Pixhawk Autopilot

PIXHAWK is a high-performance autopilot-on-module suitable for fixed wing, multi rotors, helicopters, cars, boats and any other robotic platform that can move. It is targeted towards high-end research, amateur and industry needs and combines the functionality of the PX4FMU + PX4IO.

Key Features

168 MHz / 252 MIPS Cortex-M4F

14 PWM / Servo outputs (8 with failsafe and manual override, 6 auxiliary, high-power compatible)
Abundant connectivity options for additional peripherals (UART, I2C, CAN)
Integrated backup system for in-flight recovery and manual override with dedicated processor and stand-alone power supply (fixed-wing use)
Backup system integrates mixing, providing consistent autopilot and manual override mixing modes (fixed wing use)
Redundant power supply inputs and automatic failover
External safety switch
Multicolor LED main visual indicator
High-power, multi-tone piezo audio indicator
microSD card for high-rate logging over extended periods of time

Specifications

Processor

32bit STM32F427 Cortex M4 core with FPU
168 MHz
256 KB RAM
2 MB Flash
32 bit STM32F103 failsafe co-processor

Sensors

ST Micro L3GD20H 16 bit gyroscope
ST Micro LSM303D 14 bit accelerometer / magnetometer
Invensense MPU 6000 3-axis accelerometer/gyroscope
MEAS MS5611 barometer

Interfaces

5x UART (serial ports), one high-power capable, 2x with HW flow control
2x CAN (one with internal 3.3V transceiver, one on expansion connector)
Spektrum DSM / DSM2 / DSM-X® Satellite compatible input
Futaba S.BUS® compatible input and output
PPM sum signal input
RSSI (PWM or voltage) input
I2C
SPI
3.3 and 6.6V ADC inputs
Internal microUSB port and external microUSB port extension

Power System and Protection

Ideal diode controller with automatic failover
Servo rail high-power (max. 10V) and high-current (10A+) ready
All peripheral outputs over-current protected, all inputs ESD protected

Voltage Ratings

Pixhawk can be triple-redundant on the power supply if three power sources are supplied. The three rails are: Power module input, servo rail input, USB input.

Normal Operation Maximum Ratings

Under these conditions all power sources will be used in this order to power the system

Power module input (4.1V to 5.7V)
Servo rail input (4.1V to 5.7V) UP TO 10V FOR MANUAL OVERRIDE, BUT AUTOPILOT PART WILL BE UNPOWERED ABOVE 5.7V IF POWER MODULE INPUT IS NOT PRESENT
USB power input (4.1V to 5.7V)

Absolute Maximum Ratings

Under these conditions the system will not draw any power (will not be operational), but will remain intact.

Power module input (0V to 20V)
Servo rail input (0V to 20V)
USB power input (0V to 6V)

Schematics

FMUv2 + IOv2 schematic – Schematic and layout
How-to guide: Pixhawk with 6S batteries (> 4S) – An How-to guide to power PixHawk with >4S LIPO batteries

Pinouts

TELEM1, TELEM2 ports

Pin	Signal	Volt
1 (red)	VCC	+5V
2 (blk)	TX (OUT)	+3.3V
3 (blk)	RX (IN)	+3.3V
4 (blk)	CTS (IN)	+3.3V
5 (blk)	RTS (OUT)	+3.3V
6 (blk)	GND	GND

GPS port

Pin	Signal	Volt
1 (red)	VCC	+5V
2 (blk)	TX (OUT)	+3.3V
3 (blk)	RX (IN)	+3.3V
4 (blk)	CAN2 TX	+3.3V
5 (blk)	CAN2 RX	+3.3V
6 (blk)	GND	GND

SERIAL 4/5 port - due to space constraints two ports are on one connector.

Pin	Signal	Volt
1 (red)	VCC	+5V
2 (blk)	TX (#4)	+3.3V
3 (blk)	RX (#4)	+3.3V
4 (blk)	TX (#5)	+3.3V
5 (blk)	RX (#5)	+3.3V
6 (blk)	GND	GND

ADC 6.6V

Pin	Signal	Volt
1 (red)	VCC	+5V
2 (blk)	ADC IN	up to +6.6V
3 (blk)	GND	GND

ADC 3.3V

Pin	Signal	Volt
1 (red)	VCC	+5V
2 (blk)	ADC IN	up to +3.3V
3 (blk)	GND	GND
4 (blk)	ADC IN	up to +3.3V
5 (blk)	GND	GND

I2C

Pin	Signal	Volt
1 (red)	VCC	+5V
2 (blk)	SCL	+3.3 (pullups)
3 (blk)	SDA	+3.3 (pullups)
4 (blk)	GND	GND

CAN

Pin	Signal	Volt
1 (red)	VCC	+5V
2 (blk)	CAN_H	+12V
3 (blk)	CAN_L	+12V
4 (blk)	GND	GND

SPI

Pin	Signal	Volt
1 (red)	VCC	+5V
2 (blk)	SPI_EXT_SCK	+3.3
3 (blk)	SPI_EXT_MISO	+3.3
4 (blk)	SPI_EXT_MOSI	+3.3
5 (blk)	!SPI_EXT_NSS	+3.3
6 (blk)	GPIO_EXT	+3.3
7 (blk)	GND	GND

POWER

Pin	Signal	Volt
1 (red)	VCC	+5V
2 (blk)	VCC	+5V
3 (blk)	CURRENT	+3.3V
4 (blk)	VOLTAGE	+3.3V
5 (blk)	GND	GND
6 (blk)	GND	GND

SWITCH

Pin	Signal	Volt
1 (red)	VCC	+3.3V
2 (blk)	!IO_LED_SAFETY	GND
3 (blk)	SAFETY	GND

Console Port

The system's serial console runs on the port labeled SERIAL4/5. The pinout is standard serial pinout, to connect to a standard FTDI cable (3.3V, but its 5V tolerant).

Please refer to the NSH Serial Console Wiring page for details how to wire up this port.

Parts / Housings

ARM MINI JTAG (J6, not populated per default): 1.27 mm 10pos header (SHROUDED, for Black Magic Probe: FCI 20021521-00010D4LF (Distrelec, Digi-Key) or Samtec FTSH-105-01-F-DV-K (untested) or Harwin M50-3600542 (Digikey or Mouser)
- JTAG Adapter Option #1: BlackMagic Probe, comes without cables, needs the Samtec FFSD-05-D-06.00-01-N cable (Samtec sample service or Digi-Key Link: SAM8218-ND) or Tag Connect Ribbon and a Mini-USB cable
- JTAG Adapter Option #2: Digi-Key Link: ST-LINK/V2 / ST USER MANUAL, needs an ARM Mini JTAG to 20pos adapter: Digi-Key Link: 726-1193-ND
- JTAG Adapter Option #3: SparkFun Link: Olimex ARM-TINY or any other OpenOCD-compatible ARM Cortex JTAG adapter, needs an ARM Mini JTAG to 20pos adapter: Digi-Key Link: 726-1193-ND
USARTs: Hirose DF13 6 pos (Digi-Key Link: DF13A-6P-1.25H(20))
- Mates: Hirose DF13 6 pos housing (Digi-Key Link: Hirose DF13-6S-1.25C)
I2C and CAN: Hirose DF13 4 pos (Digi-Key Link: DF13A-4P-1.25H(20))
- Mates: Hirose DF13 4 pos housing (Digi-Key Link: Hirose DF13-4S-1.25C)
USB (J5): Micro USB-B
- Mates: Cell phone data / charger cables, e.g. Digi-Key Link: ASSMANN AK67421-0.5-R

Peripherals

Supported Platforms / Airframes

Any multicopter / airplane / rover or boat that can be controlled with normal RC servos or Futaba S-Bus servos. More details are available on the platforms page.