Pixhawk Baseboards Pixhawk RPi CM4 Baseboard Connections & Ports

This baseboard is compatible with both Pixhawk 5X & 6X, and any flight controller that follow the Pixhawk Autopilot Bus Standard.

This baseboard is compatible with both Pixhawk 5X & 6X, and any flight controller that follow the Pixhawk Autopilot Bus Standard.

Connection Between RPi CM4 & Flight Controller:

FC Module is internally connected to RPi CM4 through TELEM2
CM4 GPIO14 <-> FMU TXD TELEM2
CM4 GPIO15 <-> FMU RXD TELEM2
CM4 GPIO16 <-> FMU CTS TELEM2
CM4 GPIO17 <-> FMU RTS TELEM2

CM4 Slave USB-C port:

CM4 USB Device Port. Use for CM4 Power and image flash. Max input voltage: 5V

CM4 Host1 & Host2 USB-C Port:

CM4 USB Host port. 1A Current output limit for each port.

Micro HDMI:

CM4 Video Output

Dip Switch

CM4 Slave
CM4 Host1&2
RPI
Data Connected
Power IN and Data
Data Not Connected
Power out only
EMMC
Data Not Connected
Power IN only
Data Connected
Power out and Data

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

CM4 ETH port

Pin
Signal
Volt
1(red)
CM4_TRD0_P
+3.3V
2(pink)
CM4_TRD0_N
+3.3V
3(yellow)
CM4_TRD1_P
+3.3V
4(green)
CM4_TRD1_N
+3.3V
5(brown)
CM4_TRD2_P
+3.3V
6(blue)
CM4_TRD2_N
+3.3V
7(purple)
CM4_TRD3_P
+3.3V
8(black)
CM4_TRD3_N
+3.3V

FC 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

FAN port

Pin
Signal
Volt
1(red)
CM4_VDD_5V
+5V
2(black)
GND
GND

CAMERA Port (Use for CSI Camera IN)

Pin
Signal
Volt
1
GND
GND
2
CM4_CAM1_D0_N
+3.3V
3
CM4_CAM1_D0_P
+3.3V
4
GND
GND
5
CM4_CAM1_D1_N
+3.3V
6
CM4_CAM1_D1_P
+3.3V
7
GND
GND
8
CM4_CAM1_CLK_N
+3.3V
9
CM4_CAM1_CLK_P
+3.3V
10
GND
GND
11
CM4_CAM1_D2_N
+3.3V
12
CM4_CAM1_D2_P
+3.3V
13
GND
GND
14
CM4_CAM1_D3_N
+3.3V
15
CM4_CAM1_D3_P
+3.3V
16
GND
GND
17
CM4_CAM1_GPIO
+3.3V
18
No Connected
—
19
GND
GND
20
CM4_I2C0_SCL
+3.3V
21
CM4_I2C0_SDA
+3.3V
22
CM4_VDD_3V3
+3.3V

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

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

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)

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

RSSI Port

Pin
Signal
Volt
S
SBUS_OUT/RSSI_IN
+3.3V
+
VDD_SERVO
0~36V
–
GND
GND

FMU PWM OUT (AUX)

Pin
Signal
Volt
S
FMU_CH1~8
+3.3V
+
VDD_SERVO
0~36V
–
GND
GND

I/O PWM OUT (MAIN)

Pin
Signal
Volt
S
IO_CH1~8
+3.3V
+
VDD_SERVO
0~36V
–
GND
GND