Connections & Ports
This baseboard is compatible with both Pixhawk 5X & 6X, and any flight controller that follow the Pixhawk Autopilot Bus Standard.
This Pixhawk RPi CM4 Baseboards has all the ports in Pixhawk Baseboard Ports & the ports below.
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 |
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