Interfaces
Connectors
USB C
The USB Type C connector has one USB3.0 (5Gpbs) and one USB2.0 (480Mbps) routed. The USB-C connector is fully reversible for USB2.0 speeds, however, for USB3.0 only one orientation is supported.
USB 2
The connector has 7 pins to avoid accidental connection with the GPS port. The extra power pins allow for more current to be supplied from 5V.
1
5V_EXT
OUT
5V
2
5V_EXT
OUT
5V
3
D-
I/O
5V
USB2 host mode
4
D+
I/O
5V
USB2 host mode
5
GND
6
GND
7
GND
MIPI-CSI
22 pin 0.5mm ribbon cable, RPi camera compatible.
1
3.3V
3.3V
2
I2C4 SDA
I2C3 SDA
3
I2C4 SCL
I2C3 SCL
4
GND
GND
5
CSI0 LED
CSI1 LED
6
CSI Enable (shared with CSI1)
CSI Enable (shared with CSI0)
7
GND
GND
8
CSI0 D3 P
CSI1 D3 P
9
CSI0 D3 N
CSI1 D3 P
10
GND
GND
11
CSI0 D2 P
CSI1 D2 P
12
CSI0 D2 N
CSI1 D2 N
13
GND
GND
14
CSI0 CLK P
CSI1 CLK P
15
CSI0 CLK N
CSI1 CLK N
16
GND
GND
17
CSI0 D1 P
CSI1 D1 P
18
CSI0 D1 N
CSI1 D1 N
19
GND
GND
20
CSI0 D0 P
CSI1 D0 P
21
CSI0 D0 N
CSI1 D0 N
22
GND
GND
ESC
The connector pinout is the same as the BLHeli_S ESC pinout. For other ESCs, you need an adapter cable!
TELEMETRY
IN
3.3V
Digital telemetry input based on UART
CURRENT
IN
3.3V
Analog current measurement
PWM1
OUT
3.3V
Motor 1
PWM2
OUT
3.3V
Motor 2
PWM3
OUT
3.3V
Motor 3
PWM4
OUT
3.3V
Motor 4
VBAT
IN
≤36V
Battery input
GND
All PWM pins can be configured to output PWM, OneShot, or DShot protocol in PX4. The order can be freely defined in software.
The analog current measurement is limited to the 0-3.3V range, however, the pin will survive higher voltages up to 12V.
GPS
The connector pinout is the same as for most GPS receivers.
5V_EXT
OUT
5V
5V power supply
UART8_TX
OUT
3.3V
GPS1 TX
UART8_RX
IN
3.3V
GPS1 RX
I2C1_SCL
I/O
3.3V
I2C for external compass
I2C1_SDA
I/O
3.3V
I2C for external compass
GND
Connected GPS and external compass are automatically recognized on boot.
EXTRAS 1
All functions are connected to the FMU only and configured via PX4.
5V_EXT
OUT
5V
5V power supply
3V3_EXT
OUT
3.3V
3.3V power supply1
PWM9
IN
3.3V
Auxilary PWM5 or analog input2
RC_IN
IN
3.3V
RC input
UART3_TX
OUT
3.3V
TELEM2 TX
UART3_RX
IN
3.3V
TELEM2 RX
PWM10
IN
3.3V
Auxilary PWM6 or PPS input3
CAN1 H
I/O
5V
CAN1 high
CAN1 L
I/O
5V
CAN1 low
GND
1: Use this power rail only for supplying IO voltage levels. It may only be available several seconds after the 5V power supply is available.
2: This pin can only provide PWM 50-400Hz. To use it as an analog input, set the parameter PWM_MAIN_TIM2 to -2. The analog value gets published in the uORB message adc_report.raw_data[4] . The maximum input voltage must not exceed 3.3V!
3: This pin can only provide PWM 50-400Hz. To use it as a PPS input, set the parameter PWM_MAIN_TIM3 to -2 and PWM_MAIN_FUNC10 to 2064.
EXTRAS 2
The PWM functions are connected to the FMU only and configured via PX4.
The GPIO and UART (or SPI*) signals are connected to the mission computer.
5V_EXT
OUT
5V
5V power supply
GPIO0
I/O
3.3V
Controlled by Linux: Bank 0, Gpio 0
GPIO1
I/O
3.3V
Controlled by Linux: Bank 0, Gpio 1
UART3_CTS (SPI1_MISO1)
IN
3.3V
Controlled by Linux: UART3 or SPI1 Input1
UART3_TX (SPI1_MOSI1)
OUT
3.3V
Controlled by Linux: UART3 or SPI1 Output1
UART3_RX (SPI1_CLK1)
I/O
3.3V
Controlled by Linux: UART3 Input or SPI1 Clock1
UART3_RTS (SPI1_CS1)
OUT
3.3V
Controlled by Linux: UART3 or SPI1 Chip Select1
PWM5
I/O
3.3V
Auxilary PWM1
PWM6
I/O
3.3V
Auxilary PWM2
PWM7
I/O
3.3V
Auxilary PWM3
PWM8
I/O
3.3V
Auxilary PWM4
GND
I/O
All PWM pins can be configured to output PWM, OneShot, or DShot protocol in PX4. The order can be freely defined in software.
1: UART and SPI are mutually exclusive features, meaning only one can be active at a time. UART is enabled by default. To switch to SPI, a specific device tree overlay must be applied.
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