Pixhawk Jetson Baseboard – Advanced Integration for UAVs with NVIDIA Jetson and Pixhawk

Description

Description [Pixhawk Jetson Baseboard]

The Holybro Pixhawk Jetson Baseboard is based on the Pixhawk Autopilot Bus open source specification and the NVIDIA Jetson Orin NX/Nano Carrier Board. The Pixhawk Autopilot Bus (PAB) Form Factor enables this to be used with any PAB flight controller such as the Pixhawk 6X

Pixhawk 6X (ICM-45686)

Processors & Sensors

• FMU Processor: STM32H753
  • 32 Bit Arm® Cortex®-M7, 480MHz, 2MB flash memory, 1MB RAM
• IO Processor: STM32F103
  • 32 Bit Arm® Cortex®-M3, 72MHz, 64KB SRAM
• On-board sensors (Shipping Currently, Rev8)
  • Accel/Gyro: 3x ICM-45686 (with BalancedGyro™ Technology)
  • Barometer: ICP20100 & BMP388
  • Mag: BMM150

Baseboard Port & Connection

Jetson Connectors

• 2x Gigabit Ethernet port
  • Connected to both Jetson & Autopilot via Ethernet switch (RTL8367S)
    • Ethernet Switch powered by circuit as the Pixhawk
  • 8-pin JST-GH
  • RJ45
• 2x MIPI CSI Camera Inputs
  • 4 Lanes each
  • 22-Pin Raspberry Pi Cam FFC
• 2x USB 3.0 Host Port
  • USB A
  • 5A Current Limit
• 2x USB 2.0 Host Port
  • 5-Pin JST-GH
  • 0A Current Limit
• USB 2.0 for Programming/debugging
  • USB-C
• 2 Key M 2242 for NVMe SSD
  • PCIEx4
• 2 Key E 2230 for WiFi/BT
  • PCIEx2
  • USB
  • UART
  • I2S
• Mini HDMI Out
• 4x GPIO
  • 6-pin JST-GH
• CAN Port
  • Connected to Autopilot’s CAN2 (4 Pin JST-GH)
• SPI Port
  • 7-Pin JST-GH
• I2C Port
  • 4-Pin JST-GH
• I2S Port
  • 7-Pin JST-GH
• 2x UART Port
  • 1 for debug
  • 1 connected to Autopilot’s telem2
• Fan Power Port
• IIM42652 IMU
• Input Power
  • XT30 Connector
  • Voltage Rating: 7-21V (3S-4S)
  • Separate input power circuits than the Autopilot to ensure flight safety
  • Holybro UBEC 12A (3-14S) can be used for application above 4S
  • Note: The Pixhawk Jetson Baseboard onboard BEC is only rated for 7-21V (3S-4S). Using the external “UBEC 12A (3-14S)” can provides redundancy and easier replacement in case of BEC failure.
• Power Requirements
  • 8V/3A Minimum
  • Depends on Usage and Peripherals

Autopilot Connectors

• Pixhawk Autopilot Bus Interface
  • 100 Pin Hirose DF40
  • 50 Pin Hirose DF40
• Redundant Digital Power Module Inputs
  • I2C Power Monitor Support
  • 2x – 6 Pin Molex CLIK-Mate
  • Power Path Selector w/ Overvoltage Protection
• Voltage Ratings:
  • Max input voltage: 6V
  • USB Power Input: 4.75~5.25V
• Full GPS Plus Safety Switch Port
  • 10-Pin JST-GH
• Secondary (GPS2) Port
  • 6-pin JST-GH
• 2x CAN Ports
  • 4 Pin JST-GH
• 3x Telemetry Ports with Flow Control
  • 2x 6-Pin JST-GH
  • 1 is connected to Jetson’s UART1 Port
• 16 PWM Outputs
  • 2x 10-Pin JST-GH
• UART4 & I2C Port
  • 6-Pin JST-GH
• 2x Gigabit Ethernet port
  • Connected to both Jetson & Autopilot via Ethernet switch (RTL8367S)
  • 8-pin JST-GH
  • RJ45
• AD & IO
  • 8-Pin JST-GH
• USB 2.0
  • USB-C
  • 4-pin JST-GH
• DSM Input
  • 3-pin JST-ZH 1.5mm Pitch
• RC in
  • PPM/SBUS
  • 5-pin JST-GH
• SPI Port
  • External Sensor Bus (SPI5
  • 11-Pin JST-GH
• 2x Debug Port
  • 1 for FMU
  • 1 for IO
  • 10-Pin JST-SH
• Dimensions (Without Jetson and Flight Controller Module)
  • 126x80x38mm
• Weight
  • With Jetson, Heatsink, Flight Controller, M.2 SSD, M.2 Wi-Fi Module 203.2g

UBEC-12A Specifications

• Input voltage: 3~14S (XT30)
• Output voltage: 6.0V/7.2V/8.0V/9.2V (recommend 7.2V if supplying power to Jetson Board)
• Output Current
  • Continuous: 12A
  • Burst: 24A
• Size: 48×33.6×16.3 mm
• Weight: 47.8g

Reference Wiring Diagram