> For the complete documentation index, see [llms.txt](https://px4.gitbook.io/px4-user-guide/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://px4.gitbook.io/px4-user-guide/drone_parts/flight_controller/autopilot_pixhawk_standard/pixhawk4_mini.md).

# Holybro Pixhawk 4 Mini (FMUv5) - Discontinued

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

The *Pixhawk® 4 Mini* autopilot is designed for engineers and hobbyists who are looking to tap into the power of *Pixhawk 4* but are working with smaller drones. *Pixhawk 4 Mini* takes the FMU processor and memory resources from the *Pixhawk 4* while eliminating interfaces that are normally unused. This allows the *Pixhawk 4 Mini* to be small enough to fit in a 250mm racer drone.

*Pixhawk 4 Mini* was designed and developed in collaboration with Holybro® and Auterion®. It is based on the [Pixhawk](https://pixhawk.org/) **FMUv5** design standard and is optimized to run PX4 flight control software.

![Pixhawk4 mini](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-02732355727cca8d8b2ffdec3fbab81ac5ffa5b2%2Fpixhawk4mini_iso_1.png?alt=media)

:::tip This autopilot is [supported](/px4-user-guide/drone_parts/flight_controller/autopilot_pixhawk_standard.md) by the PX4 maintenance and test teams. :::

## Quick Summary

* Main FMU Processor: STM32F765
  * 32 Bit Arm® Cortex®-M7, 216MHz, 2MB memory, 512KB RAM
* 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 PWM outputs
  * 4 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
  * 3 general purpose serial ports
  * 2 I2C ports
  * 3 SPI buses
  * 1 CANBuses for CAN ESC
  * Analog inputs for voltage / current of battery
  * 2 additional analog input
* Power System:
  * Power Brick Input: 4.75\~5.5V
  * USB Power Input: 4.75\~5.25V
  * Servo Rail Input: 0\~24V
  * Max current sensing: 120A
* Weight and Dimensions:
  * Weight: 37.2g
  * Dimensions: 38x55x15.5mm
* Other Characteristics:
  * Operating temperature: -40 \~ 85°c

Additional information can be found in the [*Pixhawk 4 Mini* Technical Data Sheet](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/pixhawk4mini/pixhawk4mini_technical_data_sheet.pdf).

## Where to Buy

Order from [Holybro](https://holybro.com/collections/autopilot-flight-controllers/products/pixhawk4-mini).

## Interfaces

![Pixhawk 4 Mini interfaces](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-7479856227dc26ae33a7b2fcf5345465f5defff1%2Fpixhawk4mini_interfaces.png?alt=media)

:::warning The **RC IN** and **PPM** ports are for RC receivers only. These are powered! NEVER connect any servos, power supplies or batteries (or to any connected receiver). :::

## Pinouts

Download *Pixhawk 4 Mini* pinouts from [here](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/pixhawk4mini/pixhawk4mini_pinouts.pdf).

## Dimensions

![Pixhawk 4 Mini Dimensions](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-19c418e523ae5515772332aaf505d34773e200f7%2Fpixhawk4mini_dimensions.png?alt=media)

## Voltage Ratings

*Pixhawk 4 Mini* can have power supply redundancy — if two power sources are supplied. The power rails are: **POWER** and **USB**.

:::note The output power rail of **MAIN OUT** does not power the flight controller board (and is not powered by it). You must [supply power](/px4-user-guide/assembly/quick_start_pixhawk4_mini.md#power) to one of **POWER** 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:

1. **POWER** (4.75V to 5.5V)
2. **USB** input (4.75V to 5.25V)

**Absolute Maximum Ratings**

Under these conditions the system will remain intact.

1. **POWER** input (0V to 6V undamaged)
2. **USB** input (0V to 6V undamaged)
3. Servo input: VDD\_SERVO pin of **MAIN OUT** (0V to 24V undamaged)

## Assembly/Setup

The [*Pixhawk 4 Mini* Wiring Quick Start](/px4-user-guide/assembly/quick_start_pixhawk4_mini.md) provides instructions on how to assemble required/important peripherals including GPS, Power Management Board, etc.

## 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](/px4-user-guide/development/getting_started/building_px4.md) for this target:

```
make px4_fmu-v5_default
```

## Debug Port

The [PX4 System Console](/px4-user-guide/development/debug/consoles/system_console.md) and [SWD interface](/px4-user-guide/development/debug/gdb_debugging/swd_debug.md) run on the **FMU Debug** port. In order to access these ports, the user must remove the *Pixhawk 4 Mini* casing.

![Pixhawk 4 Mini FMU Debug](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-e842c8dc3fefcfabf9d0846050d7c664a66e9389%2Fpixhawk4mini_fmu_debug.png?alt=media)

The port has a standard serial pinout and can be connected to a standard FTDI cable (3.3V, but it's 5V tolerant) or a [Dronecode probe](https://kb.zubax.com/display/MAINKB/Dronecode+Probe+documentation). The pinout uses the standard [Pixhawk debug connector](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf) pinout. Please refer to the [wiring](/px4-user-guide/development/debug/consoles/system_console.md) page for details of how to wire up this port.

## Serial Port Mapping

|  UART  |   Device   | QGC Parameter Description |     Port Label on FC     |
| :----: | :--------: | :-----------------------: | :----------------------: |
|  UART1 | /dev/ttyS0 |            GPS1           |        GPS Module        |
| USART2 | /dev/ttyS1 |           TELEM1          |          TELEM1          |
| USART3 | /dev/ttyS2 |           TELEM2          |            N/A           |
|  UART4 | /dev/ttyS3 |       TELEM/SERIAL4       |        UART/l2C B        |
| USART6 | /dev/ttyS4 |            N/A            |           RC IN          |
|  UART7 | /dev/ttyS5 |            N/A            |           Debug          |
|  UART8 | /dev/ttyS6 |            N/A            | Not connected (no PX4IO) |

## Peripherals

* [Digital Airspeed Sensor](https://holybro.com/products/digital-air-speed-sensor)
* [Telemetry Radio Modules](/px4-user-guide/drone_parts/peripherals/telemetry.md)
* [Rangefinders/Distance sensors](/px4-user-guide/drone_parts/peripherals/rangefinders.md)

## Supported Platforms

Motors and servos are connected to the **MAIN OUT** ports in the order specified for your vehicle in the [Airframe Reference](/px4-user-guide/airframes/airframe_reference.md). This reference lists the output port to motor/servo mapping for all supported air and ground frames (if your frame is not listed in the reference then use a "generic" airframe of the correct type).

:::warning *Pixhawk 4 Mini* does not have AUX ports. The board cannot be used with frames that require more than 8 ports or which use AUX ports for motors or control surfaces. It can be used for airframes that use AUX for non-essential peripherals (e.g. "feed-through of RC AUX1 channel"). :::

## Further info

* [*Pixhawk 4 Mini* Technical Data Sheet](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/pixhawk4mini/pixhawk4mini_technical_data_sheet.pdf)
* [FMUv5 reference design pinout](https://docs.google.com/spreadsheets/d/1-n0__BYDedQrc_2NHqBenG1DNepAgnHpSGglke-QQwY/edit#gid=912976165).