Connections & Ports
This baseboard is compatible with both Pixhawk 5X & 6X, and any flight controller that follow the Pixhawk Autopilot Bus Standard.
This baseboard is compatible with both Pixhawk 5X & 6X, and any flight controller that follow the Pixhawk Autopilot Bus Standard.
Connection Between RPi CM4 & Flight Controller:
FC Module is internally connected to RPi CM4 through TELEM2
CM4 GPIO14 <-> FMU TXD TELEM2
CM4 GPIO15 <-> FMU RXD TELEM2
CM4 GPIO16 <-> FMU CTS TELEM2
CM4 GPIO17 <-> FMU RTS TELEM2
CM4 Slave USB-C port:
CM4 USB Device Port. Use for CM4 Power and image flash. Max input voltage
CM4 Host1 & Host2 USB-C Port:
CM4 USB Host port. 1A Current output limit for each port.
Micro HDMI:
CM4 Video Output
CM4 Slave | CM4 Host1&2 | |
RPI | Data Connected Power IN and Data | Data Not Connected Power out only |
EMMC | Data Not Connected Power IN only | Data Connected Power out and Data |
Refer to this diagram for location of pin1. All connectors are JST GH 1.25 mm Pitch unless noted otherwise.
CM4 ETH port
Pin | Signal | Volt |
1(red) | CM4_TRD0_P | +3.3V |
2(pink) | CM4_TRD0_N | +3.3V |
3(yellow) | CM4_TRD1_P | +3.3V |
4(green) | CM4_TRD1_N | +3.3V |
5(brown) | CM4_TRD2_P | +3.3V |
6(blue) | CM4_TRD2_N | +3.3V |
7(purple) | CM4_TRD3_P | +3.3V |
8(black) | CM4_TRD3_N | +3.3V |
FC ETH Port
Pin | Signal | Volt |
1(red) | RXN | +3.3V |
2(black) | RXP | +3.3V |
3(black) | TXN | +3.3V |
4(black) | TXP | +3.3V |
FAN port
Pin | Signal | Volt |
1(red) | CM4_VDD_5V | +5V |
2(black) | GND | GND |
CAMERA Port (Use for CSI Camera IN)
Pin | Signal | Volt |
1 | GND | GND |
2 | CM4_CAM1_D0_N | +3.3V |
3 | CM4_CAM1_D0_P | +3.3V |
4 | GND | GND |
5 | CM4_CAM1_D1_N | +3.3V |
6 | CM4_CAM1_D1_P | +3.3V |
7 | GND | GND |
8 | CM4_CAM1_CLK_N | +3.3V |
9 | CM4_CAM1_CLK_P | +3.3V |
10 | GND | GND |
11 | CM4_CAM1_D2_N | +3.3V |
12 | CM4_CAM1_D2_P | +3.3V |
13 | GND | GND |
14 | CM4_CAM1_D3_N | +3.3V |
15 | CM4_CAM1_D3_P | +3.3V |
16 | GND | GND |
17 | CM4_CAM1_GPIO | +3.3V |
18 | No Connected | -- |
19 | GND | GND |
20 | CM4_I2C0_SCL | +3.3V |
21 | CM4_I2C0_SDA | +3.3V |
22 | CM4_VDD_3V3 | +3.3V |
Power1 (Main) & Power2 Port (Backup) (2.00mm Pitch CLIK-Mate)
Pin | Signal | Volt |
1(red) | VDD5V_BRICK1/2 | +5V |
2(black) | VDD5V_BRICK1/2 | +5V |
3(black) | SCL1/2 | +3.3V |
4(black) | SDA1/2 | +3.3V |
5(black) | GND | GND |
6(black) | GND | GND |
Telem1, Telem2, Telem3 ports
Pin | Signal | Volt |
1(red) | VCC | +5V |
2(black) | TX7/5/2 (out) | +3.3V |
3(black) | RX7/5/2 (in) | +3.3V |
4(black) | CTS7/5/2 (in) | +3.3V |
5(black) | RTS7/5/2 (out) | +3.3V |
6(black) | GND | GND |
GPS 1 Port
Pin | Signal | Volt |
1(red) | VCC | +5V |
2 black) | TX1(out) | +3.3V |
3(black) | RX1(in) | +3.3V |
4(black) | SCL1 | +3.3V |
5(black) | SDA1 | +3.3V |
6(black) | SAFETY_SWITCH | +3.3V |
7(black) | SAFETY_SWITCH_LED | +3.3V |
8(black) | VDD_3V3 | +3.3V |
9(black) | BUZZER- | 0~5V |
10(black) | GND | GND |
GPS 2 Port
Pin | Signal | Volt |
1(red) | VCC | +5V |
2 black) | TX8(out) | +3.3V |
3(black) | RX8(in) | +3.3V |
4(black) | SCL2 | +3.3V |
5(black) | SDA2 | +3.3V |
6(black) | GND | GND |
CAN1, CAN2 ports
Pin | Signal | Volt |
1(red) | VCC | +5V |
2(black) | CANH1/2 | +3.3V |
3(black) | CANL1/2 | +3.3V |
4(black) | GND | GND |
Uart4 & I2C port
Pin | Signal | Volt |
1(red) | VCC | +5V |
2(black) | TX4(out) | +3.3V |
3(black) | RX4(in) | +3.3V |
4(black) | SCL3 | +3.3V |
5(black) | SDA3 | +3.3V |
6(black) | NFC_GPIO | +3.3V |
7(black) | GND | GND |
SPI Port
Pin | Signal | Volt |
1(red) | VCC | +5V |
2 (black) | SPI6_SCK | +3.3V |
3(black) | SPI6_MISO | +3.3V |
4(black) | SPI6_MOSI | +3.3V |
5(black) | SPI6_CS1 | +3.3V |
6(black) | SPI6_CS2 | +3.3V |
7(black) | SPIX_SYNC | +3.3V |
8(black) | SPI6_DRDY1 | +3.3V |
9(black) | SPI6_DRDY2 | +3.3V |
10(black) | SPI6_nRESET | +3.3V |
11(black) | GND | GND |
USB Port
Pin | Signal | Volt |
1(red) | VBUS | +5V |
2(black) | DM | +3.3V |
3(black) | DP | +3.3V |
4(black) | GND | GND |
I2C Port
Pin | Signal | Volt |
1(red) | VCC | +5V |
2(black) | SCL3 | +3.3V |
3(black) | SDA3 | +3.3V |
4(black) | GND | GND |
ETH Port
Pin | Signal | Volt |
1(red) | RXN | +3.3V |
2(black) | RXP | +3.3V |
3(black) | TXN | +3.3V |
4(black) | TXP | +3.3V |
AD&IO Port
Pin | Signal | Volt |
1(red) | VCC | +5V |
2(black) | FMU_CAP1 | +3.3V |
3(black) | FMU_BOOTLOADER | +3.3V |
4(black) | FMU_RST_REQ | +3.3V |
5(black) | NARMED | +3.3V |
6(black) | ADC1_3V3 | +3.3V |
7(black) | ADC1_6V6 | +6.6V |
8(black) | GND | GND |
DSM RC Port (JST-ZH 1.5mm Pitch)
Pin | Signal | Volt |
1(yellow) | VDD_3V3_SPEKTRUM | +3.3V |
2(black) | GND | GND |
3(gray) | DSM/SPEKTRUM IN | +3.3V |
RC IN Port
Pin | Signal | Volt |
S | SBUS/PPM in | +3.3V |
+ | VDD_5V _RC | +5V |
- | GND | GND |
IO Debug Port (JST-SH 1mm Pitch)
Pin | Signal | Volt |
1(red) | IO_VDD_3V3 | +3.3V |
2 black) | IO_USART1_TX | +3.3V |
3(black) | NC | -- |
4(black) | IO_SWD_IO | +3.3V |
5(black) | IO_SWD_CK | +3.3V |
6(black) | IO_SWO | +3.3V |
7(black) | IO_SPARE_GPIO1 | +3.3V |
8(black) | IO_SPARE_GPIO2 | +3.3V |
9(black) | IO_nRST | +3.3V |
10(black) | GND | GND |
FMU Debug Port (JST-SH 1mm Pitch)
Pin | Signal | Volt |
1(red) | FMU_VDD_3V3 | +3.3V |
2 black) | FMU_USART3_TX | +3.3V |
3(black) | FMU_USART3_RX | +3.3V |
4(black) | FMU_SWD_IO | +3.3V |
5(black) | FMU_SWD_CK | +3.3V |
6(black) | SPI6_SCK_EXTERNAL1 | +3.3V |
7(black) | NFC_GPIO | +3.3V |
8(black) | PH11 | +3.3V |
9(black) | FMU_nRST | +3.3V |
10(black) | GND | GND |
RSSI Port
Pin | Signal | Volt |
S | SBUS_OUT/RSSI_IN | +3.3V |
+ | VDD_SERVO | 0~36V |
- | GND | GND |
FMU PWM OUT Port
Pin | Signal | Volt |
S | FMU_CH1~8 | +3.3V |
+ | VDD_SERVO | 0~36V |
- | GND | GND |
I/O PWM OUT Port
Pin | Signal | Volt |
S | IO_CH1~8 | +3.3V |
+ | VDD_SERVO | 0~36V |
- | GND | GND |
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