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 Support@holybro.com

Thank you

Pixhawk Baseboard Reference and Downloads

Pixhawk 6X Module CAD File

Betaflight Target: KAKUTEH7V2 (BF 4.3.1 or Newer)

INAV Target: KAKUTEH7V2 (INAV 5.1 or newer), INAV VTX+ & Bluetooth Setup Information

Ardupilot Target: KakuteH7v2 (Ardupilot 4.3 or newer)

PX4: KakuteH7V2 (PX4 1.14 or newer) Firmware can be built using make holybro_kakuteh7v2

PX4 Bootloader HEX file for KakuteH7 v2:

Pixhawk 6C Case CAD 3D File

PWM Adapter 3D File

Pixhawk 6C Mini Model A CAD 3D File

Legacy:

Current:

Model B CAD 3D File

Pixhawk Baseboard Reference and Downloads

Pixhawk 6X Pro Module CAD File

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

Rev3 & 4

Standard Baseboard

Mini Baseboard

FC Module Only

Standard Baseboard v2A

Mini Baseboard

Standard Baseboard v1

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

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

PX4

Ardupilot

Helper Scripts

Pixhawk 6X Pro is supported on Master/Main or PX4 1.14.3 release and later. PX4 Firmware Target: FMUv6x

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/

Dimension for discontinued version Model A

CAN2 on the basboard is conneted internally to both FCU and Jetson module. The basics could be implemented from Nvidia user guide:

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

Block Diagram

Reference Wiring Diagram

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.

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 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.

Must use PX4 1.13.1 Stable and newer. PX4 guide on running companion computer

Ardupilot Firmware Download: https://firmware.ardupilot.org/

Ardupilot Wiki on running companion computer

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

PX4

If you are using PX4, please refer to the PX4 user guide page for additional information.

Ardupilot

If you are using PX4, please refer to the PX4 user guide page for additional information.

Supported on PX4 v1.11.0 and later.

Supported in Ardupilot 4.0 and later.

• Outer alloy case weight: 90g

• Without Jetson and Flight Controller: 85g

• With Jetson, no Heatsink or Flight Controller: 110g

Betaflight Target: KAKUTEH7

INAV Target: KAKUTEH7

Ardupilot Target:

PX4: (PX4 v1.13 or later) Firmware can be built using make holybro_kakuteh7

PX4 Bootloader HEX file for KakuteH7 (v1):

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

Betaflight Target: KAKUTEH7MINI

INAV Target: KAKUTEH7MINI

• v1.2 & prior: KakuteH7Mini

• v1.3: KakuteH7Mini-Nand

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.

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.

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.

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.

Support in PX4 1.14.3 release and later.

Supported in 4.5.0 stable release and later.

Pixhawk 6X is supported on PX4 and later.

Supported in Ardupilot 4.2.3 stable release and later.

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

These ports are not available in the Pixhawk 6C Mini (compared to the "standard" Pixhawk 6C):

• Power2 Port

• Telem3 Port

Pixhawk 6C Mini is supported on PX4 and later.

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:

Must use or later, or .

The Pixhawk® 6C Mini is the latest update to the successful family of Pixhawk® flight controllers, based on the and . 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.

• 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.

Pix32v6 is supported on PX4 and later. Pix32 v6 (with SN number higher than XXXX XXX 20221112) requires or later.

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:

Must use or later, or .

The Pixhawk® 6C is the latest update to the successful family of Pixhawk® flight controllers, based on the and . 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 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 . 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.

Pixhawk 6C is supported on PX4 and later.

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:

Must use or later, or .

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.

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.

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

• Mounting - 30.5 x 30.5mm/Φ4mm hole with Φ3mm Grommets

• Dimension - 35x35mm

• Weight - 8g

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

• Mounting - 20 x 20mm, Φ3.6mm hole with M3 & M2 Grommets

• Dimension - 31x30x6mm

• Weight – 5.5g

Two methods to flash the board:

SDK Manager:

This is a GUI-based solution by Nvidia which can be found from the link below: https://docs.nvidia.com/sdk-manager/install-with-sdkm-jetson/index.html

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.

Command Line:

You could benefit from Nvidia flash guide .

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

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 &

  • 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

• Mounting - 30.5 x 30.5mm/Φ4mm hole with Φ3mm Grommets

• Dimension - 35x35mm

• Weight - 8g

• FMU Processor: STM32H743

  • 32 Bit Arm® Cortex®-M7, 480MHz, 2MB memory, 1MB SRAM

• IO Processor: STM32F103

• FMU Processor: STM32H743

  • 32 Bit Arm® Cortex®-M7, 480MHz, 2MB memory, 1MB SRAM

• IO Processor: STM32F103

• FMU Processor: STM32H743

  • 32 Bit Arm® Cortex®-M7, 480MHz, 2MB memory, 1MB SRAM

• IO Processor: STM32F103

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)

• Voltage Ratings:

  • Max input voltage: 6V

  • USB Power Input: 4.75~5.25V

• Dimensions

  • Flight Controller Module: 38.8 x 31.8 x 30.1mm

  • Standard Baseboard: 52.4 x 103.4 x 16.7mm

• 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

• Operating temperature: -40 ~ 85°c

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 for the details. For a sanity check, you could run 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: <BROADCAST,MULTICAST,UP,LOWER_UP> 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.

Now connect to the NuttX shell (using a console or the MAVLink shell) and check the status of the link:

For me, it is DOWN at first.

To set it to UP:

Now check the config again:

However, it doesn’t have an IP yet. I’m going to set one similar to the one of Jetson:

And check it:

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.

First from the Jetson terminal:

And from the FC in Nuttx Shell:

For this, we need to set the mavlink instance to send traffic to the Jetson’s IP:

For an initial test we can do:

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 .

For instance:

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

• Main FMU Processor: STM32H743

  • 32 Bit Arm ® Cortex®-M7, 480MHz, 2MB memory, 1MB RAM

• IO Processor: STM32F100/F103

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

• Dimensions:80*45*20.5mm

• Weight: 68.8g

• 13 PWM outputs (8 from IO, 5 from FMU)

• 5 general purpose serial ports

• FMU Processor: STM32H753

  • 32 Bit Arm® Cortex®-M7, 480MHz, 2MB flash memory, 1MB RAM

• IO Processor: STM32F103

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

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.

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

• Jetson & controller are connected via UART, CAN, and Ethernet Switch

• 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

• Pixhawk Bus Interface - 100 Pin Hirose DF40 - 50 Pin Hirose DF40

• Redundant Digital Power Module Inputs

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:

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:

Note: sudo isn't required if you have write permissions for the /dev/bus/usb device.

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)

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:

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.

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).

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.

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.

1. Make sure the CM4 is connected to the internet, e.g. using a wifi, or ethernet.

2. Install MAVSDK Python:

1. Copy an example from the .

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

You can also use your own power supply to power the RPi CM4 baseboard.

Pinout