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)
        • Lightware SFxx Lidar
        • 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
        • PWM ESCs and Servos
        • DShot ESCs
        • OneShot ESCs and Servos
        • DroneCAN ESCs
          • Zubax Telega
          • PX4 Sapog ESC Firmware
            • Holybro Kotleta
            • Zubax Orel
        • VESC
      • TBS Crossfire (CRSF) Telemetry
      • FrSky Telemetry
      • 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
        • PMW3901
        • PX4FLOW (Deprecated)
      • Precision Landing
      • Parachute
      • Power Modules/PDB
        • CUAV HV pm
        • CUAV CAN PMU
        • Holybro PM02
        • Holybro PM07
        • Holybro PM06 V2
        • Holybro PM02D (digital)
        • Holybro PM03D (digital)
        • Pomegranate Systems Power Module
        • Sky-Drones SmartAP PDB
      • Satellite Coms (Iridium/RockBlock)
      • Telemetry Radios
        • SiK Radio
          • RFD900 (SiK) Telemetry Radio
          • HolyBro (SIK) Telemetry Radio
        • Telemetry Wifi
          • ESP8266 WiFi Module
          • ESP32 WiFi Module
          • 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
        • Holybro H-RTK-M8P
        • 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
      • Smart Batteries
        • Rotoye Batmon Battery Smartification Kit
      • Tachometers (Revolution Counters)
        • ThunderFly TFRPM01 Tachometer Sensor
      • I2C Peripherals
        • I2C bus accelerators
        • TFI2CADT01 I2C address translator
      • CAN Peripherals
      • DroneCAN Peripherals
        • PX4 DroneCAN Firmware
        • ARK CANnode
    • Companion Computers
      • Pixhawk + Companion Setup
        • RasPi Pixhawk Companion
      • Companion Computer Peripherals
      • Holybro Pixhawk RPI CM4 Baseboard
      • Auterion Skynode
      • Computer Vision
        • Obstacle Avoidance
        • Safe Landing
        • Collision Prevention
        • Path Planning Interface
        • Motion Capture (MoCap)
        • Visual Inertial Odometry (VIO)
          • Realsense T265 Tracking Camera (VIO)
      • Video Streaming
  • Development
    • Getting Started
      • Recommended Hardware/Setup
      • Toolchain Installation
        • MacOS Setup
        • Ubuntu Setup
        • Windows Setup
        • Visual Studio Code IDE
        • Other/Generic Tools
      • Building the Code
      • Writing your First Application
      • Application/Module Template
    • Concepts
      • PX4 Architecture
      • PX4 Flight Stack Architecture
        • Controller Diagrams
      • Events Interface
      • Flight Modes
      • Flight Tasks
      • Control Allocation
      • PWM limit state machine
      • System Startup
      • SD Card Layout
    • Simulation
      • jMAVSim Simulation
        • Multi-Vehicle Sim with JMAVSim
      • Gazebo Simulation
        • Vehicles
        • Multi-Vehicle Sim
      • Gazebo Classic Simulation
        • Vehicles
        • Worlds
        • Multi-Vehicle Sim
      • FlightGear Simulation
        • FlightGear Vehicles
        • Multi-Vehicle Sim with FlightGear
      • JSBSim Simulation
      • AirSim Simulation
      • Multi-Vehicle Simulation
      • Simulate Failsafes
      • HITL Simulation
      • Simulation-In-Hardware
    • Hardware
      • Flight Controller Reference Design
      • Manufacturer’s Board Support Guide
      • Flight Controller Porting Guide
        • PX4 Board Configuration (kconfig)
        • NuttX Board Porting Guide
      • Serial Port Mapping
      • Airframes
        • Adding a New Airframe
      • Device Drivers
      • Telemetry Radio
        • SiK Radio
      • Sensor and Actuator I/O
        • DroneCAN
        • I2C Bus
        • UART/Serial Ports
          • Port-Configurable Serial Drivers
      • RTK GPS (Integration)
    • Middleware
      • uORB Messaging
      • uORB Graph
      • uORB Message Reference
        • ActionRequest
        • ActuatorArmed
        • ActuatorControlsStatus
        • ActuatorMotors
        • ActuatorOutputs
        • ActuatorServos
        • ActuatorServosTrim
        • ActuatorTest
        • AdcReport
        • Airspeed
        • AirspeedValidated
        • AirspeedWind
        • AutotuneAttitudeControlStatus
        • BatteryStatus
        • ButtonEvent
        • CameraCapture
        • CameraStatus
        • CameraTrigger
        • CellularStatus
        • CollisionConstraints
        • CollisionReport
        • ControlAllocatorStatus
        • Cpuload
        • DebugArray
        • DebugKeyValue
        • DebugValue
        • DebugVect
        • DifferentialPressure
        • DistanceSensor
        • Ekf2Timestamps
        • EscReport
        • EscStatus
        • EstimatorAidSource1d
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        • EstimatorBias
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        • EstimatorEventFlags
        • EstimatorGpsStatus
        • EstimatorInnovations
        • EstimatorSelectorStatus
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        • EstimatorStatusFlags
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        • FollowTargetEstimator
        • FollowTargetStatus
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On this page
  • Introduction
  • Key Design Points
  • Technical specification
  • Where to Buy
  • Assembly/Setup
  • Connections
  • Pinouts
  • Serial Port Mapping
  • Dimensions
  • Voltage Ratings
  • Building Firmware
  • Debug Port
  • Peripherals
  • Supported Platforms / Airframes
  • Further info
  1. Hardware (Drones&Parts)
  2. Flight Controllers (Autopilots)
  3. Pixhawk Standard Autopilots

Holybro Pixhawk 5X (FMUv5X)

PreviousHolybro Pix32 v6 (FMUv6C)NextHolybro Pixhawk 4 (FMUv5) - Discontinued

Last updated 1 year ago

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

Pixhawk 5X® is the latest update to the successful family of Pixhawk® flight controllers designed and made in collaboration with Holybro® and the PX4 team.

It is based on the , , and . It comes with the latest PX4 Autopilot​® pre-installed, triple redundancy, temperature-controlled, isolated sensor domain, delivering incredible performance and reliability.

Introduction

Inside the Pixhawk® 5X, you can find an STMicroelectronics® based STM32F7, paired with sensor technology from Bosch®, InvenSense®, giving you flexibility and reliability for controlling any autonomous vehicle, suitable for both academic and commercial applications. The Pixhawk® 5X’s F7 microcontroller has 2MB flash memory and 512KB RAM. The PX4 Autopilot takes advantage of the increased power and RAM. Thanks to the updated processing power, developers can be more productive and efficient with their development work, allowing for complex algorithms and models.

The FMUv5X open standard includes high-performance, low-noise IMUs on board, designed for better stabilization. Triple redundant IMU & double redundant barometer on separate buses. When the PX4 Autopilot detects a sensor failure, the system seamlessly switches to another to maintain flight control reliability.

An independent LDO powers every sensor set with independent power control. A newly designed vibration isolations to filter out high-frequency vibration and reduce noise to ensure accurate readings, allowing vehicles to reach better overall flight performances. External sensor bus (SPI5) has two chip select lines and data-ready signals for additional sensors and payload with SPI-interface, and with an integrated Microchip Ethernet PHY (LAN8742AI-CZ-TR), high-speed communication with mission computers via ethernet is now supported. Two smart battery monitoring ports (SMBus), support for INA226 SMBus Power module.

The Pixhawk® 5X is perfect for developers at corporate research labs, startups, academics (research, professors, students), and commercial application.

Key Design Points

  • Modular flight controller

    • separated IMU, FMU, and Base system connected by a 100-pin & a 50-pin Pixhawk® Autopilot Bus connector, designed for flexible and customizable systems

  • Redundancy

    • 3x IMU sensors & 2x Barometer sensors on separate buses, allowing parallel and continuous operation even in the event of a hardware failure

  • Triple redundancy domains

    • Completely isolated sensor domains with separate buses and separate power control

  • Temperature-controlled IMUs

    • Onboard IMU heating resistors, allowing optimum working temperature of IMUs

  • Vibration isolation system

    • Newly designed system to filter out high frequency vibration and reduce noise to ensure accurate readings

  • Ethernet interface

    • For high-speed mission computer integration

  • Automated sensor calibration eliminating varying signals and temperature

  • Two smart batteries monitoring on SMBus

  • Additional GPIO line and 5V for the external NFC reader

  • Secure element for secure authentication of the drone (SE050)

Technical specification

  • 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-20649

    • Accel/Gyro: ICM-42688P

    • Accel/Gyro: ICM-20602

    • Magnetometer: BMM150

    • Barometer: 2x BMP388

  • Interfaces

    • 16- PWM servo outputs

    • R/C input for Spektrum / DSM

    • Dedicated R/C input for PPM and S.Bus input

    • Dedicated analog / PWM RSSI input and S.Bus output

    • 4 general purpose serial ports

      • 3 with full flow control

      • 1 with separate 1.5A current limit

      • 1 with I2C and additional GPIO line for external NFC reader

    • 2 GPS ports

      • 1 full GPS & Safety Switch Port

      • 1 basic GPS port

    • 1 I2C port

    • 1 Ethernet port

      • Transformerless Applications

    • 100Mbps

    • 1 SPI bus

    • 2 chip select lines

    • 2 data-ready lines

    • 1 SPI SYNC line

    • 1 SPI reset line

    • 2 CAN Buses for CAN peripheral

      • CAN Bus has individual silent controls or ESC RX-MUX control

    • 2 Power input ports with SMBus

    • 1 AD & IO port

      • 2 additional analog input

      • 1 PWM/Capture input

      • 2 Dedicated debug and GPIO lines

  • Voltage Ratings

    • Max input voltage: 6V

    • USB Power Input: 4.75~5.25V

    • Servo Rail Input: 0~36V

  • Dimensions

    • Flight Controller Module: 38.8 x 31.8 x 14.6mm

    • Standard Baseboard: 52.4 x 103.4 x 16.7mm

  • Weight

    • Flight Controller Module: 23g

    • Standard Baseboard: 51g

  • Other Characteristics:

    • Operating & storage temperature: -40 ~ 85°c

Where to Buy

Assembly/Setup

Connections

Pinouts

:::note Connector pin assignments are left to right (i.e. Pin 1 is the left-most pin). :::

Notes:

Serial Port Mapping

UART
Device
Port

USART1

/dev/ttyS0

GPS

USART2

/dev/ttyS1

TELEM3

USART3

/dev/ttyS2

Debug Console

UART4

/dev/ttyS3

UART4 & I2C

UART5

/dev/ttyS4

TELEM2

USART6

/dev/ttyS5

PX4IO/RC

UART7

/dev/ttyS6

TELEM1

UART8

/dev/ttyS7

GPS2

Dimensions

Voltage Ratings

Normal Operation Maximum Ratings

Under these conditions all power sources will be used in this order to power the system:

  1. POWER1 and POWER2 inputs (4.9V to 5.5V)

  2. 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.

  1. POWER1 and POWER2 inputs (operational range 4.1V to 5.7V, 0V to 10V undamaged)

  2. USB input (operational range 4.1V to 5.7V, 0V to 6V undamaged)

  3. Servo input: VDD_SERVO pin of FMU PWM OUT and I/O PWM OUT (0V to 42V undamaged)

Voltage monitoring

:::note Analog battery monitoring via an ADC is not supported on this particular board, but may be supported in variations of this flight controller with a different baseboard. :::

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. :::

make px4_fmu-v5x_default

Debug Port

Pin
Signal
Volt

1 (red)

Vtref

+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)

SWO

+3.3V

7 (blk)

NFC GPIO

+3.3V

8 (blk)

PH11

+3.3V

9 (blk)

nRST

+3.3V

10 (blk)

GND

GND

For information about using this port see:

Peripherals

Supported Platforms / Airframes

Further info

:::tip This autopilot is by the PX4 maintenance and test teams. :::

Order from .

The provides instructions on how to assemble required/important peripherals including GPS, Power Module etc.

The (PI0) is pin 2 on the AD&IO port, marked above as FMU_CAP1.

Pixhawk 5X pinouts can be downloaded in PDF from from or .

Pixhawk 5X can be triple-redundant on the power supply if three power sources are supplied. The three power rails are: POWER1, POWER2 and USB. The POWER1 & POWER2 ports on the Pixhawk 5X uses the 6 circuit .

Digital I2C battery monitoring is enabled by default (see ).

To for this target:

The and run on the FMU Debug port.

The pinouts and connector comply with the interface defined in the interface (JST SM10B connector).

(Note, the FMU console maps to USART3).

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 .

(Holybro)

(Holybro)

.

.

.

.

supported
Holybro
Pixhawk 5X Wiring Quick Start
here
here
2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle
build PX4
PX4 System Console
SWD interface
SWD Debug Port
PX4 System Console
Digital Airspeed Sensor
Telemetry Radio Modules
Rangefinders/Distance sensors
Airframes Reference
Pixhawk 5X Wiring QuickStart
Pixhawk 5X Overview & Specification
Pixhawk 5X Pinouts
FMUv5X reference design pinout
Pixhawk Autopilot FMUv5X Standard
Pixhawk Autopilot Bus Standard
Pixhawk Connector Standard
manufacturer
Pixhawk​​® Autopilot FMUv5X Standard
Autopilot Bus Standard
Connector Standard
Pixhawk Connector Standard
Pixhawk Debug Full
camera capture pin
Quickstart > Power
Pixhawk 5x Wiring Overview
Pixhawk 5X Pinout
Pixhawk 5X Dimensions