The ports and pinout of the Pixhawk Baseboard v2A and v2B are identical. The only difference is the orientation of the header pins.

Refer to diagram below for location of pin1. All connectors are JST GH 1.25 mm Pitch unless noted otherwise.

The Pixhawk Baseboard v1 has been replaced by the v2A & V2B. See the Baseboard Changelog for difference.

Power1 (Main) & Power2 Port (Backup) (2.00mm Pitch CLIK-Mate)

Pin
Signal
Volt
1(red)
VDD5V_BRICK1/2
+5V
2(black)
VDD5V_BRICK1/2
+5V
3(black)
SCL1/2
+3.3V
4(black)
SDA1/2
+3.3V
5(black)
GND
GND
6(black)
GND
GND

Telem1, Telem2, Telem3 ports

Pin
Signal
Volt
1(red)
VCC
+5V
2(black)
TX7/5/2 (out)
+3.3V
3(black)
RX7/5/2 (in)
+3.3V
4(black)
CTS7/5/2 (in)
+3.3V
5(black)
RTS7/5/2 (out)
+3.3V
6(black)
GND
GND

GPS 1 Port

Pin
Signal
Volt
1(red)
VCC
+5V
2 black)
TX1(out)
+3.3V
3(black)
RX1(in)
+3.3V
4(black)
SCL1
+3.3V
5(black)
SDA1
+3.3V
6(black)
SAFETY_SWITCH
+3.3V
7(black)
SAFETY_SWITCH_LED
+3.3V
8(black)
VDD_3V3
+3.3V
9(black)
BUZZER-
0~5V
10(black)
GND
GND

GPS 2 Port

Pin
Signal
Volt
1(red)
VCC
+5V
2 black)
TX8(out)
+3.3V
3(black)
RX8(in)
+3.3V
4(black)
SCL2
+3.3V
5(black)
SDA2
+3.3V
6(black)
GND
GND

CAN1, CAN2 ports

Pin
Signal
Volt
1(red)
VCC
+5V
2(black)
CANH1/2
+3.3V
3(black)
CANL1/2
+3.3V
4(black)
GND
GND

Uart4 & I2C port

Pin
Signal
Volt
1(red)
VCC
+5V
2(black)
TX4(out)
+3.3V
3(black)
RX4(in)
+3.3V
4(black)
SCL3
+3.3V
5(black)
SDA3
+3.3V
6(black)
NFC_GPIO
+3.3V
7(black)
GND
GND

SPI Port

Pin
Signal
Volt
1(red)
VCC
+5V
2 (black)
SPI6_SCK
+3.3V
3(black)
SPI6_MISO
+3.3V
4(black)
SPI6_MOSI
+3.3V
5(black)
SPI6_CS1
+3.3V
6(black)
SPI6_CS2
+3.3V
7(black)
SPIX_SYNC
+3.3V
8(black)
SPI6_DRDY1
+3.3V
9(black)
SPI6_DRDY2
+3.3V
10(black)
SPI6_nRESET
+3.3V
11(black)
GND
GND

USB Port

Pin
Signal
Volt
1(red)
VBUS
+5V
2(black)
DM
+3.3V
3(black)
DP
+3.3V
4(black)
GND
GND

I2C Port

Pin
Signal
Volt
1(red)
VCC
+5V
2(black)
SCL3
+3.3V
3(black)
SDA3
+3.3V
4(black)
GND
GND

ETH Port

Pin
Signal
Volt
1(red)
RXN
+3.3V
2(black)
RXP
+3.3V
3(black)
TXN
+3.3V
4(black)
TXP
+3.3V

AD&IO Port

Pin
Signal
Volt
1(red)
VCC
+5V
2(black)
FMU_CAP1
+3.3V
3(black)
FMU_BOOTLOADER
+3.3V
4(black)
FMU_RST_REQ
+3.3V
5(black)
NARMED
+3.3V
6(black)
ADC1_3V3
+3.3V
7(black)
ADC1_6V6
+6.6V
8(black)
GND
GND

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

IO Debug Port (JST-SH 1mm Pitch)

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)

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

Please Note:
MAIN OUT is also known as I/O PWM OUT
AUX OUT is also known as FMU PWM OUT

FMU PWM OUT (AUX OUT)

The PWM Signal output of Main & AUX can be change to 5V via a change of a resistor.
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