Last updated
Last updated
:::warning PX4 does not manufacture this (or any) autopilot. Contact the 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 FMUv5 design standard and is optimized to run PX4 flight control software.
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
:::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). :::
Pixhawk 4 Mini can have power supply redundancy — if two power sources are supplied. The power rails are: POWER and USB.
Normal Operation Maximum Ratings
Under these conditions all power sources will be used in this order to power the system:
POWER (4.75V to 5.5V)
USB input (4.75V to 5.25V)
Absolute Maximum Ratings
Under these conditions the system will remain intact.
POWER input (0V to 6V undamaged)
USB input (0V to 6V undamaged)
Servo input: VDD_SERVO pin of MAIN OUT (0V to 24V undamaged)
:::tip Most users will not need to build this firmware! It is pre-built and automatically installed by QGroundControl when appropriate hardware is connected. :::
:::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"). :::
:::tip This autopilot is by the PX4 maintenance and test teams. :::
Additional information can be found in the .
Order from .
Download Pixhawk 4 Mini pinouts from .
:::note The output power rail of MAIN OUT does not power the flight controller board (and is not powered by it). You must to one of POWER or USB or the board will be unpowered. :::
The provides instructions on how to assemble required/important peripherals including GPS, Power Management Board, etc.
To for this target:
The and run on the FMU Debug port. In order to access these ports, the user must remove the Pixhawk 4 Mini casing.
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 . The pinout uses the standard pinout. Please refer to the page for details of how to wire up this port.
Motors and servos are connected to the MAIN OUT ports in the order specified for your vehicle in the . 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).
.
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)
