Pixhawk Baseboards Pixhawk Jetson Baseboard Ports Pinout

I/O PWM OUT = MAIN OUT
FMU PWM OUT = AUX OUT
Pin 1 starts from the flight controllers like diagram below

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)
GND
GND

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)
GND
GND

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)
GND
GND

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)
GND
GND

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)
GND
GND

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)
GND
GND

Orin Camera0 Port

Camera Serial Interface (CSI)
Pin
Signal
Voltage
1
GND
GND
2
Orin_CSI1_D0_N
+3.3V
3
Orin_CSI1_D0_P
+3.3V
4
GND
GND
5
Orin_CSI1_D1_N
+3.3V
6
Orin_CSI1_D1_P
+3.3V
7
GND
GND
8
Orin_CSI1_CLK_N
+3.3V
9
Orin_CSI1_CLK_P
+3.3V
10
GND
GND
11
Orin_CSI0_D0_N
+3.3V
12
Orin_CSI0_D0_P
+3.3V
13
GND
GND
14
Orin_CSI0_D1_N
+3.3V
15
Orin_CSI0_D1_P
+3.3V
16
GND
GND
17
Orin_CAM0_PWDN
+3.3V
18
Orin_CAM0_MCLK
+3.3V
19
GND
GND
20
Orin_CAM0_I2C_SCL
+3.3V
21
Orin_CAM0_I2C_SDA
+3.3V
22
VDD
+3.3V

Orin Camera1 Port

Camera Serial Interface (CSI)
Pin
Signal
Voltage
1
GND
GND
2
Orin_CSI2_D0_N
+3.3V
3
Orin_CSI2_D0_P
+3.3V
4
GND
GND
5
Orin_CSI2_D1_N
+3.3V
6
Orin_CSI2_D1_P
+3.3V
7
GND
GND
8
Orin_CSI2_CLK_N
+3.3V
9
Orin_CSI2_CLK_P
+3.3V
10
GND
GND
11
Orin_CSI3_D0_N
+3.3V
12
Orin_CSI3_D0_P
+3.3V
13
GND
GND
14
Orin_CSI3_D1_N
+3.3V
15
Orin_CSI3_D1_P
+3.3V
16
GND
GND
17
Orin_CAM1_PWDN
+3.3V
18
Orin_CAM1_MCLK
+3.3V
19
GND
GND
20
Orin_CAM1_I2C_SCL
+3.3V
21
Orin_CAM1_I2C_SDA
+3.3V
22
VDD
+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)
GND
GND

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)
GND
GND