> For the complete documentation index, see [llms.txt](https://nxp.gitbook.io/mr-canhubk344/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://nxp.gitbook.io/mr-canhubk344/software/px4-autopilot/mr-canhubk3-adap.md).

# MR-CANHUBK3-ADAP

The MR-CANHUBK3-ADAP is an optional adapter board for the MR-CANHUBK344 that includes a SD card interface, sensors and Dronecode connectors to ease the use of PX4 on the S32K344.<br>

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See [MR-B3RB](https://nxp.gitbook.io/mr-b3rb/) for more complete usage of this board in a robotic system
{% endhint %}

<figure><img src="/files/7gXMzM7yQPJut7drrUVa" alt=""><figcaption></figcaption></figure>

It includes the following:

* ICM42688P IMU
* BMM150 Magnetometer
* SD Card slot
* Dronecode 10-pin GPS connector
* JST-GH 6 Pin RC connector
* JST-SH 4 Pin I2C connector

The current main branch of PX4 auto-detects this board and changes the settings for the sensors and output accordingly.

To check whether board detection was successful you should see the following output on boot.\
`nsh> ver all`\
`HW arch: NXP_MR_CANHUBK3`\
`HW type: MR-CANHUBK3-ADAP`

The UART mapping for MR-CANHUBK3-ADAP is as follows.\
GPS - GPS\_1\_CONFIG - 202\
RC input - RC\_PORT\_CONFIG - 104

MR-CANHUBK3-ADAP also provides VBAT ADC circuit. The voltage divider is set by the BAT1\_V\_DIV PX4 parameter. It's recommended to re-calibrate this divider for accurate voltage measurements.

<figure><img src="/files/FxyrpJiKEiZAItklP6vv" alt="" width="252"><figcaption></figcaption></figure>

The SD card needs to be wired up using a 7-pin JST-GH connector, where the MR-CANHUBK3-ADAP SPI connector has to be connected to the MR-CANHUBK344 P1B SPI connector. Note straight cable connection i.e. pin 1 to pin 1

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