# Welcome Welcome to Holybro Official Documentation. This documentation will help you understand Holybro's official product introduction, technical specifications, pinout, tutorials, assembly, etc.\ \ If you have any comments or suggestions on our documentation, please send an email to Thank you # Pixhawk 6X # Overview
Inside the Pixhawk®​ 6X, you can find an STMicroelectronics​® based STM32H753, paired with sensor technology from Bosch®​​, InvenSense®​,​ giving you flexibility and reliability for controlling any autonomous vehicle, suitable for both academic and commercial applications. The Pixhawk® 6X’s H7 microcontroller contains the Arm® Cortex®-M7 core running up to 480 MHz, has 2MB flash memory and 1MB RAM. The PX4 takes advantage of the increased power and RAM. Thanks to the updated processing power, developers can be more productive and efficient with their development work, allowing for complex algorithms and models. The FMUv6X open standard includes high-performance, low-noise IMUs on board, designed for better stabilization. Triple redundant IMU & double redundant barometer on separate buses. When the PX4 detects a sensor failure, the system seamlessly switches to another to maintain flight control reliability. An independent LDO powers every sensor set with independent power control. A vibration isolation System to filter out high-frequency vibration and reduce noise to ensure accurate readings, allowing vehicles to reach better overall flight performances. External sensor bus (SPI5) has two chip select lines and data-ready signals for additional sensors and payload with SPI-interface, and with an integrated Microchip Ethernet PHY, high-speed communication with mission computers via ethernet is now possible. The Pixhawk®​ 6X is perfect for developers at corporate research labs, startups, academics (research, professors, students), and commercial application. **Key Design Points** * High-performance STM32H753 Processor * Modular flight controller: separated IMU, FMU, and Base system connected by a 100-pin & a 50-pin Pixhawk®​ Bus connector. * Redundancy: 3x IMU sensors & 2x Barometer sensors on separate buses * Triple redundancy domains: Completely isolated sensor domains with separate buses and separate power control * Newly designed vibration isolation system to filter out high-frequency vibration and reduce noise to ensure accurate readings * Ethernet interface for high-speed mission computer integration * IMUs are temperature-controlled by onboard heating resistors, allowing optimum working temperature of IMUs # Technical Specification ### Processors & Sensors * FMU Processor: STM32H753 * 32 Bit Arm® Cortex®-M7, 480MHz, 2MB flash memory, 1MB RAM * IO Processor: STM32F103 * 32 Bit Arm® Cortex®-M3, 72MHz, 64KB SRAM * On-board sensors ([Shipping Currently, Rev8](https://holybro.com/products/pixhawk-6x-rev8)) * Accel/Gyro: 3x ICM-45686 (with BalancedGyro™ Technology) * Barometer: ICP20100 & BMP388 * Mag: BMM150 * On-board sensors ([Previous Revision, Rev3/4](https://holybro.com/products/pixhawk-6x-rev3)) * Accel/Gyro: BMI088/ICM-20649 * Accel/Gyro: ICM-42688-P * Accel/Gyro: ICM-42670-P * Barometer: 2x BMP388 * Mag: BMM150 ### Electrical data * Voltage Ratings: * Max input voltage: 6V * USB Power Input: 4.75\~5.25V * Servo Rail Input: 0\~36V * Current Ratings: * Telem1 output current limiter: 1.5A * All other port combined output current limiter: 1.5A ### Mechanical data * Dimensions * Flight Controller Module: 38.8 x 31.8 x 14.6mm * Standard Baseboard: 52.4 x 103.4 x 16.7mm * Mini Baseboard: 43.4 x 72.8 x 14.2 mm * Weight * Flight Controller Module: 23g * Standard Baseboard: 51g * Mini Baseboard: 26.5g ### Interfaces * 16- PWM servo outputs with hardware switchable 3.3V or 5V signal mode (requires base board modification) * R/C input for Spektrum / DSM * Dedicated R/C input for PPM and S.Bus input * Dedicated analog / PWM RSSI input and S.Bus output * 4 general purpose serial ports * 3 with full flow control * 1 with separate 1.5A current limit (Telem1) * 1 with I2C and additional GPIO line for external NFC reader * 2 GPS ports * 1 full GPS plus Safety Switch Port * 1 basic GPS port * 1 I2C port * 1 Ethernet port * Transformerless Applications ([AN2190 50 Ohm termination](https://ww1.microchip.com/downloads/en/Appnotes/00002190A.pdf)) * 100Mbps * 1 SPI bus * 2 chip select lines * 2 data-ready lines * 1 SPI SYNC line * 1 SPI reset line * 2 CAN Buses for CAN peripheral * CAN Bus has individual silent controls or ESC RX-MUX control * 2 Power input ports with SMBus * 1 AD & IO port * 2 additional analog input * 1 PWM/Capture input * 2 Dedicated debug and GPIO lines ### Other Characteristics * Operating temperature: -40 \~ 85°c # Sample Wiring Diagram
# Pixhawk Baseboards
{% content-ref url="/pages/aDWVej3IIqboZMZCg60P" %} [Pixhawk Baseboard v1 Ports](/autopilot/pixhawk-baseboards/pixhawk-baseboard-v1-ports) {% endcontent-ref %} {% content-ref url="/pages/jECVixIA7ZkitE9vKSvB" %} [Pixhawk Baseboard v2 Ports](/autopilot/pixhawk-baseboards/pixhawk-baseboard-v2-ports) {% endcontent-ref %} {% content-ref url="/pages/6KDwdSYmM6L3iw5xF9w4" %} [Pixhawk Mini Baseboard Ports](/autopilot/pixhawk-baseboards/pixhawk-mini-baseboard-ports) {% endcontent-ref %} {% content-ref url="/pages/tcVOn65r3RoZ5wZpFZLG" %} [Pixhawk RPi CM4 Baseboard](/autopilot/pixhawk-baseboards/pixhawk-rpi-cm4-baseboard) {% endcontent-ref %} {% content-ref url="/pages/254FVXaTGfTH58AGbXaA" %} [Pixhawk Jetson Baseboard](/autopilot/pixhawk-baseboards/pixhawk-jetson-baseboard) {% endcontent-ref %} # Dimensions # Rev 8 (Current) Dimension in Millimeters {% hint style="info" %} This version is currently being shipped. {% endhint %} ## FC Module Only
## Standard Baseboard v2A
## Mini Baseboard
## Standard Baseboard v1
# Rev 3 & 4 Dimension in Millimeters {% hint style="info" %} The previous shipped "Rev3 & 4" has different dimension compared to the "Rev8". {% endhint %} ## Rev3 & 4 ![Pixhawk 5X & 6X Flight Controller Module](/files/YQATvMIKgTqrAgb9iZaJ) ## Standard Baseboard ![Pixhawk Baseboard](/files/FLFP2TBlpmPDanuK0lL6) ## Mini Baseboard ![Pixhawk Mini Baseboard](/files/8hCApnkGrQE1e5Zi5AQE) # PX4 & Ardupilot Guide {% hint style="info" %} ### **PX4** If you are using PX4, please refer to the PX4 user guide page for additional information. [**https://docs.px4.io/main/en/flight\_controller/pixhawk6x.html**](https://docs.px4.io/main/en/flight_controller/pixhawk6x.html)[**https://docs.px4.io/main/en/assembly/quick\_start\_pixhawk6X.html**](https://docs.px4.io/main/en/assembly/quick_start_pixhawk6X.html) {% endhint %} {% hint style="info" %} ### **Ardupilot** If you are using Ardupilot, please refer to the Ardupilot user guide page for additional information. [**https://ardupilot.org/copter/docs/common-holybro-pixhawk6X.html**](https://ardupilot.org/copter/docs/common-holybro-pixhawk6X.html) {% endhint %} # Supported Firmware {% hint style="warning" %} #### Pixhawk 6X is shipped with PX4 FMUv6X Firmware #### Ardupilot Firmware can be flash via Mission Planner or QGroundControl. It can also be downloaded here: [**https://firmware.ardupilot.org/**](https://firmware.ardupilot.org/) * PX4 Firmware Target: FMUv6x * Ardupilot Firmware Target: Pixhawk 6X {% endhint %} ### Rev 8 (ICM-45686) Version #### [*PX4* ](https://github.com/PX4/PX4-Autopilot/releases) Support in PX4 1.14.3 release and later. #### [*Ardupilot* ](https://firmware.ardupilot.org/Copter/) Supported in 4.5.0 stable release and later. ### Rev 3/4 Version #### [*PX4* ](https://github.com/PX4/PX4-Autopilot/releases) Pixhawk 6X is supported on PX4 [**1.13.1 release**](https://github.com/PX4/PX4-Autopilot/releases/tag/v1.13.1) and later. #### [*Ardupilot* ](https://firmware.ardupilot.org/Copter/) Supported in Ardupilot **4.2.3** stable release and later. {% hint style="warning" %} REV3 & 4 not supported in **Ardupilot 4.5.3**, please use 4.5.2 or 4.5.4. {% endhint %} # Download #### Pixhawk Baseboard Reference and Downloads {% content-ref url="/pages/1fpeoX3qSZvte4Agmo1e" %} [Download](/autopilot/pixhawk-baseboards/download) {% endcontent-ref %} #### Pixhawk 6X Module CAD File {% file src="/files/ys31O4zpGbHE2X16UGI6" %} {% file src="/files/xOoX90UzhKU500Rpywpc" %} # Pixhawk 6X Pro # Overview
Key Design Point * High-performance ADIS16470 Industrial IMU with high accelerometer dynamic range (±40 g), perfect for accurate motion sensing in demanding UAV applications * All New advanced durable vibration isolation material with resonance frequency in the higher spectrum, ideal for industrial and commercial drone applications * High performance STM32H753 Processor * Ethernet interface for high-speed mission computer integration ### Features * Triple redundant IMU & double redundant barometer on separate buses * Modular flight controller: separated IMU, FMU, and Base system * Safety-driven design incorporates sensors from different manufacturers and model lineups * Independent LDO powers every sensor set with independent power control. * Temperature-controlled IMU board, allowing optimum working temperature of IMUs
# Technical Specification ### Processors & Sensors * FMU Processor: STM32H753 * 32 Bit Arm® Cortex®-M7, 480MHz, 2MB flash memory, 1MB RAM * IO Processor: STM32F103 * 32 Bit Arm® Cortex®-M3, 72MHz, 64KB SRAM * On-board sensors * Accel/Gyro: ADIS16470 (±40g, Vibration Isolated, Industrial IMU) * Accel/Gyro: IIM-42652 (±16g, Vibration Isolated, Industrial IMU) * Accel/Gyro: ICM-45686 with BalancedGyro™ Technology (±32g, Hard Mounted) * Barometer: ICP20100 * Barometer: BMP388 * Mag: BMM150 ### Electrical data * Voltage Ratings: * Max input voltage: 6V * USB Power Input: 4.75\~5.25V * Servo Rail Input: 0\~36V * Current Ratings: * Telem1 output current limiter: 1.5A * All other port combined output current limiter: 1.5A ### Mechanical data * Dimensions * Flight Controller Module: 38.8 x 31.8 x 30.1mm * Standard Baseboard: 52.4 x 103.4 x 16.7mm * Mini Baseboard: 43.4 x 72.8 x 14.2 mm * Weight * Flight Controller Module: 50g * Standard Baseboard: 51g * Mini Baseboard: 26.5g ### Interfaces * 16- PWM servo outputs with hardware switchable 3.3V or 5V signal mode (requires base board modification) * R/C input for Spektrum / DSM * Dedicated R/C input for PPM and S.Bus input * Dedicated analog / PWM RSSI input and S.Bus output * 4 general-purpose serial ports * 3 with full flow control * 1 with separate 1.5A current limit (Telem1) * 1 with I2C and additional GPIO line for external NFC reader * 2 GPS ports * 1 full GPS plus Safety Switch Port * 1 basic GPS port * 1 I2C port * 1 Ethernet port * Transformerless Applications ([AN2190 50 Ohm termination](https://ww1.microchip.com/downloads/en/Appnotes/00002190A.pdf)) * 100Mbps * 1 SPI bus * 2 chip select lines * 2 data-ready lines * 1 SPI SYNC line * 1 SPI reset line * 2 CAN Buses for CAN peripheral * CAN Bus has individual silent controls or ESC RX-MUX control * 2 Power input ports with SMBus * 1 AD & IO port * 2 additional analog input * 1 PWM/Capture input * 2 Dedicated debug and GPIO lines ### Other Characteristics * Operating temperature: -40 \~ 85°c # Sample Wiring Diagram
# Pixhawk Baseboards {% content-ref url="/pages/aDWVej3IIqboZMZCg60P" %} [Pixhawk Baseboard v1 Ports](/autopilot/pixhawk-baseboards/pixhawk-baseboard-v1-ports) {% endcontent-ref %} {% content-ref url="/pages/6KDwdSYmM6L3iw5xF9w4" %} [Pixhawk Mini Baseboard Ports](/autopilot/pixhawk-baseboards/pixhawk-mini-baseboard-ports) {% endcontent-ref %} {% content-ref url="/pages/tcVOn65r3RoZ5wZpFZLG" %} [Pixhawk RPi CM4 Baseboard](/autopilot/pixhawk-baseboards/pixhawk-rpi-cm4-baseboard) {% endcontent-ref %} {% content-ref url="/pages/254FVXaTGfTH58AGbXaA" %} [Pixhawk Jetson Baseboard](/autopilot/pixhawk-baseboards/pixhawk-jetson-baseboard) {% endcontent-ref %} # Dimensions {% hint style="info" %} Dimension in millimeters {% endhint %}
![Pixhawk Baseboard](/files/wJ2Xpi0W0XR0ym2si6Br) ![Pixhawk Mini Baseboard](/files/p9iPWs3yx2aFRVuM6qva) # PX4 & Ardupilot Guide {% hint style="info" %} Pixhawk 6X Pro share the same target as Pixhawk 6X {% endhint %} ### **PX4** If you are using PX4, please refer to the PX4 user guide page for additional information. {% embed url="" %} {% embed url="" %} ### **Ardupilot** If you are using PX4, please refer to the PX4 user guide page for additional information. {% embed url="" %} # Supported Firmware {% hint style="success" %} Pixhawk 6X Pro is shipped with PX4 FMUv6X Firmware, but it is also supported in Ardupilot. It shares the same firmware as ***Pixhawk 6X.*** {% endhint %} ### [*PX4* ](https://github.com/PX4/PX4-Autopilot/releases) ***Pixhawk 6X Pro*** is supported on Master/Main or PX4 1.14.3 release and later.\ PX4 Firmware Target: FMUv6x ### [*Ardupilot* ](https://firmware.ardupilot.org/Copter/) ***Pixhawk 6X Pro*** is supported in Ardupilot **4.5.0** stable release and later. Ardupilot Firmware Target: `Pixhawk 6X`. Ardupilot firmware can be flash via Mission Planner or QGroundControl. \ \ It can also be downloaded here: [**https://firmware.ardupilot.org/**](https://firmware.ardupilot.org/)
# Download #### Pixhawk Baseboard Reference and Downloads {% content-ref url="/pages/1fpeoX3qSZvte4Agmo1e" %} [Download](/autopilot/pixhawk-baseboards/download) {% endcontent-ref %} #### Pixhawk 6X Pro Module CAD File {% file src="/files/ZaQmLTvEDJfqGEgZXhrv" %} # Pixhawk Baseboards These baseboard is compatible with both Pixhawk 5X & 6X, and any flight controller that follow the Pixhawk Bus Standard. # Pixhawk Baseboard v1 Ports This baseboard is compatible with both Pixhawk 5X & 6X, and any flight controller that follow the Pixhawk Bus Standard. {% hint style="info" %} The Pixhawk Baseboard v1 has been replaced by the v2A & V2B. See the following change log for detail. {% endhint %} {% content-ref url="/pages/zjEp4wewp27jR1NCTCvX" %} [Baseboard Changelog](/autopilot/pixhawk-baseboards/baseboard-changelog) {% endcontent-ref %} ![](/files/jhTDhBelpVY5XbaheAXL) {% hint style="info" %} * I/O PWM OUT = MAIN OUT * FMU PWM OUT = AUX OUT * Refer to this diagram for location of pin1. All connectors are JST GH 1.25 mm Pitch unless noted otherwise. ![](/files/MyTeWlJug4RGPlgIU1H6) {% endhint %} ### **Power1 (Main) & Power2 Port (Backup)** (2.00mm Pitch CLIK-Mate)
PinSignalVolt
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)GNDGND
6(black)GNDGND
### **Telem1, Telem2, Telem3 ports**
PinSignalVolt
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)GNDGND
### **GPS 1 Port**
PinSignalVolt
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)GNDGND
### **GPS 2 Port**
PinSignalVolt
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)GNDGND
### **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**
PinSignalVolt
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)GNDGND
### **SPI Port**
PinSignalVolt
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)GNDGND
### **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 OUT)** | **Pin** | **Signal** | **Volt** | | ------- | ----------- | -------- | | S | FMU\_CH1\~8 | +3.3V | | + | VDD\_SERVO | 0\~36V | | - | GND | GND | ### **I/O PWM OUT (MAIN OUT)** | **Pin** | **Signal** | **Volt** | | ------- | ---------- | -------- | | S | IO\_CH1\~8 | +3.3V | | + | VDD\_SERVO | 0\~36V | | - | GND | GND | # Pixhawk Baseboard v2 Ports This baseboard is compatible with both Pixhawk 5X & 6X, and any flight controller that follows the Pixhawk Bus Standard. {% hint style="warning" %} The ports and pinout of the Pixhawk Baseboard v2A and v2B are identical. The only difference is the orientation of the header pins. {% endhint %}

Pixhawk Standard Baseboard V2A

Pixhawk Standard Baseboard V2B

{% hint style="info" %} * Refer to diagram below for location of pin1. All connectors are JST GH 1.25 mm Pitch unless noted otherwise. * ```
``` {% endhint %} The Pixhawk Baseboard v1 has been replaced by the v2A & V2B. See the [**Baseboard Changelog**](https://docs.holybro.com/autopilot/pixhawk-baseboards/baseboard-changelog) for difference. ### **Power1 (Main) & Power2 Port (Backup)** (2.00mm Pitch CLIK-Mate)
PinSignalVolt
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)GNDGND
6(black)GNDGND
### **Telem1, Telem2, Telem3 ports**
PinSignalVolt
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)GNDGND
### **GPS 1 Port**
PinSignalVolt
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)GNDGND
### **GPS 2 Port**
PinSignalVolt
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)GNDGND
### **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**
PinSignalVolt
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)GNDGND
### **SPI Port**
PinSignalVolt
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)GNDGND
### **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**
PinSignalVolt
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)GNDGND
### **AUX & RSSI** | | | | | - | ------------------ | ----- | | 1 | 5V | +5V | | 2 | FMU\_CH7 (AUX7) | +3.3V | | 3 | FMU\_CH8 (AUX8) | +3.3V | | 4 | GND | GND | | 5 | SBUS\_OUT/RSSI\_IN | +3.3V | | 6 | GND | GND | ### **RC IN Port** | **Pin** | **Signal** | **Volt** | | ------- | ------------ | -------- | | S | SBUS/PPM in | +3.3V | | + | VDD\_5V \_RC | +5V | | - | 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 | ### **IO Debug Port** (JST-SH 1mm Pitch)
PinSignalVolt
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)GNDGND
### **FMU Debug Port** (JST-SH 1mm Pitch)
PinSignalVolt
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)GNDGND
{% hint style="info" %} Please Note: * MAIN OUT is also known as I/O PWM OUT * AUX OUT is also known as FMU PWM OUT {% endhint %} ### **FMU PWM OUT (AUX OUT)** {% hint style="warning" %} The PWM Signal output of Main & AUX can be change to 5V via a change of a resistor. {% endhint %} | **Pin** | **Signal** | **Volt** | | ------- | ----------- | -------- | | S | FMU\_CH1\~6 | +3.3V | | + | VDD\_SERVO | 0\~36V | | - | GND | GND | ### **I/O PWM OUT (MAIN OUT)** | **Pin** | **Signal** | **Volt** | | ------- | ---------- | -------- | | S | IO\_CH1\~8 | +3.3V | | + | VDD\_SERVO | 0\~36V | | - | GND | GND | # PWM Signal Voltage MOD The newest batch of Pixhawk baseboard V2 now supports switchable PWM signal voltage (3.3V or 5V). The modification requires the user to open the casing of the Pixhawk flight controller and be familiar with soldering. {% hint style="warning" %} Any damages caused during the modification are not covered by warranty {% endhint %} ## For V2A RC12 & V2B RC02 To switch the PWM signal voltage, bridge the 3v3 or 5v soldering pads on the PCB by applying solder on the pads. Make sure the unused pads are cleaned and not shorted. Pixhawk baseboard V2-A and V2-B have slightly different PCB designs. Follow the red square in the diagram below to locate the PWM voltage select soldering pad.

Pixhawk Baseboard V2-A

Pixhawk Baseboard V2-B

## For V2A RC13 & V2B RC03 A newer design that provides a more stable voltage signal and easier modding process is currently available. Find the JP1 on the PCB (default with no resistor soldered at the location), leave the spot empty for 3.3V signal voltage, and short the two soldering pads for 5V.

V2A RC13

V2B RC03

# Pixhawk Baseboard V2 Mounting Plate Dimensions

V2A

V2B

# Pixhawk Mini Baseboard Ports Compatible with Pixhawk 5X & 6X {% hint style="info" %} This baseboard is compatible with both Pixhawk 5X & 6X, and any flight controller that follows the Pixhawk Bus Standard. {% endhint %} ![](/files/JLj94MpERwBI5SUUlrgz) {% hint style="info" %} * FMU PWM OUT = AUX OUT * I/O PWM OUT = MAIN OUT * Refer to this diagram for location of pin1. All connectors are JST GH 1.25 mm Pitch unless noted otherwise. ![](/files/MyTeWlJug4RGPlgIU1H6) {% endhint %} ### **Power1 Port** (2.00mm Pitch CLIK-Mate)
PinSignalVolt
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)GNDGND
6(black)GNDGND
### **Telem1, Telem2 ports**
PinSignalVolt
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)GNDGND
### **GPS 1 Port**
PinSignalVolt
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)GNDGND
### **GPS 2 Port**
PinSignalVolt
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)GNDGND
### **CAN1 port** | **Pin** | **Signal** | **Volt** | | -------- | ---------- | -------- | | 1(red) | VCC | +5V | | 2(black) | CANH1/2 | +3.3V | | 3(black) | CANL1/2 | +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 | ### **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 | ### **SBUS RC port** | **Pin** | **Signal** | **Volt** | | ------- | ------------------ | -------- | | 1 | VDD\_5V \_RC | +3.3V | | 2 | SBUS/PPM in | +5V | | 3 | NC | -- | | 4 | SBUS\_OUT/RSSI\_IN | +3.3V | | 5 | GND | GND | ### **IO Debug Port** (JST-SH 1mm Pitch)
PinSignalVolt
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)GNDGND
### **FMU Debug Port** (JST-SH 1mm Pitch)
PinSignalVolt
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)GNDGND
### **FMU PWM OUT (AUX OUT)**
PinSignalVoltage
1 (Red)VDD_Servo
2 (Black)FMU_CH1+3.3V
3 (Black)FMU_CH2+3.3V
4 (Black)FMU_CH3+3.3V
5 (Black)FMU_CH4+3.3V
6 (Black)FMU_CH5+3.3V
7 (Black)FMU_CH6+3.3V
8 (Black)FMU_CH7+3.3V
9 (Black)FMU_CH8+3.3V
10 (Black)GNDGND
### **I/O PWM OUT (MAIN OUT)**
PinSignalVoltage
1 (Red)VDD_Servo
2 (Black)IO_CH1+3.3V
3 (Black)IO_CH2+3.3V
4 (Black)IO_CH3+3.3V
5 (Black)IO_CH4+3.3V
6 (Black)IO_CH5+3.3V
7 (Black)IO_CH6+3.3V
8 (Black)IO_CH7+3.3V
9 (Black)IO_CH8+3.3V
10 (Black)GNDGND
# Pixhawk Jetson Baseboard # Overview & Specification ## **Features** * Fully compatible with Jetson Orin NX/Nano * Combines the power of Pixhawk & Jetson in a small form factor * [**Pixhawk Bus (PAB) open source specification**](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-010%20Pixhawk%20Autopilot%20Bus%20Standard.pdf) * Jetson & controller are connected via UART, CAN, and Ethernet Switch {% hint style="info" %} #### Jetson Xaviar NX and Jetson Nano are not compatible. #### This baseboard will function as a Jetson Carrier without the Flight Controller {% endhint %} ## Jetson Orin NX/Nano Connectors * Gigabit Ethernet * Connected to both Jetson & controller via Ethernet Switch (RTL8367S) - 8-pin JST-GH - RJ45 * Ethernet port & switch powered by the circuit as the Pixhawk * 8-pin JST-GH * RJ45 * 2x MIPI CSI Camera Inputs * 4 Lanes each * 22-Pin Raspberry Pi Cam FFC * 2x USB 3.2 Host Port * USB A * 1.5A Current Limit * 2x USB 2.0 Host Port * 5-Pin JST-GH * 1.0A Current Limit * USB 2.0 for Programming/debugging * USB-C * M.2 Key M 2242/2280 for NVMe SSD * PCIEx4 * M.2 Key E 2230 for WiFi/BT * PCIEx2 * USB * UART * I2S * Mini HDMI Out * 4x GPIO * 6-pin JST-GH * CAN Port * Connected to the controller’s CAN2 (4 Pin JST-GH) * SPI Port * 7-Pin JST-GH * I2C Port * 4-Pin JST-GH * I2S Port * 7-Pin JST-GH * 2x UART Port * 1 for debug * 1 connected to the controller’s telem2 * Fan Power Port * Current limit 0.35A * IIM42652 IMU * Input Power * XT30 Connector * Voltage Rating: 7V-24V (2S-5S) * Separate the input power circuits from the controller to ensure flight safety * Holybro UBEC can be used for applications above 4S * **Note:** The Pixhawk Jetson Baseboard has an integrated UBEC to convert 7V-24V to 5.0V for the Jetson. Using an external UBEC alongside the integrated one provides redundancy and easier replacement in case of BEC failure. * Power Requirements * Depends on Usage and Peripherals, minimum \~15-30 watts ## Flight Controller Connectors * Pixhawk Bus Interface - 100 Pin Hirose DF40 - 50 Pin Hirose DF40 * [Pixhawk Bus (PAB) Form Factor](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-010%20Pixhawk%20Autopilot%20Bus%20Standard.pdf) * Redundant Digital Power Module Inputs * I2C Power Monitor Support * 2x – 6 Pin Molex CLIK-Mate * Power Path Selector w/ Overvoltage Protection * Voltage Ratings: * Max input voltage: 6V * USB Power Input: 4.75\~5.25V * 2 GPS Port * GPS1 - GPS Plus Safety Switch Port (10-Pin JST-GH) * GPS2 - basic GPS Port (6-pin JST-GH) * 2x CAN Ports * 4 Pin JST-GH * 3x Telemetry Ports with Flow Control * 2x 6-Pin JST-GH * 1 is connected to Jetson’s UART1 Port * 16 PWM Outputs * 2x 10-Pin JST-GH * UART4 & I2C Port * 6-Pin JST-GH * Gigabit Ethernet port * Connected to both Jetson & controller via Ethernet Switch (RTL8367S) * 8-pin JST-GH * RJ45 * AD & IO * 8-Pin JST-GH * USB 2.0 * USB-C * 4-pin JST-GH * DSM Input * 3-pin JST-ZH 1.5mm Pitch * RC in * PPM/SBUS * 5-pin JST-GH * SPI Port * External Sensor Bus (SPI5aut * 11-Pin JST-GH * 2x Debug Port * 1 for FMU * 1 for IO * 10-Pin JST-SH * Current Ratings: * Telem1 output current limiter: 1.5A * All other port combined output current limiter: 1.5A {% embed url="" %} # Ports Pinout
{% hint style="info" %} * I/O PWM OUT = MAIN OUT * FMU PWM OUT = AUX OUT * Pin 1 starts from the flight controllers like diagram below ![](/files/XdwEJOd1mhRk2PN1TTda) {% endhint %} ### Power 1 (Main), Power 2 Ports (2.00mm Pitch CLIK-Mate)
Pin Signal Voltage
1(red) VDD5V_BRICK1/2(in) +5V
2(black) VDD5V_BRICK1/2 (in) +5V
3(black) SCL1/2 +3.3V
4(black) SDA1/2+3.3V
5(black) GND GND
6(black) GND GND
### Tel1, Tel3 Ports
Pin Signal Voltage
1(red) VCC (out) +5V
2(black) TX7/2(out) +3.3V
3(black) RX7/2(in) +3.3V
4(black) CTS7/2(in) +3.3V
5(black) RTS7/2(out) +3.3V
6(black) GND GND
### CAN1, CAN2 Ports | Pin | Signal | Voltage | | -------- | --------- | ------- | | 1(red) | VCC (out) | +5V | | 2(black) | CANH1/2 | +3.3V | | 3(black) | CANL1/2 | +3.3V | | 4(black) | GND | GND | ### GPS1 Port
Pin Signal Voltage
1(red) VCC (out) +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
### GPS2 Port
Pin Signal Voltage
1(red) VCC (out) +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
### UART4 & I2C Port (also shown as UART\&I2C on some board)
Pin Signal Voltage
1(red) VCC (out) +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)GNDGND
### SPI Port
Pin Signal Voltage
1(red) VCC (out) +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
### FMU USB Port | Pin | Signal | Voltage | | -------- | --------- | ------- | | 1(red) | VBUS (in) | +5V | | 2(black) | DM | +3.3V | | 3(black) | DP | +3.3V | | 4(black) | GND | GND | ### I2C Port | Pin | Signal | Voltage | | -------- | ------ | ------- | | 1(red) | VCC | +5V | | 2(black) | SCL3 | +3.3V | | 3(black) | SDA3 | +3.3V | | 4(black) | GND | GND | ### ETH-P1 Port
Pin Signal Voltage
1(red) TX_D1+-
2(black) TX_D1--
3(black) RX_D2+-
4(black) RX_D2--
5(black) Bi_D3+-
6(black) Bi_D3--
7(black) Bi_D4+-
8(black) Bi_D4--
### IO Debug Port (JST-SH 1mm Pitch)
Pin Signal Voltage
1(red) IO_VDD_3V3(out) +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 Voltage
1(red) FMU_VDD_3V3(out) +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
### AD\&IO port
Pin Signal Voltage
1(red) VCC (out) +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)GNDGND
### DSM RC Port (JST-ZH 1.5mm Pitch) | Pin | Signal | Voltage | | --------- | ------------------ | ------- | | 1(yellow) | VDD\_3V3\_SPEKTRUM | +3.3V | | 2(black) | GND | GND | | 3(gray) | DSM/Spektrum in | +3.3V | ### RC IN Port | Pin | Signal | Voltage | | --------- | ------------------ | ------- | | 1(red) | VDD\_5V \_RC (out) | +5V | | 2( black) | SBUS/PPM in | +3.3V | | 3( black) | RSSI\_IN | +3.3V | | 4( black) | NC | -- | | 5( black) | GND | GND | ### SBUS Out Port | Pin | Signal | Voltage | | --------- | --------- | ------- | | 1(red) | NC | -- | | 2( black) | SBUS\_OUT | +3.3V | | 3( black) | GND | GND | ### FMU PWM OUT (AUX OUT)
Pin Signal Voltage
1(red) VDD_SERVO 0~16V
2(black)FMU_CH1+3.3V
3(black)FMU_CH2+3.3V
4(black)FMU_CH3+3.3V
5(black)FMU_CH4+3.3V
6(black)FMU_CH5+3.3V
7(black)FMU_CH6+3.3V
8(black)FMU_CH7+3.3V
9(black)FMU_CH8+3.3V
10(black)GNDGND
### IO PWM OUT (MAIN OUT)
Pin Signal Voltage
1(red) VDD_SERVO 0~16V
2(black)IO_CH1+3.3V
3(black)IO_CH2+3.3V
4(black)IO_CH3+3.3V
5(black)IO_CH4+3.3V
6(black)IO_CH5+3.3V
7(black)IO_CH6+3.3V
8(black)IO_CH7+3.3V
9(black)IO_CH8+3.3V
10(black)GNDGND
### Orin USB2.0 Port | Pin | Signal | Voltage | | -------- | --------------- | ------- | | 1(red) | USB\_VBUS (out) | +5V | | 2(black) | DM | +3.3V | | 3(black) | DP | +3.3V | | 4(black) | GND | GND | | 5(black) | Shield | GND | ### Orin Debug (JST-SH 1mm Pitch)
Pin Signal Voltage
1(red) VCC (out)+5V
2(black)Orin_UART2_TXD+3.3V
3(black)Orin_UART2_RXD+3.3V
4(black)NC--
5(black)NC--
6(black)GNDGND
### Orin I2C Port | Pin | Signal | Voltage | | -------- | --------------- | ------- | | 1(red) | VCC (out) | +5V | | 2(black) | Orin\_I2C1\_SCL | +3.3V | | 3(black) | Orin\_I2C1\_SDA | +3.3V | | 4(black) | GND | GND | ### Orin GPIO Port
Pin Signal Voltage
1(red) VCC+5V
2(black)Orin_GPIO_07+3.3V
3(black)Orin_GPIO_11+3.3V
4(black)Orin_GPIO_12+3.3V
5(black)Orin_GPIO_13+3.3V
6(black)GNDGND
### Orin Camera0 Port Camera Serial Interface (CSI)
Pin Signal Voltage
1GNDGND
2Orin_CSI1_D0_N+3.3V
3Orin_CSI1_D0_P+3.3V
4GNDGND
5Orin_CSI1_D1_N+3.3V
6Orin_CSI1_D1_P+3.3V
7GNDGND
8Orin_CSI1_CLK_N+3.3V
9Orin_CSI1_CLK_P+3.3V
10GNDGND
11Orin_CSI0_D0_N+3.3V
12Orin_CSI0_D0_P+3.3V
13GNDGND
14Orin_CSI0_D1_N+3.3V
15Orin_CSI0_D1_P+3.3V
16GNDGND
17Orin_CAM0_PWDN+3.3V
18Orin_CAM0_MCLK+3.3V
19GNDGND
20Orin_CAM0_I2C_SCL+3.3V
21Orin_CAM0_I2C_SDA+3.3V
22VDD+3.3V
### Orin Camera1 Port Camera Serial Interface (CSI)
Pin Signal Voltage
1GNDGND
2Orin_CSI2_D0_N+3.3V
3Orin_CSI2_D0_P+3.3V
4GNDGND
5Orin_CSI2_D1_N+3.3V
6Orin_CSI2_D1_P+3.3V
7GNDGND
8Orin_CSI2_CLK_N+3.3V
9Orin_CSI2_CLK_P+3.3V
10GNDGND
11Orin_CSI3_D0_N+3.3V
12Orin_CSI3_D0_P+3.3V
13GNDGND
14Orin_CSI3_D1_N+3.3V
15Orin_CSI3_D1_P+3.3V
16GNDGND
17Orin_CAM1_PWDN+3.3V
18Orin_CAM1_MCLK+3.3V
19GNDGND
20Orin_CAM1_I2C_SCL+3.3V
21Orin_CAM1_I2C_SDA+3.3V
22VDD+3.3V
### Orin SPI Port
Pin Signal Voltage
1(red) VCC+5V
2(black)Orin_SPI0_SCK+3.3V
3(black)Orin_SPI0_MISO+3.3V
4(black)Orin_SPI0_MOSI+3.3V
5(black)Orin_SPI0_CS0+3.3V
6(black)Orin_SPI0_CS1+3.3V
7(black)GNDGND
### Orin I2S Port
Pin Signal Voltage
1(red) VCC+5V
2(black)Orin_I2S0_SDOUT+3.3V
3(black)Orin_I2S0_SDIN+3.3V
4(black)Orin_I2S0_LRCK+3.3V
5(black)Orin_I2S0_SCLK+3.3V
6(black)Orin_GPIO_09+3.3V
7(black)GNDGND
# Wiring & Block Diagram #### Block Diagram
#### Reference Wiring Diagram
# Dimension & Weight ### Weight * Outer alloy case weight: 90g * Without Jetson and Flight Controller: 85g * With Jetson, no Heatsink or Flight Controller: 110g * With Jetson and Heatsink, no Flight Controller: 175g * With Jetson, Heatsink, and Pixhawk 6X Flight Controller: 185g * With Jetson, Heatsink, Pixhawk 6X Flight Controller, M.2 SSD, M.2 Wi-Fi Module: 190g ### Dimensions (Unit in millimeters) * Without Jetson and FC Module: 126 x 80 x 22.9mm * With Jetson Orin NX + Heatsink/Fan & FC Module: 126 x 80 x 38.6mm * Alloy case: 130 x 84 x 20mm

Without Jetson Orin & Controller

With Jetson Orin, Heatsink+Fan, and Pixhawk 6X

Jstson baseboard alloy case dimension

# Flashing guide {% hint style="info" %} Note: There are scripts to help you do the necessary basic setup after flashing Jetson on Holybro's Github page: {% endhint %} {% hint style="info" %} Currently, the Holybro Jetson baseboard only supports Jetpack versions 5.1.2 to 6.0 and 6.2.2. {% endhint %} Two methods to flash the board: ### SDK Manager: This is a GUI-based solution by Nvidia which can be found from the link below:\ \ **Note:** Keep in mind that at the time of writing this document, we chose to install Jetpack 5.1.2. #### Extra procedure for Jetpack 6.2.2 For Jetpack version 6.2.2, a patch is required to install on the host computer. Download the .rar file below and move/replace the existing file in **nvidia->nvidia\_sdk->JetPack\_6.2.2\_Linux\_JETSON\_ORIN\_NX\_TARGETS.** {% file src="/files/OXY1UMOFTYiWFeh8HgCa" %} {% hint style="info" %} If the folder is not present, try flashing the Jetson once, and the SDK should create the folder {% endhint %} ### Command Line: You could benefit from [Nvidia flash guide](https://docs.nvidia.com/jetson/archives/r35.3.1/DeveloperGuide/text/IN/QuickStart.html#to-flash-the-jetson-developer-kit-operating-software) . {% hint style="info" %} The difference here is you need to change the DIP switch on the carrier board to REC to boot in recovery mode. ![](/files/lvPK7m05GV2qgxdGYngE) {% endhint %} ### Important procedure if the SSD has preinstalled Jetpack After the system is cloned to a new SSD, we connect the SSD and Jetson module to the baseboard, enter the force recovery mode, and connect to the computer.\ On the computer used to flash the firmware with the SDK manager, navigate to the folder: nvidia ->nvidia\_sdk, find the target version Jetpack folder, open it, and open the terminal at the folder location.
Once in the terminal, enter the command below:\ sudo ./flash.sh --no-systemimg -c bootloader/t186ref/cfg/flash\_t234\_qspi.xml jetson-orin-nano-devkit mmcblk0p1 {% hint style="info" %} In the latest Jetpack, the file path is bootloader/generic/cfg/flash\_t234\_qspi.xml {% endhint %} # CAN setup CAN2 on the basboard is conneted internally to both FCU and Jetson module. The basics could be implemented from Nvidia user guide: {% embed url="" %} Nvdia Jetson official CAN setup guide {% endembed %} However, you could follow the below quick commands might make you able to loopback test the CAN connection between Jetson module and FCU on Jetson's terminal: ``` sudo modprobe mttcan sudo ip link set can0 type can bitrate 500000 loopback on sudo ip link set can0 up candump can0 & cansend can0 123#abcdabcd ``` The last command has to have the following output if can is running OK: ``` can0 123 [4] AB CD AB CD can0 123 [4] AB CD AB CD ``` # CSI Camera setup Popular cameras supported out of the box include IMX219 camera modules, such as the Raspberry Pi Camera Module V2. For the CSI camera, basically you could benefit from the Nvidia guide {% embed url="" %} Nvidia Jetson CAM guide {% endembed %} {% hint style="info" %} You may need to connect your Jetson to a display before attempting NVIDIA's CSI camera guide. {% endhint %} The Holybro Jetson carrier board can have two CSI cameras connected. To give a short intro, you can try the following commands in the terminal in case your carrier board is connected to a display screen: ``` nvgstcapture-1.0 ``` To open the capture on a specific CAM, you can pass the following (assuming we want to test cam1 on Orin\_camera 1): ``` nvgstcapture-1.0 sensor-id=1 ``` # MAVLINK Bridge ### Serial Connection Pixhawk TELEM2 is internally connected to the Jetson module. Let us first check the connection on the Jetson terminal. Consider having a MAV connection to companion computers in advance. Check [PX4 Docs](https://docs.px4.io/main/en/companion_computer/pixhawk_companion.html#serial-port-setup) for the details. For a sanity check, you could run[ mavlink shell](https://docs.px4.io/main/en/debug/mavlink_shell.html#mavlink-shell) on `/dev/ttyTHS0` ### Ethernet Connection Since there is no DHCP server active in this configuration, the IPs have to be set manually:\ Once the Ethernet cables are plugged in, the `eth0` network interface seems to switch from DOWN to UP. You can check the status using: ``` ip address show eth0 ``` You can also try to enable it manually: ``` sudo ip link set dev eth0 up ``` It then seems to automatically set a link-local address, for me it looks like this: ``` ip address show eth0 2: eth0: mtu 1500 qdisc mq state UP group default qlen 1000 link/ether xx:xx:xx:xx:xx:xx brd ff:ff:ff:ff:ff:ff inet 169.254.21.183/16 brd 169.254.255.255 scope global noprefixroute eth0 valid_lft forever preferred_lft forever inet6 fe80::yyyy:yyyy:yyyy:yyyy/64 scope link valid_lft forever preferred_lft forever ``` This means the Jetson’s Ethernet IP is 169.254.21.183. #### IP setup on FC Now connect to the NuttX shell (using a console or the MAVLink shell) and check the status of the link: ``` ifconfig eth0 Link encap:Ethernet HWaddr xx:xx:xx:xx:xx:xx at DOWN inet addr:0.0.0.0 DRaddr:192.168.0.254 Mask:255.255.255.0 ``` For me, it is DOWN at first. To set it to UP: ``` ifup eth0 ifup eth0...OK ``` Now check the config again: ``` ifconfig eth0 Link encap:Ethernet HWaddr xx:xx:xx:xx:xx:xx at UP inet addr:0.0.0.0 DRaddr:192.168.0.254 Mask:255.255.255.0 ``` However, it doesn’t have an IP yet. I’m going to set one similar to the one of Jetson: ``` ifconfig eth0 169.254.21.184 ``` And check it: ``` ifconfig eth0 Link encap:Ethernet HWaddr xx:xx:xx:xx:xx:xx at UP inet addr:169.254.21.184 DRaddr:169.254.21.1 Mask:255.255.255.0 ``` Now the devices should be able to ping each other. Note that this configuration is ephemeral and will be lost after a reboot, so we’ll need to find a way to configure it statically. #### Ping test First from the Jetson terminal: ``` ping 169.254.21.184 PING 169.254.21.184 (169.254.21.184) 56(84) bytes of data. 64 bytes from 169.254.21.184: icmp_seq=1 ttl=64 time=0.188 ms 64 bytes from 169.254.21.184: icmp_seq=2 ttl=64 time=0.131 ms 64 bytes from 169.254.21.184: icmp_seq=3 ttl=64 time=0.190 ms 64 bytes from 169.254.21.184: icmp_seq=4 ttl=64 time=0.112 ms ^C --- 169.254.21.184 ping statistics --- 4 packets transmitted, 4 received, 0% packet loss, time 3077ms rtt min/avg/max/mdev = 0.112/0.155/0.190/0.034 ms ``` And from the FC in Nuttx Shell: ``` ping 169.254.21.183 PING 169.254.21.183 56 bytes of data 56 bytes from 169.254.21.183: icmp_seq=0 time=0 ms 56 bytes from 169.254.21.183: icmp_seq=1 time=0 ms 56 bytes from 169.254.21.183: icmp_seq=2 time=0 ms 56 bytes from 169.254.21.183: icmp_seq=3 time=0 ms 56 bytes from 169.254.21.183: icmp_seq=4 time=0 ms 56 bytes from 169.254.21.183: icmp_seq=5 time=0 ms 56 bytes from 169.254.21.183: icmp_seq=6 time=0 ms 56 bytes from 169.254.21.183: icmp_seq=7 time=0 ms 56 bytes from 169.254.21.183: icmp_seq=8 time=0 ms 56 bytes from 169.254.21.183: icmp_seq=9 time=0 ms 10 packets transmitted, 10 received, 0% packet loss, time 10010 ms ``` #### MAVLink/MAVSDK test For this, we need to set the mavlink instance to send traffic to the Jetson’s IP: For an initial test we can do: ``` mavlink start -o 14540 -t 169.254.21.183 ``` This will send MAVLink traffic on UDP to port 14540 (the MAVSDK/MAVROS port) to that IP which means MAVSDK can just listen to any UDP arriving at that default port. To run a MAVSDK example, install mavsdk via pip, and try out an example from [MAVSDK-Python/examples](https://github.com/mavlink/MAVSDK-Python/tree/main/examples). For instance: ``` python3 -m pip install mavsdk wget https://raw.githubusercontent.com/mavlink/MAVSDK-Python/main/examples/tune.py chmod +x tune.py ./tune.py ``` # Reference Links ### PX4 {% embed url="" %} {% embed url="" %} {% embed url="" %} ### Ardupilot {% embed url="" %} {% embed url="" %} {% embed url="" %} {% embed url="" %} ### Helper Scripts {% embed url="" %} # Pixhawk RPi CM4 Baseboard Compatible with Pixhawk 5X & 6X # Overview

Pixhawk 6X with the Pixhawk RPi CM4 Baseboard

The Holybro Pixhawk RPi CM4 Baseboard combine the Pixhawk FC module with the Raspberry Pi CM4 companion computer in on compact form factor with all the connections you need for development. \ \ It follows the Pixhawk Connector and Bus Standard, allow easy swap of FC Module with any FC that follows the Pixhawk Bus Standard. The FC Module is internally connected to RPi CM4 through TELEM2, and can also be connected via ethernet with a external cable provided. \ \ Recommend minimum specification for RPi CM4: * Wireless: Yes * RAM: 4GB (or 8GB) * eMMC: 16GB
# Connections & Ports {% hint style="info" %} This baseboard is compatible with both Pixhawk 5X & 6X, and any flight controller that follow the Pixhawk Bus Standard. {% endhint %}
{% hint style="info" %} This baseboard is compatible with both Pixhawk 5X & 6X, and any flight controller that follow the Pixhawk Bus Standard. {% endhint %} ### **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: 5V ### **CM4 Host1 & Host2 USB-C Port:** CM4 USB Host port. 1A Current output limit for each port. ### **Micro HDMI:** CM4 Video Output ### **Dip Switch** ![](/files/7ZdxT3BnjS7F2jHtMg34) | | 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

|
{% hint style="info" %} Refer to this diagram for location of pin1. All connectors are JST GH 1.25 mm Pitch unless noted otherwise. ![](/files/MyTeWlJug4RGPlgIU1H6) {% endhint %} ### **CM4 ETH port**
PinSignalVolt
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** {% hint style="info" %} The 5V source for the fan is not shared with the USB 5V that powers the RPi compute module. {% endhint %} | Pin | Signal | Volt | | -------- | ------ | ---- | | 1(red) | VCC | +5V | | 2(black) | GND | GND | ### **CAMERA Port** (Use for CSI Camera IN)
PinSignalVolt
1GNDGND
2CM4_CAM1_D0_N+3.3V
3CM4_CAM1_D0_P+3.3V
4GNDGND
5CM4_CAM1_D1_N+3.3V
6CM4_CAM1_D1_P+3.3V
7GNDGND
8CM4_CAM1_CLK_N+3.3V
9CM4_CAM1_CLK_P+3.3V
10GNDGND
11CM4_CAM1_D2_N+3.3V
12CM4_CAM1_D2_P+3.3V
13GNDGND
14CM4_CAM1_D3_N+3.3V
15CM4_CAM1_D3_P+3.3V
16GNDGND
17CM4_CAM1_GPIO+3.3V
18No Connected--
19GNDGND
20CM4_I2C0_SCL+3.3V
21CM4_I2C0_SDA+3.3V
22CM4_VDD_3V3+3.3V
### **Power1 (Main) & Power2 Port (Backup)** (2.00mm Pitch CLIK-Mate)
PinSignalVolt
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)GNDGND
6(black)GNDGND
### **Telem1, Telem2, Telem3 ports**
PinSignalVolt
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)GNDGND
### **GPS 1 Port**
PinSignalVolt
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)GNDGND
### **GPS 2 Port**
PinSignalVolt
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)GNDGND
### **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**
PinSignalVolt
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)GNDGND
### **SPI Port**
PinSignalVolt
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)GNDGND
### **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**
PinSignalVolt
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)GNDGND
### **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)
PinSignalVolt
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)GNDGND
### **FMU Debug Port** (JST-SH 1mm Pitch)
PinSignalVolt
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)GNDGND
### **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 | # RPi CM4 Flash Guide Steps taken to flash the CM4 board, boot it, and connect it to PX4 {% hint style="warning" %} ### Please **Note:** * If you are using PX4, you will need to use PX4 1.13.1 or newer for PX4 to recognize this baseboard. * The fan does not indicate if the RPi CM4 is powered/running or not. * The power module plugged into Power1/2 does not power the RPi part. You can use the additional USB-C Cable from the PM03D power module to the CM4 Slave USB-C port. * The Micro-HDMI port is an output port. * Some RPi CM4 might not have a Wifi device and therefore won’t connect automatically unless you plug it into a router or a compatible Wifi dongle into the CM4 Host ports. {% endhint %} {% hint style="info" %} This Pixhawk RPi baseboard supports Raspberry Pi CM4 and CM5. The CM5 requires more power, and the USB-C port used for flashing also powers the Pi. If your computer doesn’t provide enough power, use a powered USB hub for reliable flashing operation. {% endhint %} ### Flash EMMC First, we need to have the CM4 up and running. We need to prepare the hardware for it first. Considering the fact that you have already mounted your CM4 onto the baseboard do the following to be able to flash any required image on RPi CM4: 1. Switch the Dip-Switch on Holybro Pixhawk 6X+CM4 base board (located on top of UART\&I2C port) to RPi 2. Connect the baseboard to your desktop computer USB-C CM4 Slave port used power & flash the RPi CM4. There may be a prompt on some systems like macOS to allow the connection. Please allow it! Otherwise, where to connect? 😀 3. You need to use usbboot: #### Linux / Cygwin / WSL Clone this repository on your Pi or other Linux machine. Make sure that the system date is set correctly, otherwise, Git may produce an error. This git repository uses symlinks. For Windows builds clone the repository under Cygwin: ``` sudo apt install libusb-1.0-0-dev git clone --depth=1 https://github.com/raspberrypi/usbboot, cd usbboot make sudo ./rpiboot ``` Note: sudo isn't required if you have write permissions for the /dev/bus/usb device. #### macOS From a macOS machine, you can also run usbboot, just follow the same steps: 1. Clone the usbboot repository 2. Install libusb (brew install libusb) 3. Install pkg-config (brew install pkg-config) 4. (Optional) Export the PKG\_CONFIG\_PATH so that it includes the directory enclosing libusb-1.0.pc 5. Build using make 6. Run the binary ``` $ git clone --depth=1 https://github.com/raspberrypi/usbboot $ cd usbboot $ brew install libusb $ brew install pkg-config $ make $ sudo ./rpiboot ``` If the build is unable to find the header file libusb.h then most likely the PKG\_CONFIG\_PATH is not set properly. This should be set via export PKG\_CONFIG\_PATH="$(brew --prefix libusb)/lib/pkgconfig". If the build fails on an ARM-based Mac with a linker error such as ld: warning: ignoring file /usr/local/Cellar/libusb/1.0.26/lib/libusb-1.0.dylib, building for macOS-arm64 but attempting to link with file built for macOS-x86\_64 then you may need to build and install libusb-1.0 yourself: ``` $ wget https://github.com/libusb/libusb/releases/download/v1.0.26/libusb-1.0.26.tar.bz2 $ tar -xf libusb-1.0.26.tar.bz2 $ cd libusb-1.0.26 $ ./configure $ make $ make check $ sudo make install ``` Running “make” again should now succeed! After running rpiboot the below screen from your terminal should say that you are good to go for flashing a new image onto your CM4 board.

RPiboot sanity check

Note: if there are any pop-ups after this stage to eject an unknown disk, simply ignore them. * You can now install your favorite Linux distro, e.g. Raspberry Pi OS 64bit, using The `rpi-imager`. Make sure to add wifi and ssh settings (hidden behind the gear/advanced symbol). ``` sudo apt install rpi-imager rpi-imager ``` 1. Once done, unmount the volumes, and power down the CM4 by unplugging the USB-C CM4 Slave. 2. Switch Dip-Switch back to EMMC. 3. Power on CM4 by providing power to the USB-C CM4 Slave port. 4. To check if it’s booting/working, either check HDMI output, or connect via ssh (if set up in rpi-imager, and wifi is available). ### Connect PX4 to CM4 via serial Pixhawk 6X talks to CM4 using Telem2 (`/dev/ttyS4`). 1. To enable this MAVLink instance, set the params:\ `- MAV_1_CONFIG: TELEM2`\ `- MAV_1_MODE: Onboard`\ `- SER_TEL2_BAUD`: `921600 8N1` 2. reboot the FMU 3. On the RPi side, you can connect it to Wifi using a router or a Wifi Dongle. 4. Enable serial port to FMU by using `raspi-config`: Go to `3 Interface Options`, then `I6 Serial Port`.\ Choose\ `- login shell accessible over serial → No`\ `- serial port hardware enabled` → `Yes`\ Finish, and reboot.\ (This will add `enable_uart=1` to `/boot/config.txt`, and remove `console=serial0,115200` from `/boot/cmdline.txt` 5. Now MAVLink traffic should be available on `/dev/serial0` at a baud rate of 921600. ### Try out MAVSDK-Python 1. Make sure the CM4 is connected to the internet, e.g. using a wifi, or ethernet. 2. Install MAVSDK Python: ``` python3 -m pip install mavsdk ``` 1. Copy an example from the [MAVSDK-Python examples](https://github.com/mavlink/MAVSDK-Python/tree/main/examples). 2. Change the `system_address="udp://:14540"` to `system_address="serial:///dev/serial0:921600"` 3. Try out the example. Permission for the serial port should already be available through the `dialout` group. You can also use your own power supply to power the RPi CM4 baseboard. # Dimension
# Ethernet Connection {% embed url="" %} ### Link-local networking setup between CM4 and FC #### Local cable To set up a local ethernet connection between CM4 and the flight computer, the two ethernet ports need to be connected using a 8 pin to 4 pin connector. The pinout of the cable is: 8 pin:\ 1 A\ 2 B\ 3 C\ 4 D\ 5 (not connected)\ 6 (not connected)\ 7 (not connected)\ 8 (not connected) to 4 pin:\ 1 B\ 2 A\ 3 D\ 4 C
#### IP setup on CM4 Since there is no DHCP server active in this configuration, the IPs have to be set manually:\ First, connect to the CM4 via ssh by connecting to the CM4’s wifi (or use a Wifi dongle).\ Once the ethernet cables are plugged in, the `eth0` network interface seems to switch from DOWN to UP. You can check the status using: ``` ip address show eth0 ``` You can also try to enable it manually: ``` sudo ip link set dev eth0 up ``` It then seems to automatically set a link-local address, for me it looks like this: ``` ip address show eth0 2: eth0: mtu 1500 qdisc mq state UP group default qlen 1000 link/ether xx:xx:xx:xx:xx:xx brd ff:ff:ff:ff:ff:ff inet 169.254.21.183/16 brd 169.254.255.255 scope global noprefixroute eth0 valid_lft forever preferred_lft forever inet6 fe80::yyyy:yyyy:yyyy:yyyy/64 scope link valid_lft forever preferred_lft forever ``` This means the CM4’s ethernet IP is 169.254.21.183. #### IP setup on FC Now connect to the NuttX shell (using a console, or the MAVLink shell), and check the status of the link: ``` ifconfig eth0 Link encap:Ethernet HWaddr xx:xx:xx:xx:xx:xx at DOWN inet addr:0.0.0.0 DRaddr:192.168.0.254 Mask:255.255.255.0 ``` For me it is DOWN at first. To set it to UP: ``` ifup eth0 ifup eth0...OK ``` Now check the config again: ``` ifconfig eth0 Link encap:Ethernet HWaddr xx:xx:xx:xx:xx:xx at UP inet addr:0.0.0.0 DRaddr:192.168.0.254 Mask:255.255.255.0 ``` However, it doesn’t have an IP yet. I’m going to set one similar to the one of CM4: ``` ifconfig eth0 169.254.21.184 ``` And check it: ``` ifconfig eth0 Link encap:Ethernet HWaddr xx:xx:xx:xx:xx:xx at UP inet addr:169.254.21.184 DRaddr:169.254.21.1 Mask:255.255.255.0 ``` Now the devices should be able to ping each other. Note that this configuration is ephemeral and will be lost after a reboot, so we’ll need to find a way to configure it statically. #### Ping test First from the CM4: ``` ping 169.254.21.184 PING 169.254.21.184 (169.254.21.184) 56(84) bytes of data. 64 bytes from 169.254.21.184: icmp_seq=1 ttl=64 time=0.188 ms 64 bytes from 169.254.21.184: icmp_seq=2 ttl=64 time=0.131 ms 64 bytes from 169.254.21.184: icmp_seq=3 ttl=64 time=0.190 ms 64 bytes from 169.254.21.184: icmp_seq=4 ttl=64 time=0.112 ms ^C --- 169.254.21.184 ping statistics --- 4 packets transmitted, 4 received, 0% packet loss, time 3077ms rtt min/avg/max/mdev = 0.112/0.155/0.190/0.034 ms ``` And from the FC in Nuttx Shell: ``` ping 169.254.21.183 PING 169.254.21.183 56 bytes of data 56 bytes from 169.254.21.183: icmp_seq=0 time=0 ms 56 bytes from 169.254.21.183: icmp_seq=1 time=0 ms 56 bytes from 169.254.21.183: icmp_seq=2 time=0 ms 56 bytes from 169.254.21.183: icmp_seq=3 time=0 ms 56 bytes from 169.254.21.183: icmp_seq=4 time=0 ms 56 bytes from 169.254.21.183: icmp_seq=5 time=0 ms 56 bytes from 169.254.21.183: icmp_seq=6 time=0 ms 56 bytes from 169.254.21.183: icmp_seq=7 time=0 ms 56 bytes from 169.254.21.183: icmp_seq=8 time=0 ms 56 bytes from 169.254.21.183: icmp_seq=9 time=0 ms 10 packets transmitted, 10 received, 0% packet loss, time 10010 ms ``` #### MAVLink/MAVSDK test For this, we need to set the mavlink instance to send traffic to the CM4’s IP: For an initial test we can do: ``` mavlink start -o 14540 -t 169.254.21.183 ``` This will send MAVLink traffic on UDP to port 14540 (the MAVSDK/MAVROS port) to that IP which means MAVSDK can just listen to any UDP arriving at that default port. To run a MAVSDK example, install mavsdk via pip, and try out an example from [MAVSDK-Python/examples](https://github.com/mavlink/MAVSDK-Python/tree/main/examples). For instance: ``` python3 -m pip install mavsdk wget https://raw.githubusercontent.com/mavlink/MAVSDK-Python/main/examples/tune.py chmod +x tune.py ./tune.py ```
# PM03D - RPi CM4 Base Wiring Guide {% hint style="warning" %} To ensure stable power supply, the RPi CM4 & Flight controller must be powered separately. Flight controller is powered via the CLIK-Mate cable to POWER1 or POWER2 port, and RPi CM4 is powered by the USB C (CM4 Slave) connection. {% endhint %}
# Installation of RPi CM4
To install Raspberry Pi CM4 companion compute onto this baseboard. * Disconnect the FAN connector.
* Remove these 4 screws on the back side of the baseboard.
* Remove the case of the baseboard, install the CM4, and screw on the 4 screws (M2x4mm).
# Supported Firmware ### [*PX4* ](https://github.com/PX4/PX4-Autopilot/releases) Must use **PX4 1.13.1 Stable** and newer.\ \ [**PX4 guide on running companion computer**](https://docs.px4.io/main/en/companion_computer/pixhawk_companion.html) ### [*Ardupilot* ](https://firmware.ardupilot.org/Copter/) **Ardupilot Firmware Download:** [**https://firmware.ardupilot.org/**](https://firmware.ardupilot.org/) [**Ardupilot Wiki on running companion computer**](https://ardupilot.org/dev/docs/companion-computers.html) # Baseboard Changelog ## Pixhawk Baseboard v1 to v2 {% hint style="info" %} The Pixhawk Baseboard v1 has been replaced by the v2A & v2B, with the following updates {% endhint %} * **Smaller and More Compact Design:** The overall footprint of the board has been reduced, making it easier to integrate into various applications. * **New Robust Pin Header Design**: Improved reliability with a improved pin header housing. * **Added PWM Level Shifter**: Allows PWM output signal levels to be switched from 3.3V to 5V via a resistor or solder bridge. * **Change to Aluminum CNC Case:** High-quality aluminum CNC outer case offers durability, efficient heat dissipation, corrosion resistance, aesthetic appeal, and EMI shielding. * **Two Models Available:** Model A and Model B, each with the pin header facing different directions for more flexibility in installation. * **Relocated of Ports**: UART4 & I2C, SPI, AD & IO, DSM RC, and JST USB ports have been moved from the top to the side of the board. AUX7, AUX8, and SBUS\_OUT/RSSI\_IN move to the side in a JST-GH Port. Refer to these ports pinout page for more detail: {% content-ref url="/pages/aDWVej3IIqboZMZCg60P" %} [Pixhawk Baseboard v1 Ports](/autopilot/pixhawk-baseboards/pixhawk-baseboard-v1-ports) {% endcontent-ref %} {% content-ref url="/pages/jECVixIA7ZkitE9vKSvB" %} [Pixhawk Baseboard v2 Ports](/autopilot/pixhawk-baseboards/pixhawk-baseboard-v2-ports) {% endcontent-ref %} #### Dimension Comparison:
# Download ### Schematics #### Pixhawk Baseboard Reference Schematic {% file src="/files/4d3s2zrYlX0a90wwfTXp" %} {% file src="/files/PLujphnaESqiw8HKAEZU" %} #### Pixhawk Mini Baseboard Reference Schematic {% file src="/files/vQxTKqjJoHH8DMJ6KEUa" %} #### CM4 Baseboard Partial Schematics {% file src="/files/elgHGtY6f4cSPTIHffx2" %} ### 3D CAD File {% file src="/files/YpiQNo9Mgiz2Amv6FUZP" %} {% file src="/files/b40YzTvWG830lMj4LhRJ" %} {% file src="/files/G0UijJqEf7QFcy0lUEzu" %} {% file src="/files/Wo4IcTfeZEPJd9X9gR6y" %} {% file src="/files/rokjm4bnPvC87bian6lS" %} {% file src="/files/ag5arsLryyIkMKF0JbCL" %} {% file src="/files/oaT081wL9NJboFE06KqC" %} {% file src="/files/OqyBIzGpmutsjlozuZ88" %} {% file src="/files/WJLnn2MFqjxFgIO72xnV" %} {% file src="/files/QRT9hAuNWTtpSnSq0UpM" %} {% file src="/files/9SQoYrJJjipOukaxNeyW" %} {% file src="/files/lKrVfHheCTG5HMaDGzj3" %} # Pixhawk 6C # Overview {% columns %} {% column %} {% endcolumn %} {% column %}
{% endcolumn %} {% endcolumns %} The Pixhawk® 6C is the latest update to the successful family of Pixhawk® flight controllers, based on the [Pixhawk® FMUv6C Open Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-018%20Pixhawk%20Autopilot%20v6C%20Standard.pdf) and [Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf). It comes with PX4® pre-installed. Inside the Pixhawk® 6C, you can find an STMicroelectronics® based STM32H743, paired with sensor technology from Bosch® & InvenSense®, giving you flexibility and reliability for controlling any autonomous vehicle, suitable for both academic and commercial applications. The Pixhawk® 6C’s H7 microcontroller contain the Arm® Cortex®-M7 core running up to 480 MHz, has 2MB flash memory and 1MB RAM. Thanks to the updated processing power, developers can be more productive and efficient with their development work, allowing for complex algorithms and models. The FMUv6C open standard includes high-performance, low-noise IMUs on board, designed to be cost effective while having IMU redundancy. A vibration isolation System to filter out high-frequency vibration and reduce noise to ensure accurate readings, allowing vehicles to reach better overall flight performances. The Pixhawk® 6C is perfect for developers at corporate research labs, startups, academics (research, professors, students), and commercial application. **Key Design Points** * High performance STM32H743 Processor with more computing power & RAM * New cost-effective design with low-profile form factor * Newly designed integrated vibration isolation system to filter out high frequency vibration and reduce noise to ensure accurate readings * IMUs are temperature-controlled by onboard heating resistors, allowing optimum working temperature of IMUs # Technical Specification ### **Processors & Sensors** * FMU Processor: STM32H743 * 32 Bit Arm® Cortex®-M7, 480MHz, 2MB memory, 1MB SRAM * IO Processor: STM32F103 * 32 Bit Arm® Cortex®-M3, 72MHz, 64KB SRAM * On-board sensors * Accel/Gyro: ICM-42688-P * Accel/Gyro: BMI088 (BMI055 discontinued due to the end of production of the sensor) * Mag: IST8310 * Barometer: MS5611 ### **Electrical data** * Voltage Ratings: * Max input voltage: 6V * USB Power Input: 4.75\~5.25V * Servo Rail Input: 0\~36V * Current Ratings: * Telem1 Max output current limiter: 1.5A * All other ports combined output current limiter: 1.5A ### **Mechanical data** * Dimensions: 84.8 \* 44 \* 12.4 mm * Weight (Aluminum Case): 59.3g * Weight (Plastic Case): 34.6g ### **Interfaces** * 16- PWM servo outputs (8 from IO, 8 from FMU) with hardware switchable 3.3V or 5V signal mode * 3 general purpose serial ports * Telem1 - Full flow control, separate 1.5A current limit * Telem2 - Full flow control * Telem3 * 2 GPS ports * GPS1 - Full GPS port (GPS plus safety switch) * GPS2 - Basic GPS port * 1 I2C port * Supports dedicated I2C calibration EEPROM located on the sensor module * 2 CAN Buses * 2 Debug port * FMU Debug * I/O Debug * Dedicated R/C input for Spektrum / DSM and S.BUS, CPPM, analog / PWM RSSI * Dedicated S.BUS output * 2 Power input ports (Analog) ### Other Characteristics * Operating temperature: -40 \~ 85°c # Pixhawk 6C Ports ![](/files/d3ueXImW4wNJw7DZ6ZWo) {% hint style="info" %} * I/O PWM OUT = MAIN OUT * FMU PWM OUT = AUX OUT Pin 1 starts from the flight controllers "right side" like diagram below ![](/files/XdwEJOd1mhRk2PN1TTda) {% endhint %} ### **Power1 & 2**
PinSignalVoltage
1(red)VDD5V_BRICK1 (in)+5V
2(black)VDD5V_BRICK1 (in)+5V
3(black)CURRENT1+3.3V
4(black)VOLTAGE1+3.3V
5(black)GNDGND
6(black)GNDGND
### **Telem 1 Port**
PinSignalVoltage
1(red)VCC+5V
2(black)UART7_TX(out)+3.3V
3(black)UART7_RX(in)+3.3V
4(black)UART7_CTS(in)+3.3V
5(black)UART7_RTS(out)+3.3V
6(black)GNDGND
### **Telem 2 Port**
PinSignalVoltage
1(red)VCC+5V
2(black)UART5_TX(out)+3.3V
3(black)UART5_RX(in)+3.3V
4(black)UART5_CTS(in)+3.3V
5(black)UART5_RTS(out)+3.3V
6(black)GNDGND
### **Telem 3 Port**
PinSignalVoltage
1(red)VCC+5V
2(black)USART2_TX(out)+3.3V
3(black)USART2_RX(in)+3.3V
4(black)NOT CONNECTED*-
5(black)NOT CONNECTED*-
6(black)GNDGND
{% hint style="warning" %} **\* For Pixhawk 6C with SN number *****`XXXX 001 XXXXXX`*** **(SN can be found on the packaging), Telem3 port is connected as follow:** * pin 4 -> I2C4\_SCL (3.3V) * pin 5 -> I2C4\_SDA (3.3V) **Do not connect Non-I2C device (such as telemetry radio) to telem3 pin 4 & 5 if you have this version.** {% endhint %} ### **GPS 1 Port**
PinSignalVoltage
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)IO_VDD_3V3+3.3V
9(black)BUZZER-0~5V
10(black)GNDGND
### **GPS2 Port**
PinSignalVoltage
1(red)VCC+5V
2 black)UART8_TX(out)+3.3V
3(black)UART8_RX(in)+3.3V
4(black)I2C2_SCL+3.3V
5(black)I2C2_SDA+3.3V
6(black)GNDGND
### **USB Port** | **Pin** | **Signal** | **Voltage** | | -------- | ---------- | ----------- | | 1(red) | VBUS | +5V | | 2(black) | DM | +3.3V | | 3(black) | DP | +3.3V | | 4(black) | GND | GND | ### **I2C Port** | **Pin** | **Signal** | **Voltage** | | -------- | ----------- | ----------- | | 1(red) | VCC | +5V | | 2(black) | I2C2\_SCL\* | +3.3V | | 3(black) | I2C2\_SDA\* | +3.3V | | 4(black) | GND | GND | {% hint style="warning" %} **\* For Pixhawk 6C with SN number *****`XXXX XXX 20221100`*** **AND prior****,** **(SN can be found on the packaging), I2C port is connected as follow:** * pin 2 -> I2C4\_SCL (3.3V) * pin 3 -> I2C4\_SDA (3.3V) {% endhint %} ### **CAN1 & CAN2 Port** | **Pin** | **Signal** | **Voltage** | | -------- | ---------- | ----------- | | 1(red) | VCC | +5V | | 2(black) | CAN1\_H | +3.3V | | 3(black) | CAN1\_L | +3.3V | | 4(black) | GND | GND | ### **DSM RC Port** (JST-ZH 1.5mm) | **Pin** | **Signal** | **Voltage** | | --------- | ------------------ | ----------- | | 1(yellow) | VDD\_3V3\_SPEKTRUM | +3.3V | | 2(black) | GND | GND | | 3(gray) | DSM/SPEKTRUM IN | +3.3V | ### **PPM/SBUS RC port** | **Pin** | **Signal** | **Voltage** | | --------- | ------------------ | ----------- | | 1(null) | VDD\_5V\_PPM\_SBUS | +5V | | 2(yellow) | PPM\&SBUS\_IN | +3.3V | | 3(null) | RSSI\_IN | +3.3V | | 4(red) | (NOT CONNECTED) | -- | | 5(black) | GND | GND | ### **SBus Out Port** | **Pin** | **Signal** | **Voltage** | | --------- | --------------- | ----------- | | 1(red) | (NOT CONNECTED) | -- | | 2(yellow) | SBUS\_OUT | +3.3V | | 3(black) | GND | GND | ### **FMU PWM OUT (AUX OUT)**
PinSignalVoltage
1 (Red)VDD_Servo
2 (Black)FMU_CH1+3.3V
3 (Black)FMU_CH2+3.3V
4 (Black)FMU_CH3+3.3V
5 (Black)FMU_CH4+3.3V
6 (Black)FMU_CH5+3.3V
7 (Black)FMU_CH6+3.3V
8 (Black)FMU_CH7+3.3V
9 (Black)FMU_CH8+3.3V
10(Black)GNDGND
### **I/O PWM OUT (MAIN OUT)**
PinSignalVoltage
1 (Red)VDD_Servo
2 (Black)IO_CH1+3.3V
3 (Black)IO_CH2+3.3V
4 (Black)IO_CH3+3.3V
5 (Black)IO_CH4+3.3V
6 (Black)IO_CH5+3.3V
7 (Black)IO_CH6+3.3V
8 (Black)IO_CH7+3.3V
9 (Black)IO_CH8+3.3V
10(Black)GNDGND
### **FMU Debug Port** (JST SH 1mm Pitch)
PinSignalVoltage
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)GNDGND
### **I/O Debug Port** (JST SH 1mm Pitch)
PinSignalVoltage
1(red)IO_VDD_3V3+3.3V
2 black)IO_USART1_TX+3.3V
3(black)(NOT CONNECTED)--
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)GNDGND
# Sample Wiring Diagram
# Dimensions {% hint style="info" %} Dimension in millimeters {% endhint %} ![](/files/fq2qL14yTx6j8zvaaG8r) # System Diagram & Pinout {% hint style="info" %} ***Pixhawk 6C*** & ***Pix32 v6*** shares the same System Diagram & Pinout {% endhint %} {% file src="/files/N5IMsyxMDQEuq2QGYMVB" %}
# PX4 & Ardupilot Guide {% hint style="info" %} ### **PX4** If you are using PX4, please refer to the PX4 user guide page for additional information. [**https://docs.px4.io/main/en/flight\_controller/pixhawk6c.html**](https://docs.px4.io/main/en/flight_controller/pixhawk6c.html)[**https://docs.px4.io/main/en/assembly/quick\_start\_pixhawk6c.html**](https://docs.px4.io/main/en/assembly/quick_start_pixhawk6c.html) {% endhint %} {% hint style="info" %} ### **Ardupilot** If you are using Ardupilot, please refer to the Ardupilot user guide page for additional information. [**https://ardupilot.org/copter/docs/common-holybro-pixhawk6C.html**](https://ardupilot.org/copter/docs/common-holybro-pixhawk6C.html) {% endhint %} # PWM Signal Voltage MOD The newest batch (version RC09 and newer) of Pixhawk 6C now supports switchable PWM signal voltage (3.3V or 5V). The modification requires the user to open the casing of the Pixhawk flight controller and be familiar with soldering. {% hint style="warning" %} Any damages caused during the modification are not covered by warranty {% endhint %} To switch the PWM signal voltage, bridge the 3V3 or 5V soldering pads on the PCB by applying solder on the pads. Make sure the unused pads are cleaned and not shorted.

RC09 PCB

For RC12 PCB design, the process is more straightforward. Locate the JP1 soldering pad at the bottom left of the PCB. Bridge the JP1 pads for 5V and unbridge to revert to 3.3V.

RC12

# Supported Firmware {% hint style="warning" %} ### Pixhawk 6C ships with PX4 FMUv6C Firmware {% endhint %} ### [*PX4* ](https://github.com/PX4/PX4-Autopilot/releases) Pixhawk 6C is supported on PX4 [**1.13.1 release**](https://github.com/PX4/PX4-Autopilot/releases/tag/v1.13.1) and later. ### [*Ardupilot* ](https://firmware.ardupilot.org/Copter/) Pixhawk 6C is supported in Ardupilot **4.2.3** stable release and later. Firmware can be flash via Mission Planner or QGroundControl. It can also be downloaded here: [**https://firmware.ardupilot.org/**](https://firmware.ardupilot.org/) ## [*QGroundControl*](http://qgroundcontrol.com/) Must use [QGC v4.2.4](https://github.com/mavlink/qgroundcontrol/releases) or later, or [Daily QGC Build](https://docs.qgroundcontrol.com/master/en/getting_started/download_and_install.html#daily-builds). # Download ## Pixhawk 6C Case CAD 3D File {% file src="/files/F2CftKwBtMYhRCzUYjpk" %} ## PWM Adapter 3D File {% file src="/files/wvjBFstUS3sNexRIZ9DN" %} # Pixhawk 6C Mini # Overview

The Pixhawk® 6C Mini is the latest update to the successful family of Pixhawk® flight controllers, based on the [Pixhawk® FMUv6C Open Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-018%20Pixhawk%20Autopilot%20v6C%20Standard.pdf) and [Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf). It shares the same STMH743 microprocessor and sensors as the Pixhawk 6C. Compared to the standard Pixhawk 6C, this Mini version has a built-in PWM header, and some ports have been removed in order to fit this Mini form factor. Inside the Pixhawk® 6C Mini, you can find an STMicroelectronics®-based STM32H743, paired with sensor technology from Bosch® & InvenSense®, giving you flexibility and reliability for controlling any autonomous vehicle, suitable for both academic and commercial applications. The Pixhawk® 6C Mini's H7 microcontroller contains the Arm® Cortex®-M7 core running up to 480 MHz and has 2MB flash memory and 1MB RAM. Thanks to the updated processing power, developers can be more productive and efficient with their development work, allowing for complex algorithms and models. The FMUv6C open standard includes high-performance, low-noise IMUs on board, designed to be cost-effective while having IMU redundancy. A vibration isolation system to filter out high-frequency vibration and reduce noise to ensure accurate readings, allowing vehicles to reach better overall flight performances. The Pixhawk® 6C Mini is perfect for developers at corporate research labs, startups, academics (research, professors, students), and commercial applications. **Key Design Points** * High performance STM32H743 Processor with more computing power & RAM * New cost-effective design in a small form factor * IMU redundancy with sensor technology from Bosch® & InvenSense® * Integrated vibration isolation system to filter out high frequency vibration and reduce noise to ensure accurate readings * IMUs are temperature-controlled by onboard heating resistors, allowing optimum working temperature of IMUs # Technical Specification ### **Processors & Sensors** * FMU Processor: STM32H743 * 32 Bit Arm® Cortex®-M7, 480MHz, 2MB memory, 1MB SRAM * IO Processor: STM32F103 * 32 Bit Arm® Cortex®-M3, 72MHz, 64KB SRAM * On-board sensors * Accel/Gyro: ICM-42688-P * Accel/Gyro: BMI088 (BMI055 discontinued due to the end of production of the sensor) * Mag: IST8310 * Barometer: MS5611 ### **Electrical data** * Voltage Ratings: * Max input voltage: 6V * USB Power Input: 4.75\~5.25V * Servo Rail Input: 0\~36V * The new revised version Model A now provides a more stable PWM signal when underload * Current Ratings: * Telem1 + GPS1 output current limiter: 1.5A * All other ports combined output current limiter: 1.5A ### **Mechanical data** * Dimensions (Model A Legacy): 53.3 \* 39 \* 16.2 mm * Dimensions (Model A Current): 54.3x39x17.5 mm * Dimensions (Model B): 58.3x39x18.15 mm * Weight (Model A Legacy): 39.2g * Weight (Model A Current): 42.4g * Weight (Model B): 46.8g ### **Interfaces** * 14- PWM servo outputs (8 from IO, 6 from FMU) with hardware switchable 3.3V and 5V signal mode * 2 general purpose serial ports * Telem1 - Full flow control, separate 1.5A current limit * Telem2 - Full flow control * 2 GPS ports * GPS1 - Full GPS port (GPS plus safety switch) * GPS2 - Basic GPS port * 1 I2C port * Supports dedicated I2C calibration EEPROM located on sensor module * 2 CAN Buses * FMU Debug (Pixhawk Debug Mini) * Dedicated R/C input for Spektrum/DSM and S.BUS, CPPM, analog / PWM RSSI * 1 Power input port (Analog) ### Other Characteristics * Operating temperature: -40 \~ 85°c # Pixhawk 6C Mini Ports

Pixhawk 6C Mini (Legacy)

Pixhawk 6C Mini Model A (Current)

{% hint style="info" %} Refer to this diagram for location of pin1. All connectors are JST GH 1.25 mm Pitch unless noted otherwise. {% endhint %} ### **Power1**
PinSignalVoltage
1(red)VDD5V_BRICK1 (in)+5V
2(black)VDD5V_BRICK1 (in)+5V
3(black)CURRENT1+3.3V
4(black)VOLTAGE1+3.3V
5(black)GNDGND
6(black)GNDGND
### **Telem 1 Port**
PinSignalVoltage
1(red)VCC+5V
2(black)UART7_TX(out)+3.3V
3(black)UART7_RX(in)+3.3V
4(black)UART7_CTS(in)+3.3V
5(black)UART7_RTS(out)+3.3V
6(black)GNDGND
### **Telem 2 Port**
PinSignalVoltage
1(red)VCC+5V
2(black)UART5_TX(out)+3.3V
3(black)UART5_RX(in)+3.3V
4(black)UART5_CTS(in)+3.3V
5(black)UART5_RTS(out)+3.3V
6(black)GNDGND
### **GPS 1 Port**
PinSignalVoltage
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)IO_VDD_3V3+3.3V
9(black)BUZZER-0~5V
10(black)GNDGND
### **GPS2 Port**
PinSignalVoltage
1(red)VCC+5V
2 black)UART8_TX(out)+3.3V
3(black)UART8_RX(in)+3.3V
4(black)I2C2_SCL+3.3V
5(black)I2C2_SDA+3.3V
6(black)GNDGND
### **I2C Port** | **Pin** | **Signal** | **Voltage** | | -------- | ----------- | ----------- | | 1(red) | VCC | +5V | | 2(black) | I2C2\_SCL\* | +3.3V | | 3(black) | I2C2\_SDA\* | +3.3V | | 4(black) | GND | GND | ### **CAN1 & CAN2 Port** | **Pin** | **Signal** | **Voltage** | | -------- | ---------- | ----------- | | 1(red) | VCC | +5V | | 2(black) | CAN1\_H | +3.3V | | 3(black) | CAN1\_L | +3.3V | | 4(black) | GND | GND | ### **DSM RC Port** (JST-ZH 1.5mm) | **Pin** | **Signal** | **Voltage** | | --------- | ------------------ | ----------- | | 1(yellow) | VDD\_3V3\_SPEKTRUM | +3.3V | | 2(black) | GND | GND | | 3(gray) | DSM/SPEKTRUM IN | +3.3V | ### **PPM/SBUS RC Port (Legacy)** | **Pin** | **Signal** | **Voltage** | | --------- | ------------------ | ----------- | | 1(null) | VDD\_5V\_PPM\_SBUS | +5V | | 2(yellow) | PPM\&SBUS\_IN | +3.3V | | 3(null) | RSSI\_IN | +3.3V | | 4(red) | (NOT CONNECTED) | -- | | 5(black) | GND | GND | ### RSSI Port | | | | | --- | ------ | ------- | | Pin | Signal | Voltage | | 1 | VDD | +5V | | 2 | RSSI | +3.3V | | 3 | GND | GND | ### RC IN Port | | | | | --- | ------------ | ----- | | Pin | Signal | Volt | | S | SBUS/PPM in | +3.3V | | + | VDD\_5V \_RC | +5V | | - | GND | GND | ### **FMU PWM OUT Port (AUX OUT)** | **Pin** | **Signal** | **Volt** | | ------- | ----------- | ------------------- | | S | FMU\_CH1\~6 | +3.3V (5V with MOD) | | + | VDD\_SERVO | 0\~36V | | - | GND | GND | ### **I/O PWM OUT Port (MAIN OUT)** | **Pin** | **Signal** | **Volt** | | ------- | ---------- | ------------------- | | S | IO\_CH1\~8 | +3.3V (5V with MOD) | | + | VDD\_SERVO | 0\~36V | | - | GND | GND | ### **FMU Debug Port** (JST SH 1mm Pitch)
PinSignalVoltage
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)GNDGND
# Dimensions {% hint style="info" %} Dimension in millimeters {% endhint %}

Pixhawk 6C Mini Model A (Current)

Pixhawk 6C Mini Model B

### Dimension for discontinued version Model A

Pixhawk 6C Mini Model A (Legacy)

# System Diagram & Pinout
# PWM Signal Voltage MOD The newest batch of Pixhawk 6C mini now supports switchable PWM signal voltage (3.3V or 5V). The modification requires the user to open the casing of the Pixhawk flight controller and be familiar with soldering. {% hint style="warning" %} Any damages caused during the modification are not covered by warranty {% endhint %} {% hint style="danger" %} The IMU daughter board is glued to the case, please be careful when removing the flight controller outer case during disassembly. {% endhint %} Once you remove the top half of the flight controller casing, you'll notice the ribbon connector with silicone glue along its sides. The connector isn't fully adhered to, so it can be detached with a small amount of force. After removing the ribbon connector, you'll have safe access to the back side of the PCB for making modifications to the PWM signal voltage. To switch the PWM signal voltage, bridge the 3v3 or 5v soldering pads on the PCB by applying solder on the pads. Make sure the unused pads are cleaned and not shorted. For Pixhawk 6C mini, you have the option to change the PWM signal voltage for FMU outputs and IO outputs separately. Make sure the correct soldering pads are bridged to avoid any damage. Pixhawk 6C mini-A (legacy) and mini-B have slightly different PCB designs. Follow the red square in the diagram below to locate the PWM voltage select soldering pad.

Pixhawk 6C mini-A PCB

Pixhawk 6C mini-B PCB

# Supported Firmware {% hint style="warning" %} ### Pixhawk 6C Mini ships with PX4 FMUv6C Firmware. ### It shares the same Firmware Target as the Pixhawk 6C {% endhint %} ### [*PX4* ](https://github.com/PX4/PX4-Autopilot/releases) Pixhawk 6C Mini is supported on PX4 [**1.13.3 release**](https://github.com/PX4/PX4-Autopilot/releases/tag/v1.13.3) and later. ### [*Ardupilot* ](https://firmware.ardupilot.org/Copter/) Pixhawk 6C Mini is supported in Ardupilot **4.2.3** stable release and later. Firmware can be flash via Mission Planner or QGroundControl. It can also be downloaded here: [**https://firmware.ardupilot.org/**](https://firmware.ardupilot.org/) ## [*QGroundControl*](http://qgroundcontrol.com/) Must use [QGC v4.2.4](https://github.com/mavlink/qgroundcontrol/releases) or later, or [Daily QGC Build](https://docs.qgroundcontrol.com/master/en/getting_started/download_and_install.html#daily-builds). # Pixhawk 6C Mini Difference ## Below are the main difference between Pixhawk 6C and Pixhawk 6C Mini ### Ports These ports are not available in the Pixhawk 6C Mini (compared to the "standard" Pixhawk 6C): * Power2 Port * Telem3 Port * SBUS Out Port * IO Debug Port * 4pin USB Port (JST-GH) * FMU PWM CH7 & CH8 ### PWM Header The Pixhawk 6C Mini has built in PWM Header while the "Standard" Pixhawk 6C has a separate PWM Breakout Board.
# Download ### Pixhawk 6C Mini Model A CAD 3D File #### Legacy: {% file src="/files/JBGTRYgI29UsYdlG287Q" %} #### Current: {% file src="/files/Jq5OfDTBm2FkpS8XuwYH" %} ### Model B CAD 3D File {% file src="/files/DPyIODZfvHSttLZi8hgW" %} # Pix32 v6 # Overview

The Pix32 v6 is the latest update to the pix32 v5 flight controllers. It is a variant of the Pixhawk 6C. It is comprised of a separate flight controller and carrier board which are connected by a [100 pin connector](/autopilot/pix32-v6/download). It is designed for those pilots who need a high power, flexible and customizable flight control system. Inside the Pix32 v6, you can find an STMicroelectronics® based STM32H743, paired with sensor technology from Bosch® & InvenSense®, giving you flexibility and reliability for controlling any autonomous vehicle, suitable for both academic and commercial applications. The Pix32 v6’s H7 microcontroller contain the Arm® Cortex®-M7 core running up to 480 MHz, has 2MB flash memory and 1MB RAM. Thanks to the updated processing power, developers can be more productive and efficient with their development work, allowing for complex algorithms and models. It includes high-performance, low-noise IMUs on board, designed to be cost effective while having IMU redundancy. A vibration isolation System to filter out high-frequency vibration and reduce noise to ensure accurate readings, allowing vehicles to reach better overall flight performances. This flight controller is perfect for people that is looking for a affordable and modular flight controller that can use a customized baseboard. We have made the [pix32 v6 base board schematics public](/autopilot/pix32-v6/download), you can either make a custom carrier board yourself or just let us help you with it. By using a customize baseboard, you can make sure that the physical size, pinouts and power distribution requirements match your vehicle perfectly, ensuring that you have all the connections you need and none of the expense and bulk of connectors you don’t. **Key Design Points** * High performance STM32H743 Processor with more computing power & RAM * New cost-effective design with low-profile form factor * Newly designed integrated vibration isolation system to filter out high frequency vibration and reduce noise to ensure accurate readings * IMUs are temperature-controlled by onboard heating resistors, allowing optimum working temperature of IMUs * ```
``` # Technical Specification ### **Processors & Sensors** * FMU Processor: STM32H743 * 32 Bit Arm® Cortex®-M7, 480MHz, 2MB memory, 1MB SRAM * IO Processor: STM32F103 * 32 Bit Arm® Cortex®-M3, 72MHz, 64KB SRAM * On-board sensors * Accel/Gyro: ICM-42688-P * Accel/Gyro: BMI088 (BMI055 discontinued due to the end of production of the sensor) * Mag: IST8310 * Barometer: MS5611 ### **Electrical data** * Voltage Ratings: * Max input voltage: 6V * USB Power Input: 4.75\~5.25V * Servo Rail Input: 0\~36V * Current Ratings: * Telem1 Max output current limiter: 1.5A * All other port combined output current limiter: 1.5A ### **Mechanical data** * FC Module Connector Type: [Panasonic-AXK5S-6S](/autopilot/pix32-v6/download) * Dimensions: 44.8 \* 44.8 \* 13.5mm * Weight: 36g ### **Interfaces** * 16- PWM servo outputs (8 from IO, 8 from FMU) * 3 general purpose serial ports * Telem1 - Full flow control, separate 1.5A current limit * Telem2 - Full flow control * Telem3 * 2 GPS ports * GPS1 - Full GPS port (GPS plus safety switch) * GPS2 - Basic GPS port * 1 I2C port * Supports dedicated I2C calibration EEPROM located on sensor module * 2 CAN Buses * 2 Debug port * FMU Debug * I/O Debug * Dedicated R/C input for Spektrum / DSM and S.BUS, CPPM, analog / PWM RSSI * Dedicated S.BUS output * 2 Power input ports (Analog) ### Other Characteristics * Operating temperature: -40 \~ 85°c # Pix32 v6 Baseboard Ports {% hint style="warning" %} **Pix32 v6** is compatible with **Pix32 v5** Baseboard and vice versa. \ Due to the difference in Pin map, the following ports shaded in **red** in the diagram below will be non-functional when using a Pix32 v6 FC on a Pix32 v5 Baseboard. {% endhint %} ![](/files/JOPwa1lRvQysAViY4pIb) {% hint style="info" %} Pin 1 starts from the flight controllers "Left side". All connectors are JST GH 1.25 mm Pitch unless noted otherwise. ![](/files/MyTeWlJug4RGPlgIU1H6) {% endhint %} **Power 1 & 2**
PinSignalVoltage
1(red)VDD5V_BRICK1 (in)+5V
2(black)VDD5V_BRICK1 (in)+5V
3(black)CURRENT1+3.3V
4(black)VOLTAGE1+3.3V
5(black)GNDGND
6(black)GNDGND
**Telem 1 Port**
PinSignalVoltage
1(red)VCC+5V
2(black)UART7_TX(out)+3.3V
3(black)UART7_RX(in)+3.3V
4(black)UART7_CTS(in)+3.3V
5(black)UART7_RTS(out)+3.3V
6(black)GNDGND
**Telem 2 Port**
PinSignalVoltage
1(red)VCC+5V
2(black)UART5_TX(out)+3.3V
3(black)UART5_RX(in)+3.3V
4(black)UART5_CTS(in)+3.3V
5(black)UART5_RTS(out)+3.3V
6(black)GNDGND
**Telem 3 Port**
PinSignalVoltage
1(red)VCC+5V
2(black)USART2_TX(out)+3.3V
3(black)USART2_RX(in)+3.3V
4(black)(NOT CONECT)--
5(black)(NOT CONECT)--
6(black)GNDGND
**GPS 1 Port**
PinSignalVoltage
1(red)VCC+5V
2 black)TX1(out)+3.3V
3(black)RX1(in)+3.3V
4(black)I2C1_SCL1+3.3V
5(black)I2C1_SDA1+3.3V
6(black)SAFETY_SWITCH+3.3V
7(black)SAFETY_SWITCH_LED+3.3V
8(black)IO_VDD_3V3+3.3V
9(black)BUZZER-0~5V
10(black)GNDGND
**GPS2 Port**
PinSignalVoltage
1(red)VCC+5V
2 black)UART8_TX(out)+3.3V
3(black)UART8_RX(in)+3.3V
4(black)I2C2_SCL+3.3V
5(black)I2C2_SDA+3.3V
6(black)GNDGND
**USB Port** | **Pin** | **Signal** | **Voltage** | | -------- | ---------- | ----------- | | 1(red) | VBUS | +5V | | 2(black) | DM | +3.3V | | 3(black) | DP | +3.3V | | 4(black) | GND | GND | **I2C Port** | **Pin** | **Signal** | **Voltage** | | -------- | ----------- | ----------- | | 1(red) | VCC | +5V | | 2(black) | I2C2\_SCL\* | +3.3V | | 3(black) | I2C2\_SDA\* | +3.3V | | 4(black) | GND | GND | {% hint style="warning" %} **\* For Pix32 v6 with SN number before*****`XXXX XXX 20221113`*****,** **(SN can be found on the packaging), I2C port is connected as follow:** * pin 2 -> I2C4\_SCL (3.3V) * pin 3 -> I2C4\_SDA (3.3V) {% endhint %} **CAN1 & CAN2 Port** | **Pin** | **Signal** | **Voltage** | | -------- | ---------- | ----------- | | 1(red) | VCC | +5V | | 2(black) | CAN1\_H | +3.3V | | 3(black) | CAN1\_L | +3.3V | | 4(black) | GND | GND | **DSM RC Port** (JST-ZH 1.5mm) | **Pin** | **Signal** | **Voltage** | | --------- | ------------------ | ----------- | | 1(yellow) | VDD\_3V3\_SPEKTRUM | +3.3V | | 2(black) | GND | GND | | 3(gray) | DSM/SPEKTRUM IN | +3.3V | ![](/files/l82j9JwsJGajbGkCCg7l) **FMU PWM OUT Port (AUX OUT)** | Pin | Signal | Voltage | | --- | ----------- | ------- | | S | FMU\_CH1\~8 | +3.3V | | + | VDD\_Servo | 0-36V | | - | GND | GND | **I/O PWM OUT Port (MAIN OUT)** | Pin | Signal | Voltage | | --- | ---------- | ------- | | S | IO\_CH1\~8 | +3.3V | | + | VDD\_SERVO | 0\~36V | | - | GND | GND | **RSSI Port** | Pin | Signal | Voltage | | ---- | ------------------ | ------- | | 1(s) | SBUS\_OUT/RSSI\_IN | +3.3V | | 2(+) | VDD\_SERVO | | | 3(-) | GND | GND | **RC-IN Port** | Pin | Signal | Voltage | | ---- | ----------- | ------- | | 1(S) | SBUS/PPM IN | +3.3V | | 2(+) | VDD\_5V\_RC | +5V | | 3(-) | GND | GND | ![](/files/lmMhmvR5sGoEA35n8zhT) **FMU Debug Port** (JST SH 1mm Pitch)
PinSignalVoltage
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)GNDGND
# Pix32 v6 Mini-Base Ports {% hint style="warning" %} **Pix32 v6** Mini Baseboard is the same as **Pix32 v5** Mini Baseboard. \ Due to the difference in Pin map, the following ports shaded in **red** in the diagram below will be non-functional when using a Pix32 v6 FC on a Pix32 v5 Baseboard. {% endhint %} ![](/files/7qKYOban11fZF2EIkSq5) {% hint style="info" %} Pin 1 starts from the flight controllers "Left side". All connectors are JST GH 1.25 mm Pitch unless noted otherwise. ![](/files/MyTeWlJug4RGPlgIU1H6) {% endhint %} **Power**
PinSignalVoltage
1(red)VDD5V_BRICK1 (in)+5V
2(black)VDD5V_BRICK1 (in)+5V
3(black)CURRENT1+3.3V
4(black)VOLTAGE1+3.3V
5(black)GNDGND
6(black)GNDGND
**Telem 1 Port**
PinSignalVoltage
1(red)VCC+5V
2(black)UART7_TX(out)+3.3V
3(black)UART7_RX(in)+3.3V
4(black)UART7_CTS(in)+3.3V
5(black)UART7_RTS(out)+3.3V
6(black)GNDGND
**Telem 2 Port**
PinSignalVoltage
1(red)VCC+5V
2(black)UART5_TX(out)+3.3V
3(black)UART5_RX(in)+3.3V
4(black)UART5_CTS(in)+3.3V
5(black)UART5_RTS(out)+3.3V
6(black)GNDGND
**Telem 3 & I2CA Port**
PinSignalVoltage
1(red)VCC+5V
2(black)USART2_TX(out)+3.3V
3(black)USART2_RX(in)+3.3V
4(black)(NOT CONECT)--
5(black)(NOT CONECT)--
6(black)GNDGND
**TEL4/GPS2 Port**
PinSignalVoltage
1(red)VCC+5V
2 black)TX(out)+3.3V
3(black)RX(in)+3.3V
4(black)SCL2+3.3V
5(black)SDA2+3.3V
6(black)GNDGND
{% hint style="info" %} I2C device such as airspeed sensor can be connect to this **TEL4/GPS2 Port** via a 6P <-> 6P+4P GH cable supplied in the cable set. {% endhint %} **GPS 1 Port**
PinSignalVoltage
1(red)VCC+5V
2 black)TX1(out)+3.3V
3(black)RX1(in)+3.3V
4(black)I2C1_SCL1+3.3V
5(black)I2C1_SDA1+3.3V
6(black)SAFETY_SWITCH+3.3V
7(black)SAFETY_SWITCH_LED+3.3V
8(black)IO_VDD_3V3+3.3V
9(black)BUZZER-0~5V
10(black)GNDGND
**DSM Port** (JST-ZH 1.5mm) | | | | | --------- | ------------------ | ----- | | 1(yellow) | VDD\_3V3\_SPEKTRUM | +3.3V | | 2(black) | GND | GND | | 3(gray) | DSM/Spektrum in | +3.3V | **USB Port** | **Pin** | **Signal** | **Voltage** | | -------- | ---------- | ----------- | | 1(red) | VBUS | +5V | | 2(black) | DM | +3.3V | | 3(black) | DP | +3.3V | | 4(black) | GND | GND | **CAN1 & CAN2 Port** | **Pin** | **Signal** | **Voltage** | | -------- | ---------- | ----------- | | 1(red) | VCC | +5V | | 2(black) | CAN1\_H | +3.3V | | 3(black) | CAN1\_L | +3.3V | | 4(black) | GND | GND | **ADC PAD** | | | | | ---- | -------- | ------- | | Pad | Signal | Voltage | | ADC1 | ADC1\_IN | +3.3V | | ADC2 | ADC2\_IN | +6.6V | | GND | GND | GND | ![](/files/7b4bsRotZSvsqvfRnXRX) **FMU PWM OUT Port (AUX OUT)** | Pin | Signal | Voltage | | --- | ----------- | ------- | | S | FMU\_CH1\~8 | +3.3V | | + | VDD\_Servo | 0-36V | | - | GND | GND | **I/O PWM OUT Port (MAIN OUT)** | Pin | Signal | Voltage | | --- | ---------- | ------- | | S | IO\_CH1\~8 | +3.3V | | + | VDD\_SERVO | 0\~36V | | - | GND | GND | **RSSI Port** | Pin | Signal | Voltage | | ---- | ------------------ | ------- | | 1(s) | SBUS\_OUT/RSSI\_IN | +3.3V | | 2(+) | VDD\_SERVO | | | 3(-) | GND | GND | **RC-IN Port** | Pin | Signal | Voltage | | ---- | ----------- | ------- | | 1(S) | SBUS/PPM IN | +3.3V | | 2(+) | VDD\_5V\_RC | +5V | | 3(-) | GND | GND | ![](/files/lmMhmvR5sGoEA35n8zhT) **FMU Debug Port** (JST SH 1mm Pitch)
PinSignalVoltage
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)GNDGND
# Dimensions {% hint style="info" %} Dimension in millimeters {% endhint %} ![Pix32 v6 Flight Controller Module](/files/IGeXYzDPas4CkmnpaLDy) {% hint style="warning" %} **Pix32 v6** is compatible with **Pix32 v5** Baseboard and vice versa. \ \ There are some port that will be non-functional when using a Pix32 v6 FC on a Pix32 v5 Baseboard. Please refer to [Pix32 v6 Baseboard Ports](/autopilot/pix32-v6/pix32-v6-baseboard-ports) & [Pix32 v6 Mini-Base Ports](/autopilot/pix32-v6/pix32-v6-mini-base-ports)for more Detail {% endhint %}

Pix32 v5 Baseboard & Pix32 v5 Mini Baseboard Dimension

Pix32 v6 Baseboard

# System Diagram & Pinout {% hint style="info" %} ***Pixhawk 6C*** & ***Pix32 v6*** shares the same System Diagram & Pinout {% endhint %} {% file src="/files/N5IMsyxMDQEuq2QGYMVB" %}
# Supported Firmware {% hint style="warning" %} ### Pix32 v6 ships with PX4 FMUv6C Firmware. ### It shares the same Firmware Target as the Pixhawk 6C {% endhint %} ## [*PX4* ](https://github.com/PX4/PX4-Autopilot/releases) Pix32v6 is supported on PX4 [**1.13.1 release**](https://github.com/PX4/PX4-Autopilot/releases/tag/v1.13.1) and later.\ Pix32 v6 (with SN number higher than **`XXXX XXX 20221112`**) requires [**1.13.2 Stable** ](https://github.com/PX4/PX4-Autopilot/releases/tag/v1.13.2)or later. ## [*Ardupilot* ](https://firmware.ardupilot.org/Copter/) Pix32 v6 is supported in Ardupilot **4.2.3** stable release and later. It uses the "Pixhawk 6C" Firmware Target. Firmware can be flash via Mission Planner or QGroundControl. It can also be downloaded here: [**https://firmware.ardupilot.org/**](https://firmware.ardupilot.org/) ## [*QGroundControl*](http://qgroundcontrol.com/) Must use [QGC v4.2.4](https://github.com/mavlink/qgroundcontrol/releases) or later, or [Daily QGC Build](https://docs.qgroundcontrol.com/master/en/getting_started/download_and_install.html#daily-builds). # Download #### Pix32 v6 STM32 Pinout {% file src="/files/N5IMsyxMDQEuq2QGYMVB" %} #### Pix32 v6 RC04 Reference Schematic {% file src="/files/7QnKNNYge9E8TExpfmhn" %} #### Pix32 v6 Flight Controller Module Connector Datasheet (Panasonic-AXK5S-6S) {% file src="/files/PEi1nwvySwdNnzTAlhau" %} #### Pix32 v6 FMU 100Pin Header PinMap {% file src="/files/fYcXs52VZJkZ77U8J2vR" %} #### Pix32 v6 Baseboard DXF file {% file src="/files/pXjsHpsThtXOIWoTN1bH" %} #### Pix32 v6 Baseboard RC03 Schematic {% file src="/files/Q1ZGp903fVoAXB5gZauc" %} ### CAD Files {% file src="/files/oj6VY9tPpGH3qQNmO1PF" %} {% file src="/files/5A5kmG3y2RrhG5oCkrco" %} {% file src="/files/0gr3K3Z2uIVAZDCRVxRp" %} ## **3D Print** {% file src="/files/cnaUeKOIZPvbTWkYVeBj" %} {% file src="/files/bdve4aGlwLnwvSp7npmr" %} # Durandal # Overview & Technical Specification
Durandal is a flight controller designed by Holybro utilizing the STM32H7 microcontroller series. As an increasing number of drone companies and developers need to run more powerful models and build on more embedded memory capabilities, Durandal is designed to offer the performance upgrade for development needs. The advantage will come in handy with intensive calculation features are required. Harnessing our extensive controller building experience in the past years, we have implemented a new vibration absorption system into the mechanical design of the hardware and integrated an IMU heater for sensor temperature control.
## **Key Design Points:** * High performance H7 Processor with a clock speed up to 480 MHz * Redundant inertial measurement unit (IMU) from Bosch® & InvenSense® * Vibration isolation system to filter out high frequency vibration and reduce noise to ensure accurate readings * IMUs are temperature-controlled by onboard heating resistors, allowing the optimum working temperature of IMUs * 2 power ports & 5 general purpose serial ports ## **Technical Specifications** ### **Processors & Sensors** * Main FMU Processor: STM32H743 * 32 Bit Arm ® Cortex®-M7, 480MHz, 2MB memory, 1MB RAM * IO Processor: STM32F100/F103 * 32 Bit ARM® Cortex® * On-board sensors * Accel/Gyro: ICM-20689 * Accel/Gyro: ICM-20602 / BMI088 * Mag: IST8310 * Barometer: MS5611 ### **Electrical Data** **Voltage Ratings:** * Max input voltage: 6V * USB Power Input: 4.75\~5.25V * Servo Rail Input: 0\~36V Current Ratings:
* Telem1 Max output current limiter: 1.5A * All other ports combined output current limiter: 1.5A ### **Mechanical Data:** * Dimensions:80\*45\*20.5mm * Weight: 68.8g ### **Interfaces** * 13 PWM outputs (8 from IO, 5 from FMU) * 5 general purpose serial ports * * 3 with full flow control * 1 with separate 1.5A current limit (Telem1) * 3 I2C ports
* 4 SPI buses * 1 internal high speed SPI sensor bus with 4 chip selects and 6 DRDYs * 1 internal low noise SPI bus dedicated for XXX * Barometer with 2 chip selects, no DRDYs * 1 internal SPI bus dedicated to FRAM * Supports temperature control located on the sensor module * 1 external SPI bus * Up to 2 CAN buses for dual CAN * Each CAN bus has individual silent controls or ESC RX-MUX control * Analog inputs for voltage/current of 2 batteries * 6 dedicated PWM/Capture inputs on FMU * Dedicated R/C input for Spektrum / DSM * Dedicated R/C input for CPPM and S.Bus * Dedicated S.Bus servo output and analog / PWM RSSI input * 2 additional analog inputs # Dimensions {% hint style="info" %} Dimension in millimeters {% endhint %}
# Supported Firmware ## [*PX4* ](https://github.com/PX4/PX4-Autopilot/releases) Supported on PX4 v1.11.0 and later. ## [*Ardupilot* ](https://firmware.ardupilot.org/Copter/) Supported in Ardupilot 4.0 and later. # Kakute H7 (v1/v2/Mini) # Kakute H7 v1 # Overview
#### Description The Holybro Kakute H7 v1 Flight Controller is full of features including integrated Bluetooth, dual plug-and-play 4in1 ESC ports, HD camera plug, barometer, OSD, 6x UARTs, full Blackbox MicroSD card slot, 5V and 9V BEC, easy soldering layout and much more. The Kakute H7 builds upon the best features of its F7 predecessor and further improves on hardware components and layout. With the additional integrated Bluetooth chip onboard, you can perform Betaflight configuration and tune wirelessly on your phone with the SpeedyBee Android & IOS App. The Kakute H7 is DJI HD ready. It has an easy plug-and-play port with an onboard 9V regulator designed to power your HD video transmitter like DJI/Caddx FPV Air Unit & Caddx Vista while supporting analog systems. It has 6x dedicated UART ports with built-in inversion for peripherals (UART2 is used for Bluetooth telemetry), along with a full MicroSD Card slot for virtually unlimited Blackbox data logging. Dual plug-and-play 4in1 ESC connectors, allowing easy plug-and-play support for x8 Octocopter configuration and keeping it simple and clean. The integrated BetaFlight OSD makes it easy to display important information on your FPV display like battery voltage, flight time, warnings, RSSI, smart audio features, and more. It is also ready for autonomous flight with the on-board barometer. There are LED & buzzer pad, I2C pad (SDA & SCL) for external GPS/Magnetometers #### **Specification:** * MCU - STM32H743 32-bit processor running at 480 MHz * IMU - MPU6000 * Barometer - BMP280 * OSD - AT7456E * Onboard Bluetooth chip - ESP32-C3 * SpeedyBee IOS & [Android App Compatible](https://d18j4b7oq8p8jg.cloudfront.net/android/SpeedyBeeApp.apk) * Note: The Bluetooth onboard is set to automatically turn off when the flight controller is unlocked (arm) and turn on automatically when the flight controller is locked (disarm). * 6x UARTs (1,2,3,4,6,7; UART2 is used for Bluetooth telemetry) * 9x PWM Outputs (8 Motor Output, 1 LED) * 2x JST-SH1.0 8pin ESC port (4in1 ESCs, x8/Octocopter compatible) * 1x JST-SH1.0 6pin VTX port (For HD Systems like Caddx Vista & Air Unit) * Battery input voltage: 7V to 42V * BEC 5V 2A Cont. * BEC 9V 3A Cont * USB Type-C * Mounting - 30.5 x 30.5mm/Φ4mm hole with Φ3mm Grommets * Dimension - 35x35mm * Weight - 8g #### Mechanical * Mounting - 30.5 x 30.5mm/Φ4mm hole with Φ3mm Grommets * Dimension - 35x35mm * Weight - 8g # Wiring Diagram
# Pinout
### Pinout
PinFunction
9V9V for HD System or other VTX
SDA, SCLI2C connection (for peripherals)
5v5v output (1.5A max)
3v33.3v output (0.25A max)
ViVideo input from FPV camera
VoVideo output to video transmitter
CAMTo camera OSD control
G or GNDGround
RSIAnalog RSSI (0-3.3v) input from receiver
R3, T3UART3 RX and TX
R4, T4UART4 RX and TX
R6, T6UART6 RX and TX (UART6 RX is located in the GH plug)
LEDWS2182 addressable LED signal wire
Z-Piezo buzzer negative leg
### ESC Port 1
Function
B+Battery positive voltage (2S-8S)
R7UART7 RX
GNDGround
CURRENTCURRENT
M1Motor signal output 1
M2Motor signal output 2
M3Motor signal output 3
M4Motor signal output 4
### ESC Port 2
Function
B+Battery positive voltage (2S-8S)
R7UART7 RX
GNDGround
NCNC
M5Motor signal output 5
M6Motor signal output 6
M7Motor signal output 7
M8Motor signal output 8
### **VTX Port**
VTX PortFunction
9V9V for HD System or other VTX
GGround
T1UART1 TX
R1UART1 RX
GGround
R6UART6 RX
# Supported Firmware {% hint style="info" %} Kakute H7 ships with Betaflight Firmware. {% endhint %} {% hint style="warning" %} Kakute H7 V1.5 requires Betaflight version 4.5.2 and newer {% endhint %} **Betaflight Target**: KAKUTEH7 **INAV Target:** KAKUTEH7 {% hint style="info" %} INAV's ICM-42688 driver is combined with ICM-42605. The IMU model will appear as ICM42605 on the configurator. {% endhint %} **Ardupilot Target**: [KakuteH7 ](https://ardupilot.org/plane/docs/common-holybro-kakuteh7.html) **PX4:** [KakuteH7](https://docs.px4.io/main/en/flight_controller/kakuteh7.html) (PX4 v1.13 or later)\ \ Firmware can be built using `make holybro_kakuteh7` **PX4 Bootloader HEX file for** KakuteH7 (v1): {% file src="/files/nSDe9bywZte6Y5a56We7" %} # Kakute H7 v2 # Overview

Top View

Bottom View

The Holybro Kakute H7 v2 Flight Controller is full of features including integrated Bluetooth, HD camera plug, dual plug-and-play 4in1 ESC ports, 9V VTX ON/OFF Pit Switch, barometer, OSD, 6x UARTs, 128MB Flash for Logging, 5V and 9V BEC, and bigger soldering pad with easy layout and much more.\ \ The Kakute H7 v2 builds upon the best features of its F7 predecessor and further improves on hardware components and layout. With the additional integrated Bluetooth chip onboard, you can perform configuration and tuning wirelessly on your phone with the SpeedyBee Android & IOS App. The Kakute H7 is DJI HD ready. It has an easy plug-and-play port with an on-board 9V regulator designed to power your HD video transmitter such as the DJI/Caddx FPV Air Unit & Caddx Vista while supporting analog system.\ \ It features an onboard “VTX ON/OFF Pit Switch” that allows you to completely power off the video transmitter using a switch on your RC transmitter. Great if you are working on your drone, waiting for the GPS to get a fix, getting ready for a race while preventing it from overheating or interfering with others flying. It has 6x dedicated UART ports with built-in inversion for peripherals (UART2 is used for Bluetooth telemetry), a 128 MB Flash for logging, Dual plug-and-play 4in1 ESC connectors, allowing easy plug-and-play support for x8 & Octocopter configuration and keeping it simple and clean. The integrated BetaFlight OSD makes it easy to display important information on your FPV display like battery voltage, flight time, warnings, RSSI, smart audio features and more. It is also ready for autonomous flight with the on-board barometer. There are LED & buzzer pad, I2C pad (SDA & SCL) for external GPS/Magnetometers. The integrated BetaFlight OSD makes it easy to display important information on your FPV display like battery voltage, flight time, warnings, RSSI, smart audio features and more. It is also ready for autonomous flight with the on-board barometer. There are LED & buzzer pad, I2C pad (SDA & SCL) for external GPS/Magnetometers.
**Specification:** * MCU - STM32H743 32-bit processor running at 480 MHz * IMU – BMI270 * Barometer - BMP280 * OSD - AT7456E * Onboard Bluetooth chip - ESP32-C3 * Note: The Bluetooth onboard is set to automatically turn off when the flight controller is unlocked (arm) and turn on automatically when the flight controller is locked (disarm). * Wireless configure your flight controller using the [Speedybee APP](https://d18j4b7oq8p8jg.cloudfront.net/android/SpeedyBeeApp.apk). * VTX ON/OFF Pit Switch – The switch can be enabled using USER1 in the Betaflight Mode tab. (Warning: Do not enable this pit switch if you are using DJI FPV Remote Controller) * 6x UARTs (1,2,3,4,6,7; UART2 is used for Bluetooth telemetry) * 9x PWM Outputs (8 Motor Output, 1 LED) * Battery input voltage: 3S-8S * BEC 5V 2A Cont. * BEC 9V 1.5A Cont. #### Mechanical * Mounting - 30.5 x 30.5mm/Φ4mm hole with Φ3mm Grommets * Dimension - 35x35mm * Weight - 8g * 2x JST-SH1.0\_8pin port (4in1 ESCs, x8/Octocopter compatible) * 1x JST-GH1.5\_6pin port (For HD System like Caddx Vista, Air Unit, or other VTX) # Wiring Diagram

Part 1

Part 2

# Pinout
### Pinout
PinFunction
VTX+9V for HD System or other VTX
Can be controlled by VTX ON/OFF Pit Switch (User1)
SDA, SCLI2C connection (for peripherals)
5v5v output (1.5A max)
3v33.3v output (0.25A max)
ViVideo input from FPV camera
VoVideo output to video transmitter
CAMTo camera OSD control
G or GNDGround
RSIAnalog RSSI (0-3.3v) input from receiver
R3, T3UART3 RX and TX
R4, T4UART4 RX and TX
R6, T6UART6 RX and TX (UART6 RX is located in the GH plug)
LEDWS2182 addressable LED signal wire
Z-Piezo buzzer negative leg
### ESC Port 1
Function
B+Battery positive voltage (2S-8S)
R7UART7 RX
GNDGround
CURRENTCURRENT
M1Motor signal output 1
M2Motor signal output 2
M3Motor signal output 3
M4Motor signal output 4
### ESC Port 2
Function
B+Battery positive voltage (2S-8S)
R7UART7 RX
GNDGround
CURRENTCURRENT
M5Motor signal output 5
M6Motor signal output 6
M7Motor signal output 7
M8Motor signal output 8
### **VTX Port**
VTX PortFunction
Vtx+9V for HD System or other VTX
Can be controlled by VTX ON/OFF Pit Switch (User1)
GGround
T1UART1 TX
R1UART1 RX
GGround
R6UART6 RX
# Supported Firmware {% hint style="info" %} Kakute H7 v2 ships with Betaflight Firmware. {% endhint %} **Betaflight Target**: KAKUTEH7V2 (BF 4.3.1 or Newer) **INAV Target:** KAKUTEH7V2 (INAV 5.1 or newer), [INAV VTX+ & Bluetooth Setup Information](/autopilot/kakute-h7-v1-v2-mini/kakute-h7-v2/supported-firmware/inav-vtx+-and-bluetooth-setup) **Ardupilot Target**: KakuteH7v2 (Ardupilot 4.3 or newer) **PX4:** [KakuteH7V2 ](https://docs.px4.io/main/en/flight_controller/kakuteh7v2.html) (PX4 1.14 or newer)\ Firmware can be built using `make holybro_kakuteh7v2` **PX4 Bootloader HEX file for** KakuteH7 v2: {% file src="/files/nOxlORVUP7I7MpnxUVCq" %} # INAV VTX+ & Bluetooth Setup Holybro Kakute H7 V2 PINIO Setup for INAV 5.1 This manual applies to INAV 5.1, Holybro Kakute H7 V2 and covers the topic of PINIO functionality setup so that following goals are achieved: 1. Built in Bluetooth is active when INAV is NOT armed 2. Built in Bluetooth is disabled when INAV is armed 3. VTX is always enabled or activated on a switch ### Arming and Bluetooth setup In this scenario, arming is assigned to Channel 5. USER1 mode, which drives the Bluetooth module is assigned to the same channel. When INAV is armed, USER1 is enabled as well and disables Bluetooth
## For INAV 5.1 ### VTX+ is Default OFF To set VTX+ pad to be always powered, configured USER2 Mode to be always enabled like below.
### VTX+ on a switch In this scenario, VTX+ is **ON** only when Channel 6 is in HIGH position.
## For INAV 6.0 and later VTX+ is Default ON, to set VTX+ to turn **OFF** via switch, assign a channel to turn off VTX. In this scenario, VTX is **OFF** only when Channel 6 is in HIGH position.
# Kakute H7 Mini # Overview

Top View

Bottom View

### **Description:** The Holybro Kakute H7 Mini is a Flight Controller full of features including onboard VTX ON/OFF Pit Switch with battery voltage, HD System/VTX & 4in1 ESC plugs, barometer, OSD, 6x UARTs, easy soldering layout and much more.\ \ The Kakute H7 Mini builds upon the best features of its F7 predecessor and further improves on hardware components and layout. HD ready, it has an easy plug to power HD system like Caddx Vista while supporting analog system.\ \ It features an onboard “VTX ON/OFF Pit Switch” that allows you to completely power off the video transmitter using a switch on your RC transmitter. Great if you are working on your drone, waiting for the GPS to get a fix, getting ready for a race while preventing it from overheating or interfering with others flying. It has 6x dedicated UART ports with built-in inversion for peripherals, 4in1 ESC plug, and x8 compatible with M5-M8 Signal Pads, allowing easy support for x8 Octocopter configuration.\ \ The integrated BetaFlight OSD makes it easy to display important information on your FPV display like battery voltage, flight time, warnings, RSSI, smart audio features and more. It is also ready for autonomous flight with the on-board barometer. There are LED & buzzer pad, I2C pad (SDA & SCL) for external GPS/Magnetometers. ### **Specification:** * MCU - STM32H743 32-bit processor running at 480 MHz * IMU * ICM-42699-P (v1.5) * BMI270 (v1.3) * MPU6000 (v1.2 & before) * Barometer - BMP280 * OSD - AT7456E * Onboard Flash: 128Mbits (v1.3 & later) * VTX ON/OFF Pit Switch – Switch can be enabled using USER1 in Betaflight Mode tab. Warning: Do not enable this pit switch if you are using the DJI FPV Remote Controller * 6x UARTs (1,2,3,4,6,7) * 9x PWM Outputs (8 Motor Outputs, 1 LED) * Battery input voltage: 2S-6S * BEC 5V 2A
### Mechanical * Mounting - 20 x 20mm, Φ3.6mm hole with M3 & M2 Grommets * Dimension - 31x30x6mm * Weight – 5.5g * JST-SH1.0\_8pin port \* 2 (For 4in1 ESCs) * JST-GH1.25\_6pin port (For DJI/Caddx HD System and other VTX) # Sample Wiring Diagram
![](/files/FlXvyevZhG3A2Q5qrjlj) # Pinout
### Pinout
PinFunction
VTX+Battery Voltage for VTX, VTX ON/OFF Pit Switch
SDA, SCLI2C connection (for peripherals)
5v5v output (1.5A max)
3v33.3v output (0.25A max)
ViVideo input from FPV camera
VoVideo output to video transmitter
CAMTo camera OSD control
G or GNDGround
RSIAnalog RSSI (0-3.3v) input from receiver
R2, T2UART2 RX and TX
R3, T3UART3 RX and TX
R4, T4UART4 RX and TX
R6, T6UART6 RX and TX (UART6 RX is located in the SH plug for use for serial RC)
LEDWS2182 addressable LED signal wire
Buz+/-Piezo buzzer positive/negative leg
M5,M6,M7,M8Motor 5,6,7,8 signal outputs
### ESC Port
Function
B+Battery positive voltage (2S-6S)
R7UART7 RX
GNDGround
CURRENTCURRENT
M1Motor signal outputs
M2
M3
M4
### **VTX Port**
VTX PortFunction
Vtx+Battery Voltage for HD System or other VTX, VTX ON/OFF Pit Switch
GGround
T1UART1 TX
R1UART1 RX
GGround
R6UART6 RX
# Supported Firmware {% hint style="info" %} Kakute H7 Mini ships with Betaflight Firmware. {% endhint %} **Betaflight Target:** KAKUTEH7MINI **INAV Target:** KAKUTEH7MINI {% hint style="info" %} INAV's ICM-42688 driver is combined with ICM-42605. The IMU model will appear as ICM42605 on the configurator. {% endhint %} ### Ardupilot * **v1.2 & prior:** KakuteH7Mini * **v1.3:** KakuteH7Mini-Nand * **v1.5:** KakuteH7Mini (Supported in master/latest FW or 4.6.0 & later) ### **PX4** Firmware can be built using `make holybro_kakuteh7mini` KakuteH7 Mini v1.5 is supported in PX4 main or version later than 1.15.4 **PX4 Bootloader HEX file for Kakute H7 Mini v1.3 and before**: {% file src="/files/OAk02tGoD1stQrFnV4TQ" %} **PX4 Bootloader HEX file for Kakute H7 Mini v1.5 and later:**\ **(Must use QGC Daily, or v4.4.4 or later)** {% file src="/files/AxH3X11P2T05UDBKvaVv" %} # Kakute H7 Version Difference ### Kakute H7 V1 vs V2 Difference | | | | | --------------------- | ------------------- | -------------------- | | | **Kakute H7 V1.X** | **Kakute H7 V2.X** | | **IMU** | MPU6000/ICM-42688-P | BMI270 | | **VTX On/Off Switch** | N/A | Yes | | **Blackbox Logging** | SD Card | Onboard 128 MB Flash | ## Revisions ### Kakute H7 V1
Kakute H7 V1 VersionsChanges
V1.2Initial version
V1.3

1.) USB port: Changed from Micro USB to USB-C
2.) 9V BEC: Changed from 9V/1.5A to 9V/3A
3.) Connector: VTX port changed from JST-GH to JST-SH
4.) Increased solder pad size

V1.3 with SPA06 barometer requires Betaflight 1.15.3 and later firmware

V1.5

IMU changed from MPU6000 to ICM-42688-P

Barometer changed from BMP280 to SPA06

### Kakute H7 V2
Kakute H7 V2 VersionsChanges
V2.1Initial version
V2.29V BEC: Changed from 9V/1.5A to 9V/3A
### Kakute H7 Mini
Kakute H7 Mini VersionsChanges
V1.1Initial version
V1.3
  • IMU: Changed from MPU6000 to BMI270
  • Log Flash: Changed from 16M Flash to 128M Flash
  • Increased solder pad size
V1.5
  • IMU changed from BMI270 to ICM-42688-P
  • Flash changed to SPI FLASH,W25Q128FVSIG
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