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

Dip Switch

	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

FC & CM4 connected via ethernet using cabled provided.

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 (AUX)

Pin	Signal	Volt
S	FMU_CH1~8	+3.3V
+	VDD_SERVO	0~36V
-	GND	GND

I/O PWM OUT (MAIN)

Pin	Signal	Volt
S	IO_CH1~8	+3.3V
+	VDD_SERVO	0~36V
-	GND	GND