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+# Pixhawk1 Flight Controller
+
+The Pixhawk1 flight controller was originally produced by 3DR. A
+number of vendors now sell boards with the same layout as the original
+board.
+
+## Features
+
+ - STM32F427 microcontroller
+ - MPU6000 and LSM303D/L3GD20 IMUs
+ - MS5611 SPI barometer
+ - builtin SPI LSM303D magnetometer
+ - microSD card slot
+ - 5 UARTs plus USB
+ - 14 PWM outputs
+ - I2C and CAN ports
+ - Spektrum satellite connector
+ - External Buzzer
+ - builtin RGB LED
+ - external safety Switch
+ - external SPI port
+ - voltage monitoring for servo rail and Vcc
+ - dedicated power input port for external power brick
+ - external USB connectors (micro USB and DF13)
+
+## Pinout
+
+
+
+## UART Mapping
+
+ - SERIAL0 -> USB
+ - SERIAL1 -> UART2 (Telem1)
+ - SERIAL2 -> UART3 (Telem2)
+ - SERIAL3 -> UART4 (GPS)
+ - SERIAL4 -> UART8 (GPS2)
+ - SERIAL5 -> UART7 (spare)
+
+The Telem1 and Telem2 ports have RTS/CTS pins, the other UARTs do not
+have RTS/CTS.
+
+The GPS2/spare port (labelled serial5) has two UARTs on one 6 pin
+connector. The spare port was originally used as a debug console, but
+debug is now on USB, so this port is free for any UART protocol.
+
+## Connectors
+
+The original Pixhawk1 uses DF13 connectors, and has 14 ports
+
+### TELEM1, TELEM2 ports
+
+
+
+
+ | Pin |
+ Signal |
+ Volt |
+
+
+ | 1 (red) |
+ VCC |
+ +5V |
+
+
+ | 2 (blk) |
+ TX (OUT) |
+ +3.3V |
+
+
+ | 3 (blk) |
+ RX (IN) |
+ +3.3V |
+
+
+ | 4 (blk) |
+ CTS |
+ +3.3V |
+
+
+ | 5 (blk) |
+ RTS |
+ +3.3V |
+
+
+ | 6 (blk) |
+ GND |
+ GND |
+
+
+
+
+### GPS port
+
+
+
+
+ | Pin |
+ Signal |
+ Volt |
+
+
+ | 1 (red) |
+ VCC |
+ +5V |
+
+
+ | 2 (blk) |
+ TX (OUT) |
+ +3.3V |
+
+
+ | 3 (blk) |
+ RX (IN) |
+ +3.3V |
+
+
+ | 4 (blk) |
+ CAN2 TX |
+ +3.3V |
+
+
+ | 5 (blk) |
+ CAN2 RX |
+ +3.3V |
+
+
+ | 6 (blk) |
+ GND |
+ GND |
+
+
+
+
+
+
+### SERIAL 4/5 port
+
+
+
+
+ | Pin |
+ Signal |
+ Volt |
+
+
+ | 1 (red) |
+ VCC |
+ +5V |
+
+
+ | 2 (blk) |
+ TX (#4) |
+ +3.3V |
+
+
+ | 3 (blk) |
+ RX (#4) |
+ +3.3V |
+
+
+ | 4 (blk) |
+ TX (#5) |
+ +3.3V |
+
+
+ | 5 (blk) |
+ RX (#5) |
+ +3.3V |
+
+
+ | 6 (blk) |
+ GND |
+ GND |
+
+
+
+
+
+### ADC 6.6V
+
+
+
+
+ | Pin |
+ Signal |
+ Volt |
+
+
+ | 1 (red) |
+ VCC |
+ +5V |
+
+
+ | 2 (blk) |
+ ADC IN |
+ up to +6.6V |
+
+
+ | 3 (blk) |
+ GND |
+ GND |
+
+
+
+
+
+
+### ADC 3.3V
+
+
+
+
+ | Pin |
+ Signal |
+ Volt |
+
+
+ | 1 (red) |
+ VCC |
+ +5V |
+
+
+ | 2 (blk) |
+ ADC IN |
+ up to +3.3V |
+
+
+ | 3 (blk) |
+ GND |
+ GND |
+
+
+ | 4 (blk) |
+ ADC IN |
+ up to +3.3V |
+
+
+ | 5 (blk) |
+ GND |
+ GND |
+
+
+
+
+
+
+### I2C
+
+
+
+
+ | Pin |
+ Signal |
+ Volt |
+
+
+ | 1 (red) |
+ VCC |
+ +5V |
+
+
+ | 2 (blk) |
+ SCL |
+ +3.3 (pullups) |
+
+
+ | 3 (blk) |
+ SDA |
+ +3.3 (pullups) |
+
+
+ | 4 (blk) |
+ GND |
+ GND |
+
+
+
+
+
+
+### CAN
+
+
+
+
+ | Pin |
+ Signal |
+ Volt |
+
+
+ | 1 (red) |
+ VCC |
+ +5V |
+
+
+ | 2 (blk) |
+ CAN_H |
+ +12V |
+
+
+ | 3 (blk) |
+ CAN_L |
+ +12V |
+
+
+ | 4 (blk) |
+ GND |
+ GND |
+
+
+
+
+### SPI
+
+
+
+
+ | Pin |
+ Signal |
+ Volt |
+
+
+ | 1 (red) |
+ VCC |
+ +5V |
+
+
+ | 2 (blk) |
+ SPI_SCK |
+ 3.3V |
+
+
+ | 3 (blk) |
+ SPI_MISO |
+ +3.3V |
+
+
+ | 4 (blk) |
+ SPI_MOSI |
+ +3.3V |
+
+
+ | 5 (blk) |
+ !SPI_NSS |
+ +3.3V |
+
+
+ | 6 (blk) |
+ !GPIO |
+ +3.3V |
+
+
+ | 7 (blk) |
+ GND |
+ GND |
+
+
+
+
+### POWER
+
+
+
+
+ | Pin |
+ Signal |
+ Volt |
+
+
+ | 1 (red) |
+ VCC |
+ +5V |
+
+
+ | 2 (blk) |
+ VCC |
+ +5V |
+
+
+ | 3 (blk) |
+ CURRENT |
+ up to +3.3V |
+
+
+ | 4 (blk) |
+ VOLTAGE |
+ up to +3.3V |
+
+ 5 (blk) |
+ GND |
+ GND |
+
+ 6 (blk) |
+ GND |
+ GND |
+
+
+
+
+### SWITCH
+
+
+
+
+ | Pin |
+ Signal |
+ Volt |
+
+
+ | 1 (red) |
+ VCC |
+ +3.3V |
+
+
+ | 2 (blk) |
+ !IO_LED_SAFETY |
+ GND |
+
+
+ | 3 (blk) |
+ SAFETY |
+ GND |
+
+
+
+
+## RC Input
+
+RC input is configured on the RCIN pin, at one end of the servo rail,
+marked PPM in the above diagram. This pin supports all RC
+protocols. In addition there is a dedicated Spektrum satellite port
+which supports software power control, allowing for binding of
+Spektrum satellite receivers.
+
+## PWM Output
+
+The Pixhawk1 supports up to 14 PWM outputs. First first 8 outputs (labelled
+"MAIN") are controlled by a dedicated STM32F100 IO controller. These 8
+outputs support all PWM output formats, but not DShot.
+
+The remaining 6 outputs (labelled AUX1 to AUX6) are the "auxillary"
+outputs. These are directly attached to the STM32F427 and support all
+PWM protocols as well as DShot.
+
+The 8 main PWM outputs are in 3 groups:
+
+ - PWM 1 and 2 in group1
+ - PWM 3 and 4 in group2
+ - PWM 5, 6, 7 and 8 in group3
+
+The 6 auxillary PWM outputs are in 2 groups:
+
+ - PWM 1, 2, 3 and 4 in group1
+ - PWM 5 and 6 in group2
+
+Channels within the same group need to use the same output rate. If
+any channel in a group uses DShot then all channels in the group need
+to use DShot.
+
+## Battery Monitoring
+
+The board has a dedicatd power monitor port on a 6 pin DF13
+connector. The correct battery setting parameters are dependent on the
+type of power brick which is connected.
+
+## Compass
+
+The Pixhawk1 has a LSM303D builtin SPI compass, but due to
+interference the board is usually used with an external I2C compass as
+part of a GPS/Compass combination.
+
+## GPIOs
+
+The 6 auxillary PWM ports can be used as GPIOs (relays, buttons, RPM
+etc). To use them you need to limit the number of these pins that is
+used for PWM by setting the BRD_PWM_COUNT to a number less than 6. For
+example if you set BRD_PWM_COUNT to 4 then AUX5 and AUX6 will be
+available for use as GPIOs.
+
+The numbering of the GPIOs for PIN variables in ArduPilot is:
+
+ - AUX1 50
+ - AUX2 51
+ - AUX3 52
+ - AUX4 53
+ - AUX5 54
+ - AUX6 55
+
+## Analog inputs
+
+The Pixhawk1 has 6 analog inputs on the FMU, plus servo rail voltage
+and RSSI monitoring on the IO controller.
+
+ - ADC Pin2 -> Battery Voltage
+ - ADC Pin3 -> Battery Current Sensor
+ - ADC Pin4 -> Vdd 5V supply sense
+ - ADC Pin13 -> ADC 3.3V Port pin1
+ - ADC Pin14 -> ADC 3.3V Port pin2
+ - ADC Pin15 -> ADC 6.6V port
+ - ADC Pin103 -> RSSI voltage monitoring
+
+## Loading Firmware
+
+The board comes pre-installed with an ArduPilot compatible bootloader,
+allowing the loading of *.apj firmware files with any ArduPilot
+compatible ground station.