# Drotek Pixhawk 3 Pro (FMUv4pro)

:::warning PX4 does not manufacture this (or any) autopilot. Contact the [manufacturer](https://store-drotek.com/) for hardware support or compliance issues. :::

The Pixhawk® 3 Pro is based on the FMUv4 hardware design (Pixracer) with some upgrades and additional features. The board was designed by [Drotek®](https://drotek.com) and PX4.

![Pixhawk 3 Pro hero image](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-9a1f2cb027f42f7d3023a2d8494df8ead6810e54%2Fhardware-pixhawk3_pro.jpg?alt=media)

:::note The main hardware documentation is here: https://drotek.gitbook.io/pixhawk-3-pro/hardware :::

:::tip This autopilot is [supported]() by the PX4 maintenance and test teams. :::

## Quick Summary

* Microcontroller: **STM32F469**; Flash size is **2MiB**, RAM size is **384KiB**
* **ICM-20608-G** gyro / accelerometer
* **MPU-9250** gyro / accelerometer / magnetometer
* **LIS3MDL** compass
* Sensors connected via two SPI buses (one high rate and one low-noise bus)
* Two I2C buses
* Two CAN buses
* Voltage / battery readings from two power modules
* FrSky® Inverter
* 8 Main + 6 AUX PWM outputs (Separate IO chip, PX4IO)
* microSD (logging)
* S.BUS / Spektrum / SUMD / PPM input
* JST GH user-friendly connectors: same connectors and pinouts as Pixracer

## Where to buy

From [Drotek store](https://store.drotek.com/) (EU) :

* [Pixhawk 3 Pro (Pack)](https://store.drotek.com/autopilots/844-pixhawk-3-pro-pack.html)
* [Pixhawk 3 Pro](https://store.drotek.com/autopilots/821-pixhawk-pro-autopilot-8944595120557.html)

From [readymaderc](https://www.readymaderc.com) (USA) :

* [Pixhawk 3 Pro](https://www.readymaderc.com/products/details/pixhawk-3-pro-flight-controller)

## Building Firmware

:::tip Most users will not need to build this firmware! It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected. :::

To [build PX4](../../../development/getting_started/building_px4) for this target:

```
make px4_fmu-v4pro_default
```

## Debug Port

The board has FMU and IO debug ports as shown below.

![Debug Ports](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-e2ce0a8c296d3983ae66fd79d52755cdec8acf23%2Fpixhawk3_pro_debug_ports.jpg?alt=media)

The pinouts and connector comply with the [Pixhawk Debug Mini](../../../../development/debug/gdb_debugging/swd_debug#pixhawk-debug-mini) interface defined in the [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf) (JST SM06B connector).

| Pin     | Signal           | Volt  |
| ------- | ---------------- | ----- |
| 1 (red) | VCC TARGET SHIFT | +3.3V |
| 2 (blk) | CONSOLE TX (OUT) | +3.3V |
| 3 (blk) | CONSOLE RX (IN)  | +3.3V |
| 4 (blk) | SWDIO            | +3.3V |
| 5 (blk) | SWCLK            | +3.3V |
| 6 (blk) | GND              | GND   |

For information about wiring and using this port see:

* [SWD Debug Port](../../../development/debug/gdb_debugging/swd_debug)
* [PX4 System Console](../../../../development/debug/consoles/system_console#pixhawk_debug_port) (Note, the FMU console maps to UART7).

## Serial Port Mapping

| UART   | Device     | Port                  |
| ------ | ---------- | --------------------- |
| UART1  | /dev/ttyS0 | WiFi                  |
| USART2 | /dev/ttyS1 | TELEM1 (flow control) |
| USART3 | /dev/ttyS2 | TELEM2 (flow control) |
| UART4  |            |                       |
| UART7  | CONSOLE    |                       |
| UART8  | SERIAL4    |                       |
