RPi CM4 Baseboard

The Holybro Pixhawk RPi CM4 Baseboard is an integrated development platform designed to combine a Pixhawk-compatible flight controller with a Raspberry Pi Compute Module 4 companion computer in a compact and highly connected architecture.

Designed for professional UAVs, autonomous aircraft, robotics, computer vision, onboard data processing, mapping, inspection, research, and advanced development applications, the baseboard provides direct communication between the flight controller and Raspberry Pi while maintaining access to a wide range of autopilot and companion computer interfaces.

Integrated Pixhawk & Raspberry Pi Platform

The RPi CM4 Baseboard combines flight-critical autopilot control and companion computer processing on a single integrated platform.

The Pixhawk flight controller manages stabilization, navigation, vehicle control, and flight safety functions, while the Raspberry Pi Compute Module can be used for onboard computing, custom software, image processing, networking, data logging, autonomous mission functions, and advanced payload integration.

Pixhawk Autopilot Bus Compatibility

The baseboard follows the Pixhawk Connector and Autopilot Bus Standard.

Its modular architecture allows compatible flight controller modules to be installed or replaced without changing the complete baseboard system.

The board is compatible with Pixhawk 5X, Pixhawk 6X, and other flight controller modules following the Pixhawk Autopilot Bus Standard.

Direct TELEM2 Communication

The flight controller is internally connected to the Raspberry Pi Compute Module through the TELEM2 interface.

UART communication with hardware flow control provides a direct connection for MAVLink data, telemetry, mission commands, companion computer applications, and custom autonomous functions.

Ethernet Communication

The Pixhawk flight controller and Raspberry Pi can also communicate through Ethernet using the supplied external connection cable.

Ethernet provides a high-speed communication option for applications requiring larger data transfers, advanced companion computer integration, onboard networking, and professional autonomous development.

Raspberry Pi Compute Module Support

The baseboard is designed for Raspberry Pi Compute Module integration.

The recommended minimum Raspberry Pi CM4 configuration is:

Wireless Connectivity: Recommended
RAM: 4GB or higher
eMMC Storage: 16GB or higher

The baseboard also supports Raspberry Pi Compute Module 5, although CM5 requires additional power compared with CM4.

USB-C Programming & Power Interface

The CM4 Slave USB-C port is used to power the Raspberry Pi Compute Module and flash the operating system image.

The baseboard also provides two USB-C host ports for compatible USB peripherals.

Each USB host port supports up to 1A output current.

Micro HDMI Video Output

The integrated Micro HDMI connector provides video output from the Raspberry Pi Compute Module.

This allows a compatible external display to be connected for operating system setup, software development, diagnostics, and graphical applications.

CSI Camera Interface

The integrated CSI camera connector supports compatible Raspberry Pi camera modules.

This enables computer vision, object detection, visual navigation, inspection, image capture, and custom autonomous applications.

Dedicated Cooling Fan Output

A dedicated 5V fan connector is included for active cooling.

This allows a compatible cooling fan to be installed for applications involving high processor loads, continuous data processing, computer vision, or demanding onboard software.

Extensive Pixhawk Connectivity

The flight controller section provides a complete range of interfaces for professional UAV integration.

Available interfaces include:

16× PWM Outputs
3× Telemetry Ports
2× GPS Ports
2× CAN Ports
2× Digital Power Inputs
1× UART4 and I2C Port
1× Dedicated I2C Port
1× External SPI Port
1× Ethernet Port
1× USB Interface
1× AD and I/O Port
1× RC Input
1× DSM Receiver Input
1× RSSI Interface
FMU and I/O Debug Ports

16 PWM Outputs

The baseboard provides a total of 16 PWM outputs:

8× I/O PWM Main Outputs
8× FMU PWM Auxiliary Outputs

These outputs can be used for ESCs, motors, servos, actuators, landing gear, payload systems, and other aircraft functions.

Dual CAN Bus Support

Two CAN interfaces support DroneCAN-compatible peripherals.

Compatible devices may include GNSS modules, compasses, power modules, airspeed sensors, rangefinders, ESCs, actuators, and other professional UAV equipment.

Multiple GPS & Telemetry Interfaces

Two dedicated GPS ports support primary and secondary GNSS configurations.

GPS1 provides the complete GPS interface with integrated safety switch and buzzer support.

Three telemetry ports provide connectivity for telemetry radios, datalinks, companion computers, remote identification systems, and additional serial peripherals.

Independent Power Architecture

For stable operation, the flight controller and Raspberry Pi Compute Module use separate power connections.

The flight controller is powered through the POWER1 or POWER2 digital power input.

The Raspberry Pi Compute Module is powered separately through the CM4 Slave USB-C interface.

This independent architecture helps maintain reliable flight controller operation while supporting the companion computer power requirements.

Professional UAV & Robotics Applications

The Pixhawk RPi CM4 Baseboard is suitable for:

Professional UAV Development
Autonomous Multirotors
Fixed-Wing Aircraft
VTOL Platforms
Computer Vision Systems
Mapping and Inspection UAVs
Onboard Image Processing
Payload Control
Custom Autonomous Navigation
Artificial Intelligence Development
Research and Education
UGVs and Robotic Platforms

Technical Specifications

Product: Holybro Pixhawk RPi CM4 Baseboard
Application: UAVs, autonomous aircraft, robotics, companion computing, computer vision, research, and development
Architecture: Integrated Pixhawk flight controller and Raspberry Pi Compute Module baseboard
Autopilot Standard: Pixhawk Connector and Autopilot Bus Standard
Compatible Flight Controller Modules: Pixhawk 5X / Pixhawk 6X / Compatible Pixhawk Bus modules
Companion Computer Support: Raspberry Pi Compute Module 4 / Raspberry Pi Compute Module 5
Internal FC-to-CM4 Communication: TELEM2 UART with hardware flow control
Additional FC-to-CM4 Communication: Ethernet

Raspberry Pi Interfaces

CM4 Slave Port: 1× USB Type-C
CM4 Slave Maximum Input Voltage: 5V
USB Host Ports: 2× USB Type-C
Maximum USB Host Output: 1A per port
Video Output: Micro HDMI
Camera Input: CSI camera interface
Cooling Output: Dedicated 5V fan connector
Ethernet Interface: Dedicated CM4 Ethernet connection
Operating System Storage: Raspberry Pi CM4 eMMC, depending on selected module

Flight Controller Interfaces

PWM Outputs: 16× total
Main PWM Outputs: 8× I/O
Auxiliary PWM Outputs: 8× FMU
Telemetry Ports: 3×
GPS Ports: 2×
CAN Ports: 2×
Digital Power Inputs: 2×
UART4 and I2C Port: 1×
Dedicated I2C Port: 1×
External SPI Port: 1×
Ethernet Port: 1×
USB Interface: 1×
AD and I/O Port: 1×
RC Input: PPM / S.BUS
DSM Receiver Input: Supported
RSSI Interface: Supported
Debug Interfaces: FMU Debug / I/O Debug
Connector Standard: JST-GH 1.25 mm for most peripheral interfaces

Recommended Raspberry Pi CM4 Configuration

Wireless: Yes
RAM: 4GB or higher
eMMC Storage: 16GB or higher

Power Requirements

Flight Controller Power: POWER1 or POWER2 digital power input
Raspberry Pi Power: CM4 Slave USB-C input
Raspberry Pi and Flight Controller Power: Separate power connections required for stable operation

What’s Included

1× Holybro Pixhawk RPi CM4 Baseboard
1× PM03D Digital Power Module
1× Pixhawk RPi CM4 Baseboard Cable Set

Pixhawk flight controller module and Raspberry Pi Compute Module are not included with the baseboard and power module configuration unless selected separately.