Interfaces
Connectors
USB C
The USB Type C connector is reversible and has two USB3.0 lanes and one USB2.0 routed. USB C supports speed up to 5Gbps in host or device mode. Connected to Linux only.
It is possible to use a passive break out board to route out up to 3 USB ports for simultaneous use: 2x USB3.0 and 1x USB2.0.
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 TELEMETRY Pin (1) is currently not mapped in software.
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 supply
ADC1_INP
IN
3.3V
Analog input
SBUS_IN
IN
3.3V
SBUS protocol RC input
UART3_TX
OUT
3.3V
TELEM2 TX
UART3_RX
IN
3.3V
TELEM2 RX
PPM_IN
IN
3.3V
PPM input
CAN1 H
I/O
5V
CAN1 high
CAN1 L
I/O
5V
CAN1 low
GND
EXTRAS 2
The PWM functions are connected to the FMU only and configured via PX4.
The GPIO and 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
SPI1_MISO
IN
3.3V
Controlled by Linux: SPI1 Input
SPI1_MOSI
OUT
3.3V
Controlled by Linux: SPI1 Output
SPI1_SCK
OUT
3.3V
Controlled by Linux: SPI1 Clock
SPI1_CS
I/O
3.3V
Controlled by Linux: Chip Select
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
Please note that the pinout is different on v1.3 with two 5V pins without a GND pin!
1
5V_EXT
5V_EXT
2
5V_EXT extra pin
GPIO0
3
GPIO0
GPIO1
4
GPIO1
SPI1_MISO
5
SPI1_MISO
SPI1_MOSI
6
SPI1_MOSI
SPI1_SCK
7
SPI1_SCK
SPI1_CS
8
SPI1_CS
PWM5
9
PWM5
PWM6
10
PWM6
PWM7
11
PWM7
PWM8
12
PWM8
GND
GND missing
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