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On this page
  • Connection Between RPi CM4 & Flight Controller:
  • CM4 Slave USB-C port:
  • CM4 Host1 & Host2 USB-C Port:
  • Micro HDMI:
  • Dip Switch
  • CM4 ETH port
  • FC ETH Port
  • FAN port
  • CAMERA Port (Use for CSI Camera IN)
  • Power1 (Main) & Power2 Port (Backup) (2.00mm Pitch CLIK-Mate)
  • Telem1, Telem2, Telem3 ports
  • GPS 1 Port
  • GPS 2 Port
  • CAN1, CAN2 ports
  • Uart4 & I2C port
  • SPI Port
  • USB Port
  • I2C Port
  • ETH Port
  • AD&IO Port
  • DSM RC Port (JST-ZH 1.5mm Pitch)
  • RC IN Port
  • IO Debug Port (JST-SH 1mm Pitch)
  • FMU Debug Port (JST-SH 1mm Pitch)
  • RSSI Port
  • FMU PWM OUT (AUX)
  • I/O PWM OUT (MAIN)

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  1. Flight Controller
  2. Pixhawk Baseboards
  3. Pixhawk RPi CM4 Baseboard

Connections & Ports

PreviousOverviewNextRPi CM4 Flash Guide

Last updated 11 months ago

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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 (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

Dip Switch

FC & CM4 connected via ethernet using cabled provided.