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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

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