Pixhawk 4

Pixhawk 4® is an advanced autopilot designed and made in collaboration with Holybro® and the PX4 team. It is optimized to run PX4 version 1.7, suitable for academic and commercial developers.

It is based on the Pixhawk-project FMUv5 open hardware design and runs PX4 on the NuttX OS.

Quick Summary

  • 主处理器:STM32F765
    • 32 Bit Arm® Cortex®-M7, 216MHz, 2MB memory, 512KB RAM
  • IO处理器: STM32F100
    • 32 Bit Arm® Cortex®-M3, 24MHz, 8KB SRAM
  • 内置传感器:
    • Accel/Gyro: ICM-20689
    • Accel/Gyro: BMI055
    • 指南针:IST8310
    • 气压计: MS5611
  • GPS: ublox Neo-M8N GPS/GLONASS receiver; integrated magnetometer IST8310
  • Interfaces:
    • 8-16 PWM outputs (8 from IO, 8 from FMU)
    • FMU上有3个专用PWM/Capture输入
    • CPPM专用的RC输入
    • Dedicated R/C input for Spektrum / DSM and S.Bus with analog / PWM RSSI input
    • Dedicated S.Bus servo output
    • 5个通用串行口
    • 3 I2C ports
    • 4路SPI总线
    • Up to 2 CANBuses for dual CAN with serial ESC
    • 2个电池电流/电压模拟输入口
  • Power System:
    • Power module output: 4.9~5.5V
    • USB Power Input: 4.75~5.25V
    • 伺服导轨输入电压:0~36V
  • Weight and Dimensions:
    • Weight: 15.8g
    • 尺寸:448412mm
  • 其它特性:
    • Operating temperature: -40 ~ 85°c

Additional information can be found in the Pixhawk 4 Technical Data Sheet.


Order from Holybro.


Pixhawk 4 connectors

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.


Pixhawk 4 Dimensions


Pixhawk 4 can be triple-redundant on the power supply if three power sources are supplied. 三个电源口:POWER1, POWER2 and USB

输出电源轨 FMU PWM OUTIO PWM OUT (0V至36V)不为飞行控制器供电(并且不由其供电)。 您必须在POWER1POWER2USB 任一接口中接入电源,否则主板将断开供电。



  1. POWER1 and POWER2 inputs (4.9V to 5.5V)
  2. USB 输入电压 (4.75 v 至 5.25 v)

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)


The Pixhawk 4 Wiring Quick Start provides instructions on how to assemble required/important peripherals including GPS, Power Management Board etc.


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:

make make px4_fmu-v5_default


The system's serial console and SWD interface runs 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.

Both ports have standard serial pinout and can be connected to a standard FTDI cable (3.3V, but it's 5V tolerant) or a Dronecode probe. The pinout uses the standard Dronecode debug connector pinout. Please refer to the wiring page for details of how to wire up this port.



任何可用普通RC伺服系统或Futaba S-Bus伺服系统控制的多旋翼、固定翼、无人机、无人船。 全部可支持的机型可见 机型参考


© PX4 Dev Team. License: CC BY 4.0            Updated: 2018-12-14 23:19:57

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