PX4 User Guide
  • Introduction
  • Getting Started
    • Basic Concepts
    • Vehicles/Frames
    • Flight Controllers
    • Sensors
    • Radio Systems
    • Flight Modes
    • Vehicle Status Notifications
      • LED Meanings
      • Tune/Sound Meanings
      • Preflight Checks
    • Payloads & Cameras
    • Flight Reporting
  • Basic Assembly
    • Mounting the Flight Controller
    • Mounting the GPS/Compass
    • Vibration Isolation
    • Cable Wiring
    • CUAV Pixhawk V6X Wiring QuickStart
    • CUAV V5+ Wiring Quickstart
    • CUAV V5 nano Wiring Quickstart
    • Holybro Pixhawk 6C Wiring Quickstart
    • Holybro Pixhawk 6X Wiring Quickstart
    • Holybro Pixhawk 5X Wiring Quickstart
    • Holybro Pixhawk 4 Wiring Quickstart - Discontinued
    • Holybro Pixhawk 4 Mini Wiring Quickstart - Discontinued
    • Holybro Durandal Wiring Quickstart
    • Holybro Pix32 v5 Wiring Quickstart
    • Cube Wiring Quickstart
    • Pixracer Wiring Quickstart
    • mRo (3DR) Pixhawk Wiring Quickstart
  • Standard Configuration
    • Firmware
    • Airframe
    • Sensor Orientation
    • Compass
    • Gyroscope
    • Accelerometer
    • Airspeed
    • Level Horizon Calibration
    • Radio Setup
    • Joystick Setup
    • Flight Modes
    • Battery
    • Safety
      • Failsafe Simulation
    • ESC Calibration
    • Actuators
    • Autotune
  • Vehicle Types & Setup
    • Multicopters
      • Multicopter Config/Tuning
        • MC Filter/Control Latency Tuning
        • MC PID Tuning (Manual/Basic)
        • MC PID Tuning Guide (Manual/Advanced)
        • MC Setpoint Tuning (Trajectory Generator)
          • MC Jerk-limited Type Trajectory
        • Multicopter Racer Setup
      • X500 v2 (Pixhawk 6C)
      • X500 v2 (Pixhawk 5X)
      • X500 (Pixhawk 4)
      • S500 V2 (Pixhawk 4)
      • DJI F450 (CUAV v5+)
      • DJI F450 (CUAV v5 nano)
      • QAV250 (Pixhawk4 Mini) - Discontinued
      • DJI F450 + RTK (Pixhawk 3 Pro)
      • QAV250 (Pixhawk Mini)
      • QAV-R 5" Racer (Pixracer)
      • Omnicopter
    • Planes
      • Fixed Wing Config/Tuning
        • Fixedwing PID Tuning Guide
        • Fixedwing Advanced Tuning Guide
        • Fixedwing Trimming Guide
      • Reptile Dragon 2 (ARK6X)
      • Turbo Timber Evolution (Pixhawk 4 Mini)
      • Wing Wing Z84 (Pixracer)
    • VTOL
      • VTOL Config/Tuning
        • QuadPlane Configuration
        • Back-transition Tuning
        • VTOL w/o Airspeed Sensor
        • VTOL Weather Vane
      • Standard VTOL
        • FunCub QuadPlane (Pixhawk)
        • Ranger QuadPlane (Pixhawk)
        • Falcon Vertigo QuadPlane (Dropix)
      • Tailsitter VTOL
        • Build: TBS Caipiroshka Tailsitter Build (Pixracer)
      • Tiltrotor VTOL
        • Build: Convergence Tiltrotor (Pixfalcon)
    • Airships (experimental)
    • Autogyros (experimental)
      • ThunderFly Auto-G2 (Holybro pix32)
    • Balloons (experimental)
    • Helicopter (experimental)
      • Helicopter Config/Tuning
    • Rovers (experimental)
      • Traxxas Stampede
    • Submarines (experimental)
      • BlueROV2
    • Airframes Reference
  • Flying
    • First Flight Guidelines
    • Flying 101
    • Missions
      • Package Delivery Mission
    • GeoFence
    • Safety Point Planning
    • Flight Modes
      • Position Mode (MC)
      • Altitude Mode (MC)
      • Manual/Stabilized Mode (MC)
      • Acro Mode (MC)
      • Orbit Mode (MC)
      • Position Mode (FW)
      • Altitude Mode (FW)
      • Stabilized Mode (FW)
      • Acro Mode (FW)
      • Manual Mode (FW)
      • Takeoff Mode
      • Land Mode
      • Return Mode
      • Hold Mode
      • Mission Mode
      • Follow Me Mode
      • Offboard Mode
    • Terrain Following/Holding
  • Flight Log Analysis
    • Log Analysis using Flight Review
    • Log Analysis using PlotJuggler
  • Advanced Configuration
    • Finding/Updating Parameters
    • Full Parameter Reference
    • ECL/EKF Overview & Tuning
    • Flight Termination Configuration
    • Bootloader Flashing onto Betaflight Systems
    • Land Detector Configuration
    • Prearm/Arm/Disarm Configuration
    • IMU Factory Calibration
    • Sensor Thermal Compensation
    • Compass Power Compensation
    • Advanced Controller Orientation
    • Static Pressure Buildup
    • Serial Port Configuration
    • MAVLink Telemetry (OSD/GCS)
    • PX4 Ethernet Setup
    • Bootloader Update
  • Hardware (Drones&Parts)
    • Complete Vehicles
      • ModalAI Starling
      • PX4 Vision Kit
      • MindRacer BNF & RTF
        • MindRacer 210
        • NanoMind 110
      • Holybro Kopis 2
      • Bitcraze Crazyflie 2.1
    • Flight Controllers (Autopilots)
      • Pixhawk Series
        • Silicon Errata
      • Pixhawk Standard Autopilots
        • CUAV Pixhawk V6X (FMUv6X)
        • Holybro Pixhawk 6X (FMUv6X)
        • Holybro Pixhawk 6C (FMUv6C)
        • Holybro Pixhawk 6C Mini(FMUv6C)
        • Holybro Pix32 v6 (FMUv6C)
        • Holybro Pixhawk 5X (FMUv5X)
        • Holybro Pixhawk 4 (FMUv5) - Discontinued
        • Holybro Pixhawk 4 Mini (FMUv5) - Discontinued
        • Drotek Pixhawk 3 Pro (FMUv4pro)
        • mRo Pixracer (FMUv4)
        • Hex Cube Black (FMUv3)
        • mRo Pixhawk (FMUv3)
        • Holybro Pixhawk Mini (FMUv3) - Discontinued
      • Manufacturer-Supported Autopilots
        • AirMind MindPX
        • AirMind MindRacer
        • ARK Electronics ARKV6X
        • CUAV X7
        • CUAV Nora
        • CUAV V5+ (FMUv5)
        • CUAV V5 nano (FMUv5)
        • CUAV Pixhack v3 (FMUv3)
        • CubePilot Cube Orange+ (CubePilot)
        • CubePilot Cube Orange (CubePilot)
        • CubePilot Cube Yellow (CubePilot)
        • Holybro Kakute H7v2
        • Holybro Kakute H7mini
        • Holybro Kakute H7
        • Holybro Durandal
        • Holybro Pix32 v5
        • ModalAI Flight Core v1
        • ModalAI VOXL Flight
        • ModalAI VOXL 2
        • mRobotics-X2.1 (FMUv2)
        • mRo Control Zero F7)
        • NXP RDDRONE-FMUK66 FMU
        • Sky-Drones AIRLink
        • SPRacing SPRacingH7EXTREME
        • ThePeach FCC-K1
        • ThePeach FCC-R1
      • Experimental Autopilots
        • BeagleBone Blue
        • Raspberry Pi 2/3 Navio2
        • Raspberry Pi 2/3/4 PilotPi
          • PilotPi with Raspberry Pi OS
          • PilotPi with Ubuntu Server
      • Discontinued Autopilots/Vehicles
        • Drotek Dropix (FMUv2)
        • Omnibus F4 SD
        • BetaFPV Beta75X 2S Brushless Whoop
        • Bitcraze Crazyflie 2.0
        • Aerotenna OcPoC-Zynq Mini
        • CUAV v5
        • Holybro Kakute F7 (Discontinued)
        • Holybro Pixfalcon
        • Holybro pix32 (FMUv2)
        • mRo AUAV-X2
        • 3DR Pixhawk 1
        • Snapdragon Flight
        • Intel® Aero RTF Drone (Discontinued)
      • Pixhawk Autopilot Bus (PAB) & Carriers
        • ARK Electronics Pixhawk Autopilot Bus Carrier
    • Flight Controller Peripherals
      • ADSB/FLARM (Traffic Avoidance)
      • Air Traffic Avoidance: ADSB/FLARM
      • Air Traffic Avoidance: UTM
      • Airspeed Sensors
        • TFSlot Airspeed Sensor
      • Barometers
      • Camera
      • Distance Sensors (Rangefinders)
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        • Ainstein US-D1 Standard Radar Altimeter
        • LeddarOne Lidar
        • Benewake TFmini Lidar
        • Lidar-Lite
        • TeraRanger
        • Lanbao PSK-CM8JL65-CC5
        • Avionics Anonymous Laser Altimeter UAVCAN Interface
      • ESCs & Motors
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        • DroneCAN ESCs
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        • VESC
      • TBS Crossfire (CRSF) Telemetry
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      • Gimbal (Mount) Configuration
      • GPS/Compass
        • ARK GPS
        • Holybro DroneCAN M8N GPS
        • LOCOSYS Hawk A1 GNSS
        • Hex Here2
        • Holybro M8N & M9N GPS
        • Sky-Drones SmartAP GPS
      • Grippers
        • Servo Gripper
      • Optical Flow
        • ARK Flow
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      • Precision Landing
      • Parachute
      • Power Modules/PDB
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        • Pomegranate Systems Power Module
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      • Satellite Coms (Iridium/RockBlock)
      • Telemetry Radios
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        • Telemetry Wifi
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          • 3DR Telemetry Wifi (Discontinued)
        • Microhard Serial Telemetry Radio
          • ARK Electron Microhard Serial Telemetry Radio
          • Holybro Microhard P900 Telemetry Radio
        • CUAV P8 Telemetry Radio
        • HolyBro XBP9X - Discontinued
      • RTK GPS
        • ARK RTK GPS
        • RTK GPS Heading with Dual u-blox F9P
        • CUAV C-RTK
        • CUAV C-RTK2 PPK/RTK GNSS
        • CUAV C-RTK 9Ps
        • Femtones MINI2 Receiver
        • Freefly RTK GPS
        • Holybro H-RTK-F9P
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        • Holybro H-RTK Unicore UM982 GPS
        • Locosys Hawk R1
        • Locosys Hawk R2
        • Septentrio AsteRx-RIB
        • Septentrio mosaic-go
        • Trimble MB-Two
        • CubePilot Here+ (Discontined)
      • Remote ID
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    • Concepts
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    • Hardware
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        • Adding a New Airframe
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On this page
  • Key Features
  • Where to Buy
  • Connectors
  • Airbot Omnibus F4 SD
  • Hobbywing XRotor Flight Controller F4
  • Pinouts
  • Radio Control
  • UARTs
  • I2C
  • Serial Port Mapping
  • RC Telemetry
  • CRSF Crossfire Telemetry
  • Schematics
  • PX4 Bootloader Update
  • Building Firmware
  • Installing PX4 Firmware
  • Configuration
  • Further Info
  1. Hardware (Drones&Parts)
  2. Flight Controllers (Autopilots)
  3. Discontinued Autopilots/Vehicles

Omnibus F4 SD

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Last updated 1 year ago

:::warning This flight controller has been and is no longer commercially available. :::

:::warning PX4 does not manufacture this (or any) autopilot. Contact the manufacturer for support or compliance issues. :::

The Omnibus F4 SD is a controller board designed for racers. In contrast to a typical racer board it has some additional features, such as an SD card and a faster CPU.

These are the main differences compared to a :

  • Lower price

  • Fewer IO ports (though it's still possible to attach a GPS or a Flow sensor for example)

  • Requires external pull up resistor on the I2C bus for external GPS, see below.

  • Less RAM (192 KB vs. 256 KB) and FLASH (1 MB vs. 2 MB)

  • Same board dimensions as a Pixracer, but slightly smaller form factor (because it has less connectors)

  • Integrated OSD (not yet implemented in software)

:::tip All the usual PX4 features can still be used for your racer! :::

:::note This flight controller is . :::

Key Features

  • Main System-on-Chip:

    • CPU: 168 MHz ARM Cortex M4 with single-precision FPU

    • RAM: 192 KB SRAM

    • FLASH: 1 MB

  • Standard racer form factor: 36x36 mm with standard 30.5 mm hole pattern

  • MPU6000 Accel / Gyro

  • BMP280 Baro (not all boards have it mounted)

  • microSD (for logging)

  • Futaba S.BUS and S.BUS2 / Spektrum DSM2 and DSMX / Graupner SUMD / PPM input / Yuneec ST24

  • OneShot PWM out (configurable)

  • Built-in current sensor

  • Built-in OSD chip (AB7456 via SPI)

Where to Buy

The board is produced by different vendors, with some variations (e.g. with or without a barometer).

:::tip PX4 is compatible with boards that support the Betaflight OMNIBUSF4SD target (if OMNIBUSF4SD is present on the product page the board should work with PX4). :::

:::tip Any Omnibus F4 labeled derivative (e.g. clone) should work as well. However, power distribution on these boards is of varying quality. :::

These are the boards tested and known to work:

  • Purchase from:

  • Original Airbot Omnibus F4 SD

    Purchase from:

Accessories include:

Connectors

Boards from different vendors (based on this design) can have significantly different layout. Layouts/Silkscreens for various versions are shown below.

Airbot Omnibus F4 SD

Below are silkscreens for the Airbot Omnibus F4 SD (V1), showing both top and bottom.

Hobbywing XRotor Flight Controller F4

Below are silkscreens for the Hobbywing XRotor Flight Controller F4.

Pinouts

Radio Control

RC is connected to one of the following ports:

  • UART1

  • SBUS/PPM port (via inverter, internally goes to UART1)

:::note Some Omnibus F4 boards have a jumper connecting either or both the MCU SBUS and PPM to a single pin header. Set your jumper or solder bridge to the appropriate MCU pin before use. :::

UARTs

  • UART6: GPS port

    • TX: MCU pin PC6

    • RX: MCU pin PC7

    • Airbot Omnibus F4 SD Pinout is on Port J10 (TX6/RX6):

  • UART4

    • TX: MCU pin PA0

    • RX: MCU pin PA1

    • 57600 baud

    • This can be configured as the TELEM 2 port.

    • Airbot Omnibus F4 SD Pinout:

      • TX: RSSI pin

      • RX: PWM out 5

I2C

There is one I2C port available via:

  • SCL: MCU pin PB10 (might be labeled as TX3)

  • SDA: MCU pin PB11 (might be labeled as RX3)

:::note You will need external pullups on both signals (clock and data). You can use 2.2k pullups for example to attach an external mag. :::

Here is an example implementation. I used a Spektrum plug to get 3.3v from the DSM port, connecting only 3.3v + to each line via 2.2k resistor.

Serial Port Mapping

UART
Device
Port

USART1

/dev/ttyS0

SerialRX

USART4

/dev/ttyS1

TELEM1

USART6

/dev/ttyS2

GPS

RC Telemetry

CRSF Crossfire Telemetry

  • Only a single UART is needed for RC and telemetry.

  • The CRSF protocol is optimized for low latency.

  • 150 Hz RC update rate.

  • The signals are uninverted and thus no (external) inverter logic is required.

:::note If you use CRSF Telemetry you will need to build custom PX4 firmware. By contrast, FrSky telemetry can use prebuilt firmware. :::

:::note The referenced links above contains the documentation for the TX/RX modules. :::

Setup

Connect the Nano RX and Omnibus pins as shown:

Omnibus UART1
Nano RX

TX

Ch2

RX

Ch1

PX4 CRSF Configuration

Schematics

PX4 Bootloader Update

Building Firmware

make omnibus_f4sd_default

Installing PX4 Firmware

You can use either pre-built firmware or your own custom firmware.

The firmware can be installed in any of the normal ways:

  • Build and upload the source

    make omnibus_f4sd_default upload

Configuration

Parameter
Setting

This should be disabled since the board does not have an internal mag. You can enable it if you attach an external mag.

Disable this if your board does not have a barometer.

Further Info

:::note This board fits on top of the without soldering. This ESC board also provides power for the Omnibus board. :::

(getfpv)

for MAVLink telemetry. You need to connect these pins: GND, RX, TX, VCC and CH-PD (CH-PD to 3.3V). The baud rate is 921600.

Airbot Omnibus F4 SD Pinout is on Port J10 (SCL [clock] / SCA [data]):

The Omnibus supports telemetry to the RC Transmitter using or .

may be used to send telemetry data from the flight controller (the vehicle's attitude, battery, flight mode and GPS data) to an RC transmitter such as a Taranis.

Benefits over include:

For Omnibus we recommend the , since it is specifically designed for small Quads.

On the handheld controller (e.g. Taranis) you will also need a . This can be plugged into the back of the RC controller.

Next update the TX/RX modules to use the CRSF protocol and set up telemetry. Instructions for this are provided in the (search for 'Setting up radio for CRSF').

You will need to build custom firmware to use CRSF. For more information see .

The schematics are provided by : .

The board comes pre-installed with . Before PX4 firmware can be installed, the PX4 bootloader must be flashed. Download the bootloader binary and read for flashing instructions.

To for this target:

:::warning If you use in your radio system, as describe above, then you must use custom firmware. :::

using QGroundControl.

In addition to the , the following parameters are important:

provides a good overview with pinouts and setup instructions.

Hobbywing XRotor Flight Controller F4
Hobbywing XRotor Micro 40A 4in1 ESC
Hobbywing XRotor F4 Flight Controller w/OSD
Airbot (CN manufacturer)
Ready To Fly Quads (US reseller)
ESP8266 WiFi Module
TBS CRSF Telemetry
FrSky telemetry
TBS Crossfire Nano RX
Transmitter Module
TBS Crossfire Manual
Airbot
OmnibusF4-Pro-Sch.pdf
Betaflight
omnibusf4sd_bl.hex
this page
build PX4
Load the firmware
basic configuration
This page
FrSky Telemetry
CRSF Crossfire Telemetry
discontinued
Pixracer
manufacturer supported
STM32F405RGT6
I2C
CRSF Telemetry
CRSF Telemetry
Omnibus F4 SD v1 Silkscreen Top
Omnibus F4 SD v1 Silkscreen Bottom
Hobbywing XRotor Flight Controller F4 Silkscreen
Omnibus F4 SD UART6
Omnibus F4 SD UART4
Omnibus F4 SD UART4 Top
Omnibus F4 SD Pullup
Omnibus F4 SD Pullup Implementation
SYS_HAS_MAG
SYS_HAS_BARO