Holybro Pixhawk 4 (FMUv5) - Discontinued
Last updated
Last updated
:::warning PX4 does not manufacture this (or any) autopilot. Contact the manufacturer for hardware support or compliance issues. :::
Pixhawk 4® is an advanced autopilot designed and made in collaboration with Holybro® and the PX4 team. It is optimized to run PX4 v1.7 and later, and is suitable for academic and commercial developers.
It is based on the Pixhawk-project FMUv5 open hardware design and runs PX4 on the NuttX OS.
:::tip This autopilot is supported by the PX4 maintenance and test teams. :::
Main FMU Processor: STM32F765
32 Bit Arm® Cortex®-M7, 216MHz, 2MB memory, 512KB RAM
IO Processor: STM32F100
32 Bit Arm® Cortex®-M3, 24MHz, 8KB SRAM
On-board sensors:
Accel/Gyro: ICM-20689
Accel/Gyro: BMI055 or ICM20602
Magnetometer: IST8310
Barometer: MS5611
GPS: u-blox Neo-M8N GPS/GLONASS receiver; integrated magnetometer IST8310
Interfaces:
8-16 PWM outputs (8 from IO, 8 from FMU)
3 dedicated PWM/Capture inputs on FMU
Dedicated R/C input for CPPM
Dedicated R/C input for Spektrum / DSM and S.Bus with analog / PWM RSSI input
Dedicated S.Bus servo output
5 general purpose serial ports
3 I2C ports
4 SPI buses
Up to 2 CANBuses for dual CAN with serial ESC
Analog inputs for voltage / current of 2 batteries
Power System:
Power module output: 4.9~5.5V
USB Power Input: 4.75~5.25V
Servo Rail Input: 0~36V
Weight and Dimensions:
Weight: 15.8g
Dimensions: 44x84x12mm
Other Characteristics:
Operating temperature: -40 ~ 85°c
Additional information can be found in the Pixhawk 4 Technical Data Sheet.
Order from Holybro.
:::warning The DSM/SBUS RC and PPM RC ports are for RC receivers only. These are powered! NEVER connect any servos, power supplies or batteries (or to any connected receiver). :::
Download Pixhawk 4 pinouts from here.
:::note Connector pin assignments are left to right (i.e. Pin 1 is the left-most pin). The exception is the debug port(s) (pin 1 is the right-most, as shown below). :::
Pixhawk 4 can be triple-redundant on the power supply if three power sources are supplied. The three power rails are: POWER1, POWER2 and USB.
:::note The output power rails FMU PWM OUT and I/O PWM OUT (0V to 36V) do not power the flight controller board (and are not powered by it). You must supply power to one of POWER1, POWER2 or USB or the board will be unpowered. :::
Normal Operation Maximum Ratings
Under these conditions all power sources will be used in this order to power the system:
POWER1 and POWER2 inputs (4.9V to 5.5V)
USB input (4.75V to 5.25V)
Absolute Maximum Ratings
Under these conditions the system will not draw any power (will not be operational), but will remain intact.
POWER1 and POWER2 inputs (operational range 4.1V to 5.7V, 0V to 10V undamaged)
USB input (operational range 4.1V to 5.7V, 0V to 6V undamaged)
Servo input: VDD_SERVO pin of FMU PWM OUT and I/O PWM OUT (0V to 42V undamaged)
The Pixhawk 4 Wiring Quick Start provides instructions on how to assemble required/important peripherals including GPS, Power Management Board etc.
:::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 for this target:
The PX4 System Console and SWD interface run on the FMU Debug port, while the I/O console and SWD interface can be accessed via I/O Debug port. In order to access these ports, the user must remove the Pixhawk 4 casing.
The pinout uses the standard Pixhawk debug connector pinout. For wiring information see:
Any multicopter / airplane / rover or boat that can be controlled with normal RC servos or Futaba S-Bus servos. The complete set of supported configurations can be seen in the Airframes Reference.
Pixhawk 4 Pinouts (Holybro)
Pixhawk 4 Quick Start Guide (Holybro)
| UART | Device | Port |
|---|---|---|
UART1
/dev/ttyS0
GPS
USART2
/dev/ttyS1
TELEM1 (flow control)
USART3
/dev/ttyS2
TELEM2 (flow control)
UART4
/dev/ttyS3
TELEM4
USART6
/dev/ttyS4
RC SBUS
UART7
/dev/ttyS5
Debug Console
UART8
/dev/ttyS6
PX4IO
