navX MXP combines a 9-axis sensor (3-axis accelerometers, gyroscopes and magnetometers) with sophisticated data fusion, motion processing and sensor calibration algorithms. Key specifications include:

• High-accuracy pose (yaw/pitch/roll), with minimal yaw drift of ~1 degree per minute
• Tilt-corrected absolute compass heading with magnetic disturbance detection
• 9-axis heading fusing pose and magnetically-valid compass heading data

Even in electro-magnetically challenging environments, the 9-axis heading's combination of "pose" and magnetically-valid compass heading data (e.g., before motors are energized, or when the robot is at rest) enable tracking of a robot's absolute heading.

Because navX MXP is compliant with the National Instruments Custom Electronics Port (MXP) specification you can expand your RoboRio with additional Digital I/O, Analog I/O and Communications Interfaces.

navX MXP is designed for plug-n-play installation into a FIRST FRC RoboRio robotics control system: it connects to the RoboRio MXP connector for both power and data. Additionally, libraries and source code for easy integration into the FRC RoboRio controller are also provided.

And for the more adventurous, navX MXP's open-source firmware and hardware allow further customization.

Fully Open Source

The navX MXP project is open-source and includes the following freely-available components:

Board schematics/layout

• board schematics (developed in Eagle 6.5.0, freely available at http://www.cadsoftusa.com/) and bill of materials.

Open-source firmware

• The Eclipse IDE and the free version of an ARM compiler can be downloaded for those wishing to modify the firmware.

• New firmware can be easily downloaded to the navX MXP via the USB port and the free DFUSE utility from ST Microelectronics.

NOTE: To debug the navX MXP Firmware, you will need to purchase a device like the ST-LINK/V2 and connect it to the four debug pins on the navX MXP. This can be integrated into Eclipse using the open-source OpenOCD debugger or the Black Magic debug interface.

Roborio client source code

• The navX MXP library source code is compatible with the FRC WPI Library (C++ and Java variants) as well as LabView, which runs on the FIRST robotics RoboRIO platform. This code allows robot control system code to acquire yaw/pitch/roll/compass-heading values from the board in real-time.

Enclosure design files

A custom enclosure to protect the navX MXP can be made with a 3D printer using provided Enclosure design files.

Key Specifications

• Yaw, Pitch and Roll Angles
• Minimal Yaw Drift of ~1 degree / minute
• Gravity-corrected Linear Acceleration
• High-sensitivity Motion Detection
• Tilt-compensated Compass Heading with Hard/Soft-Iron Calibration and Magnetic disturbance detection
• USB, TTL UART, I2C and SPI interfaces
• Configurable Update Rate from 4 to 60Hz
• Automatic Accelerometer/Gyroscope Calibration
• Tools for Hard and Soft-Iron Magnetometer Calibration
• Libraries and example code for integration onto a FRC Robot, in C++, Java and LabView
• Completely Open Source: Source Code, Schematics/Bill of Materials
• Enclosure Design files (for 3D printer)