Pinouts

Connector locations

Pixhawk compatible

SERIAL1 - JST-GH 6pin

SERIAL1 - JST-GH 6pin

Pin #	Description	Remarks
1	VDD	+5V, High power
2	SERIAL1 TX
3	SERIAL1 RX
4	SERIAL1 CTS
5	SERIAL1 RTS
6	GND

USB - JST-GH 6pin

USB - JST-GH 6pin

Pin #	Description	Remarks
1	VBUS
2	USB+
3	USB-
4	GND
5	BUZZER OUT
6	FMU-LED AMBER

GPS1 - JST-GH 8pin

GPS1 - JST-GH 8pin

Pin #	Description	Remarks
1	VDD	+5V
2	SERIAL3 TX
3	SERIAL3 RX
4	I2C1 SCL
5	I2C1 SDA OUT
6	SAFETY
7	IO-LED
8	GND

GPS2 - JST-GH 6pin

GPS2 - JST-GH 6pin

Pin #	Description	Remarks
1	VDD	+5V
2	SERIAL4 TX
3	SERIAL4 RX
4	I2C1 SCL
5	I2C1 SDA OUT
6	GND

CAN1 - JST-GH 4pin

Note: Jetson module also on CAN1 bus.

CAN1 - JST-GH 4pin

Pin #	Description	Remarks
1	VDD	+5V
2	CAN1 -
3	CAN1 +
4	GND

CAN2 - JST-GH 4pin

CAN2 - JST-GH 4pin

Pin #	Description	Remarks
1	VDD	+5V
2	CAN2 -
3	CAN2 +
4	GND

RCIN - JST-GH 3pin

RCIN - JST-GH 3pin

Pin #	Description	Remarks
1	PMM SBUS PROT
2	RX 5V OUT
3	GND

PWM 1/6 (Front Right) - JST-GH 4pin

PWM 1/6 (Front Right) - JST-GH 4pin

Pin #	Description	Remarks
1	PWM CH1
2	GND
3	PWM CH6
4	GND

PWM 2/5 (Front Left) - JST-GH 4pin

PWM 2/5 (Front Left) - JST-GH 4pin

Pin #	Description	Remarks
1	PWM CH2
2	GND
3	PWM CH5
4	GND

PWM 3/8 (Rear Right) - JST-GH 4pin

PWM 3/8 (Rear Right) - JST-GH 4pin

Pin #	Description	Remarks
1	PWM CH3
2	GND
3	PWM CH8
4	GND

PWM 4/7 (Rear Right) - JST-GH 4pin

PWM 4/7 (Rear Right) - JST-GH 4pin

Pin #	Description	Remarks
1	PWM CH4
2	GND
3	PWM CH7
4	GND

(EXTRA) PWM - JST-GH 3pin

(EXTRA) PWM - JST-GH 3pin

Pin #	Description	Remarks
1	PWM AUX CH1
2	PWM AUX CH2
3	GND

Video

CSI-0

J17 - FPC 15 pin 0.5 mm

Pin #	Description	Remarks
1	GND
2	CSI0 D0 -
3	CSI0 D0 +
4	GND
5	CSI0 D1 -
6	CSI0 D1 +
7	GND
8	CSI0 CLK -
9	CSI0 CLK +
10	GND
11	CAM0 PWDN
12	XVS CAM0
13	CAM I2C SCL	3.3V
14	CAM I2C SDA	3.3V
16	3V3

CSI-2

J36 - FPC 15 pin 0.5 mm

Pin #	Description	Remarks
1	GND
2	CSI2 D0 -
3	CSI2 D0 +
4	GND
5	CSI2 D1 -
6	CSI2 D1 +
7	GND
8	CSI2 CLK -
9	CSI2 CLK +
10	GND
11	CAM1 PWDN
12	XVS CAM1
13	CAM I2C SCL 2	3.3V
14	CAM I2C SDA 2	3.3V
16	3V3

CSI4 - Microcoax DF56 40p

J16 - DF56 40p

Pin #	Description	Remarks
1	CSI4 CLK +
2	CAM2 PWDN
3	CSI4 CLK -
4	GND
5	CSI4 D3 +
6	CAM2 XVS
7	CSI4 D3 -
8	GND
9	CSI4 D2 +
10	CAM2 I2C SCL	3.3V
11	CSI4 D2 -
12	GND
13	CSI4 D1 +
14	CAM2 I2C SDA	3.3V
15	CSI4 D1 -
16	3V3
17	CSI4 D0 +
18	3V3
19	CSI4 D0 -
20	3V3
21	3V3
22	3V3
23	3V3
24	3V3
25	IMU GIMBAL I2C SCL
26	IMU GIMBAL I2C SDA
27	SPI1 MOSI	3.3V
28	CAM2 MCLK
29	SPI1 MISO	3.3V
30	GND
31	SPI1 SCK	3.3V
32	USB HUB 1 CAM -
33	SPI1 CS0	3.3V
34	USB HUB 1 CAM +
35	GND
36	GND
37	5V
38	5V
39	5V
40	5V

I/O

Board expansion - LSHM 40 pin

Board expansion - LSHM 40 pin

Pin #	Description	Remarks
1	GND
2	5V
3	USBSS TX+
4	5V
5	USBSS TX-
6	5V
7	GND
8	5V
9	USBSS RX+
10	GND
11	USBSS RX-
12	3V3
13	GND
14	3V3
15	USB Data+	USB bus 1
16	3V3
17	USB Data-	USB bus 1
18	3V3
19	GND
20	SERIAL4 RX	Cube
21	CAM I2C SCL	3V3
22	SERIAL4 TX	Cube
23	CAM I2C SDA	3V3
24	GND
25	CAM Mux Sel
26	IMU Gimbal I2C SDA
27	GND
28	IMU Gimbal I2C SCL
29	SPI1 SCK	3V3
30	GND
31	SPI1 CS0	3V3
32	GPIO07 PWM
33	SPI1 MOSI	3V3
34	N.C.
35	SPI1 CS1	3V3
36	N.C.
37	SPI1 MISO	3V3
38	UART0 TX (Out)	3V3
39	GND
40	UART0 RX (In)	3V3

J3 - Mini PCIe

J3 - Mini PCIe

Pin #	Description	Remarks
1	PCIE_WAKE
2	MPCIE_3V3
3	N.C.
4	GND
5	N.C.
6	+1V5
7	CLKREQ
8	UIM PWR
9	GND
10	UIM DATA
11	REF CLK-
12	UIM CLK
13	REF CLK+
14	UIM RESET
15	GND
16	UIM VPP
17	N.C.
18	GND
19	N.C.
20	W_DISABLE
21	GND
22	PCIE RST
23	PCIE RX0-
24	MPCIE_3V#
25	PCIE RX0+
26	GND
27	GND
28	N.C.
29	GND
30	N.C.
31	PCIE TX0-
32	N.C.
33	PCIE TX0+
34	GND
35	GND
36	USB2 D-
37	GND
38	USB2 D+
39	+3V3 aux
40	GND
41	+3V3 aux
42	N.C.
43	GND
44	LED WLAN	low side
45	N.C.
46	N.C.
47	N.C.
48	N.C.
49	N.C.
50	GND
51	N.C.
52	+3V3

J11 - Audio - JST-GH 6pin

J11 - Audio - JST-GH 6pin

Pin #	Description	Remarks
1	MIC_IN
2	NC
3	GND
4	Headphone R
5	Headphone L
6	GND

J14 - SPI - JST-GH 8pin

J14 - SPI - JST-GH 8pin

Pin #	Description	Remarks
1	3V3
2	GPIO07 PWM
3	SPI1 SCK	3V3
4	SPI1 CS0	3V3
5	SPI1 MOSI	3V3
6	SPI1 CS1	3V3
7	SPI1 MISO	3V3
8	GND

J15 - I2C - JST-GH 4pin

J15 - SPI - JST-GH 4pin

Pin #	Description	Remarks
1	5V
2	I2C1 SCL	3V3
3	I2C1 SDA	3V3
4	GND

J10 - USB-0 - JST-GH 4pin

J10 - USB-0 - JST-GH 4pin

Pin #	Description	Remarks
1	VBUS	From external device, Jetson module is device, not host
2	USB0 D-
3	USB0 D+
4	GND

AN(alog) - JST-GH 6pin

AN(alog) - JST-GH 6pin

Pin #	Description	Remarks
1	VDD	+5V
2	N.C.
3	Analog in	spare
4	Analog out	connected to current sense on Cube
5	Analog out	connected to voltage sense on Cube
6	GND

ETH(ernet) - JST-GH 8pin

ETH(ernet) - JST-GH 8pin

Pin #	Description	Remarks
1	D0+
2	D0-
3	GND
4	D1+
5	D1-
6	GND
7	PWR LED CTRL
8	SLEEP/WAKE	Pull low to wake Jetson

CAN - JST-GH 4pin

CAN - JST-GH 4pin

Pin #	Description	Remarks
1	+5V
2	CAN+	Terminated on board (120R)
3	CAN-	Terminated on board (120R)
4	GND

Power

More details here: Power and VESC

VESC - JST-GH 3pin

VESC - JST-GH 3pin

Pin #	Description	Remarks
1	+VESC	Input (9-26 V, typical current < 30 µA)
2	+VESC	Input (9-26 V, typical current < 30 µA)
3	GND

POWER1 - JST-XH 2pin

POWER1 - JST-XH 2pin

Pin #	Description	Remarks
1	+V	Main power input (9-26 V)
2	GND

POWER2 - JST-XH 2pin

POWER2 - JST-XH 2pin

Pin #	Description	Remarks
1	+V	Backup power input for the Cube autopilot and its peripherals only (9-26 V)
2	GND