- [NXP FMUK66](../flight_controller/nxp_rddrone_fmuk66.md) - Discontinued
+- [NXP MR-VMU-RT1176](../flight_controller/nxp_mr-vmu-rt1176.md) (www.nxp.com)
 - [Sky-Drones AIRLink](../flight_controller/airlink.md)
 - [SPRacing SPRacingH7EXTREME](../flight_controller/spracingh7extreme.md)
 - [ThePeach FCC-K1](../flight_controller/thepeach_k1.md)

en/flight_controller/nxp_mr-vmu-rt1176.md

@@ -0,0 +1,255 @@
+# NXP MR-VMU-RT1176
+
+:::warning
+PX4 does not manufacture this (or any) autopilot.
+Contact the [manufacturer](https://www.nxp.com) for hardware support (https://community.nxp.com/) or compliance issues.
+:::
+
+_MR-VMU-RT1176_ is a derivate of _Pixhawk 6X-RT_<sup>&reg;</sup> that is the latest update to the successful family of Pixhawk® flight controllers designed and made in collaboration with Holybro<sup>&reg;</sup>, NXP's mobile robotics team and the PX4 team based on NXP's open source reference design.
+
+It is based on the [Pixhawk​​® Autopilot FMUv6X Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-012%20Pixhawk%20Autopilot%20v6X%20Standard.pdf), [Autopilot Bus Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-010%20Pixhawk%20Autopilot%20Bus%20Standard.pdf), and [Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf).
+Equipped with a high performance NXP i.mx RT1176 dual core Processor, modular design, triple redundancy, temperature-controlled IMU board, isolated sensor domains, delivering incredible performance, reliability, and flexibility.
+:::tip
+MR-VMU-RT1176 uses the same FMUM module than Pixhawk 6X-RT!
+Differentiation to the Pixhawk 6X-RT is the NXP custom baseboard using T1 (two wire) automotive ethernet, a NFC antenna connection to the SE051, a third CAN bus and and it is made without the IO processor.
+As a consequence "just" 12 PWM ports are available (8 providing Dshot capability) 
+::: 
+<img src="../../assets/flight_controller/nxp_mr-vmu-rt1176/mr-vmu-rt1176_upleft.jpg" width="350px" title="MR-VMU-RT1176 Upright Image" />
+
+:::tip
+This autopilot is [supported](../flight_controller/autopilot_manufacturer_supported.md) by NXP.
+:::
+
+## Introduction
+
+Inside the MR-VMU-RT1176, you can find an NXP i.mx RT1176, paired with sensor technology from Bosch®​​, InvenSense®​,​ giving you flexibility and reliability for controlling any autonomous vehicle, suitable for both academic and commercial applications.
+
+The Pixhawk® 6X-RT's i.mx RT1176 Crossover dual-core MCU contain an Arm® Cortex®-M7 core running up to 1GHz and Arm® Cortex®-M4 core running up to 400MHz, has 2MB SRAM and external XIP Flash with 64MB.
+The PX4 Autopilot takes advantage of the increased power and RAM.
+Thanks to the increased processing power, developers can be more productive and efficient with their development work, allowing for complex algorithms and models.
+
+The FMUv6X open standard includes high-performance, low-noise IMUs on board, designed for better stabilization.
+Triple redundant IMU & double redundant barometer on separate buses. When PX4 detects a sensor failure, the system seamlessly switches to another to maintain flight control reliability.
+
+An independent LDO powers every sensor set with independent power control. A vibration isolation System to filter out high-frequency vibration and reduce noise to ensure accurate readings, allowing vehicles to reach better overall flight performances.
+
+External sensor bus (SPI5) has two chip select lines and data-ready signals for additional sensors and payload with SPI-interface, and with an integrated Microchip Ethernet PHY, high-speed communication with mission computers via ethernet is now possible.
+
+The MR-VMU-RT1176 is perfect for developers at corporate research labs, startups, academics (research, professors, students), and commercial application that like to try out T1 (2 wire) automotive ethernet.
+
+## Key Design Points
+
+- High performance [NXP i.MX RT1170 1GHz Crossover MCU](https://www.nxp.com/products/processors-and-microcontrollers/arm-microcontrollers/i-mx-rt-crossover-mcus/i-mx-rt1170-1-ghz-crossover-mcu-with-arm-cortex-cores:i.MX-RT1170) with Arm® Cortex® cores
+- Hardware secure element [NXP EdgeLock SE051](https://www.nxp.com/products/security-and-authentication/authentication/edgelock-se051-proven-easy-to-use-iot-security-solution-with-support-for-updatability-and-custom-applets:SE051) an extension to the widely trusted EdgeLock SE050 Plug & Trust secure element family, supports applet updates in the field and delivers proven security certified to CC EAL 6+, with AVA_VAN.5 up to the OS level, for strong protection against the most recent attack scenarios. E.g, to securely store operator ID or certificates.
+- Modular flight controller: separated IMU, FMU, and Base system connected by a 100-pin & a 50-pin Pixhawk®​ Autopilot Bus connector.
+- Redundancy: 3x IMU sensors & 2x Barometer sensors on separate buses
+- Triple redundancy domains: Completely isolated sensor domains with separate buses and separate power control
+- Newly designed vibration isolation system to filter out high frequency vibration and reduce noise to ensure accurate readings
+- Ethernet interface for high-speed mission computer integration
+- IMUs are temperature-controlled by onboard heating resistors, allowing optimum working temperature of IMUs&#x20;
+
+### Processors & Sensors
+
+- FMU Processor: NXP i.MX RT1176
+  - 32 Bit Arm® Cortex®-M7, 1GHz
+  - 32 Bit Arm® Cortex®-M4, 400MHz secondary core
+  - 64MB external flash memory
+  - 2MB RAM
+- NXP EdgeLock SE051 hardware secure element
+  - IEC62443-4-2 certified for the applicable requirements
+  - 46 kB user memory with personalization options to go up to 104 kB
+  - Groundbreaking CC EAL6+ certified solution for IoT deployments
+  - AES and 3DES encryption and decryption
+- IO Processor: STM32F100
+  - 32 Bit Arm® Cortex®-M3, 24MHz, 8KB SRAM
+- On-board sensors
+  - Accel/Gyro: ICM-20649 or BMI088
+  - Accel/Gyro: ICM-42688-P
+  - Accel/Gyro: ICM-42670-P
+  - Mag: BMM150
+  - Barometer: 2x BMP388
+
+### Electrical data
+
+- Voltage Ratings:
+  - Max input voltage: 6V
+  - USB Power Input: 4.75\~5.25V
+  - Servo Rail Input: 0\~36V
+- Current Ratings:
+  - `TELEM1` output current limiter: 1.5A
+  - All other port combined output current limiter: 1.5A
+
+### Mechanical data
+
+- Dimensions
+  - Flight Controller Module: 38.8 x 31.8 x 14.6mm
+  - Standard Baseboard: 52.4 x 103.4 x 16.7mm
+  - Mini Baseboard: 43.4 x 72.8 x 14.2 mm
+- Weight
+  - Flight Controller Module: 23g
+  - Standard Baseboard: 51g
+  - Mini Baseboard: 26.5g
+
+### Interfaces
+
+- 16- PWM servo outputs
+- R/C input for Spektrum / DSM
+- Dedicated R/C input for PPM and S.Bus input
+- Dedicated analog / PWM RSSI input and S.Bus output
+- 4 general purpose serial ports
+  - 3 with full flow control
+  - 1 with separate 1.5A current limit (Telem1)
+  - 1 with I2C and additional GPIO line for external NFC reader
+- 2 GPS ports
+  - 1 full GPS plus Safety Switch Port
+  - 1 basic GPS port
+- 1 I2C port
+- 1 Ethernet port
+  - Transformerless Applications
+  - 100Mbps
+- 1 SPI bus
+  - 2 chip select lines
+  - 2 data-ready lines
+  - 1 SPI SYNC line
+  - 1 SPI reset line
+- 3 CAN Buses for CAN peripheral (2 currently supported by PX4)
+  - CAN Bus has individual silent controls or ESC RX-MUX control
+- 2 Power input ports with SMBus
+
+  - 1 AD & IO port
+  - 2 additional analog input
+  - 1 PWM/Capture input
+  - 2 Dedicated debug and GPIO lines
+
+- Other Characteristics:
+  - Operating & storage temperature: -40 ~ 85°c
+
+## Where to Buy
+
+Order from [NXP](https://www.nxp.com).
+
+## Assembly/Setup
+
+Sample Wiring Diagram
+
+![Pixhawk 6X Wiring Overview](../../assets/flight_controller/pixhawk6x/pixhawk6x_wiring_diagram.png)
+
+## Connections
+
+MR-VMU-RT1176 connectors (following [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf))
+<img src="../../assets/flight_controller/nxp_mr-vmu-rt1176/mr-vmu-rt1176_top.jpg" width="350px" title="MR-VMU-RT1176 Top Image" /> <img src="../../assets/flight_controller/nxp_mr-vmu-rt1176/mr-vmu-rt1176_front.jpg" width="350px" title="MR-VMU-RT1176 Front Image" />
+<img src="../../assets/flight_controller/nxp_mr-vmu-rt1176/mr-vmu-rt1176_left.jpg" width="350px" title="MR-VMU-RT1176 Leftside Image" /> <img src="../../assets/flight_controller/nxp_mr-vmu-rt1176/mr-vmu-rt1176_right.jpg" width="350px" title="MR-VMU-RT1176 Rightside Image" />
+
+## Pinouts
+
+- [Holybro Pixhawk Baseboard Pinout](https://docs.holybro.com/autopilot/pixhawk-6x/pixhawk-baseboard-pinout)
+- [Holybro Pixhawk Mini-Baseboard Pinout](https://docs.holybro.com/autopilot/pixhawk-6x/pixhawk-mini-baseboard-pinout)
+
+Notes:
+
+- The [camera capture pin](../camera/fc_connected_camera.md#camera-capture-configuration) (`PI0`) is pin 2 on the AD&IO port, marked above as `FMU_CAP1`.
+
+## Serial Port Mapping
+
+| UART   | Device     | Port     |
+| ------ | ---------- | -------- |
+| UART1  | /dev/ttyS0 | Debug    |
+| UART3  | /dev/ttyS1 | GPS      |
+| UART4  | /dev/ttyS2 | TELEM1   |
+| UART5  | /dev/ttyS3 | GPS2     |
+| UART6  | /dev/ttyS4 | PX4IO    |
+| UART8  | /dev/ttyS5 | TELEM2   |
+| UART10 | /dev/ttyS6 | TELEM3   |
+| UART11 | /dev/ttyS7 | External |
+
+## Dimensions
+
+
+
+## Voltage Ratings
+
+_Pixhawk 6X-RT_ can be triple-redundant on the power supply if three power sources are supplied. The three power rails are: **POWER1**, **POWER2** and **USB**.
+The **POWER1** & **POWER2** ports on the Pixhawk 6X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/molex/products/part-detail/pcb_receptacles/5024430670).
+
+**Normal Operation Maximum Ratings**
+
+Under these conditions all power sources will be used in this order to power the system:
+
+1. **POWER1** and **POWER2** inputs (4.9V to 5.5V)
+1. **USB** input (4.75V to 5.25V)
+
+**Absolute Maximum Ratings**
+
+Under these conditions the system will not draw any power (will not be operational), but will remain intact.
+
+1. **POWER1** and **POWER2** inputs (operational range 4.1V to 5.7V, 0V to 10V undamaged)
+1. **USB** input (operational range 4.1V to 5.7V, 0V to 6V undamaged)
+1. Servo input: VDD_SERVO pin of **FMU PWM OUT** and **I/O PWM OUT** (0V to 42V undamaged)
+
+**Voltage monitoring**
+
+Digital I2C battery monitoring is enabled by default (see [Quickstart > Power](../assembly/quick_start_pixhawk6x.md#power)).
+
+::: info
+Analog battery monitoring via an ADC is not supported on this particular board, but may be supported in variations of this flight controller with a different baseboard.
+:::
+
+## 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](../dev_setup/building_px4.md) for this target:
+
+```
+make px4_fmu-v6xrt_default
+```
+
+<a id="debug_port"></a>
+
+## Debug Port
+
+The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) run on the **FMU Debug** port.
+
+The pinouts and connector comply with the [Pixhawk Debug Full](../debug/swd_debug.md#pixhawk-debug-full) interface defined in the [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf) interface (JST SM10B connector).
+
+| Pin      | Signal           | Volt  |
+| -------- | ---------------- | ----- |
+| 1 (red)  | `Vtref`          | +3.3V |
+| 2 (blk)  | Console TX (OUT) | +3.3V |
+| 3 (blk)  | Console RX (IN)  | +3.3V |
+| 4 (blk)  | `SWDIO`          | +3.3V |
+| 5 (blk)  | `SWCLK`          | +3.3V |
+| 6 (blk)  | `SWO`            | +3.3V |
+| 7 (blk)  | NFC GPIO         | +3.3V |
+| 8 (blk)  | PH11             | +3.3V |
+| 9 (blk)  | nRST             | +3.3V |
+| 10 (blk) | `GND`            | GND   |
+
+For information about using this port see:
+
+- [SWD Debug Port](../debug/swd_debug.md)
+- [PX4 System Console](../debug/system_console.md) (Note, the FMU console maps to USART3).
+
+## Peripherals
+
+- [Digital Airspeed Sensor](https://holybro.com/products/digital-air-speed-sensor)
+- [Telemetry Radio Modules](https://holybro.com/collections/telemetry-radios?orderby=date)
+- [Rangefinders/Distance sensors](../sensor/rangefinders.md)
+
+## Supported Platforms / Airframes
+
+Any multicopter / airplane / rover or boat that can be controlled with normal RC servos or Futaba S-Bus servos.
+The complete set of supported configurations can be seen in the [Airframes Reference](../airframes/airframe_reference.md).
+
+## Further info
+
+- [Update Pixhawk 6X-RT Bootloader](../advanced_config/bootloader_update_v6xrt.md)
+- [Pixhawk 6X Wiring QuickStart](../assembly/quick_start_pixhawk6x.md)
+- [PM02D Power Module](../power_module/holybro_pm02d.md)
+- [PM03D Power Module](../power_module/holybro_pm03d.md)
+- [Pixhawk Autopilot FMUv6X Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-012%20Pixhawk%20Autopilot%20v6X%20Standard.pdf).
+- [Pixhawk Autopilot Bus Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-010%20Pixhawk%20Autopilot%20Bus%20Standard.pdf).
+- [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf).