Holybro Pixhawk Jetson Baseboard​

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The Holybro Pixhawk Jetson Baseboard integrates a Pixhawk flight controller and a NVIDIA Orin-series computer into a single package, significantly easing both hardware and software setup for using PX4 with a companion computer.

The board comes with either the Jetson Orin NX (16GB RAM) or Jetson Orin Nano (4GB RAM). It can be used with any Pixhawk Autopilot Bus (PAB) specification-compliant Pixhawk flight controller, such as the Pixhawk 6 or Pixhawk 6X.

This guide walks through the process of setting up the board and connecting to PX4, including:

• Hardware overview and setup

• Flashing the Jetson board and logging in via SSH

• Flashing (and building) PX4 Firmware on the Pixhawk

• Configuring serial and Ethernet connections between Pixhawk and Jetson

• MAVLink setup/test over both serial and Ethernet interfaces

• ROS 2/XRCE-DDS setup/test over both serial and Ethernet interfaces

TIP

You will temporarily need the following hardware in order to log into your Jetson and get its IP address, after which you will be able to log in via SSH:

• External display. If your display doesn't have a mini HDMI connector you will also need a Mini HDMI to HDMI converter if your external display has HDMI input

• Ethernet cable

• Mouse and keyboard (the baseboard has 4 USB ports exposed from Jetson, two of which are USB 3.0)

Purchase​

• Holybro Pixhawk Jetson Baseboard

There are options to select Pixhawk Autopilot and Jetson computer variants. All boards come with WiFi module, camera, power module, separate UBEC, power distribution board (PDB).

사양​

This information comes from the Holybro Pixhawk-Jetson Baseboard Documentation.

• 크기

• Jetson connectors

• Autopilot connectors

• Power (baseboard)

• Power (UBEC-12A)

Dimensions and weight (Holybro)

• 크기

• 126 x 80 x 45mm (with Jetson Orin NX + Heatsink/Fan & FC Module)

• 126 x 80 x 22.9mm (without Jetson and FC Module)

• 중량

• 190g (with Jetson, Heatsink, Flight Controller, M.2 SSD, M.2 Wi-Fi Module)

  하드웨어 설정​

The baseboard exposes both Pixhawk and Orin ports, as shown above in the pinouts. The Pixhawk ports comply with the Pixhawk connector standard (for ports covered by the standard), which means that the board can be connected to the usual peripherals, such as GPS, following either the generic assembly instructions for multicopters, fixed-wing and VTOL vehicles, or the corresponding Pixhawk guide for your flight controller (e.g. Pixhawk 6X Quick Start).

The main differences are likely to be power setup (see below), and the setup of additional peripherals connected to the Jetson.

주변 장치​

The diagram below provides additional guidance as to the ports where peripherals should be connected.

Power Wiring​

The Pixhawk and Jetson parts of the board must be powered separately though their respective power ports. The power module that comes with the kit supports 2S-12S battery inputs and provides a regulated supply for the Pixhawk part. Its other output is generally connected to the (supplied) power distribution board, and from there powers motors, servos, and so on, along with the Jetson (either directly or via the UBEC).

The Jetson part can be powered with a 7V-21V input, which corresponds to a 3S or 4S battery. If using a higher voltage battery than the Jetson allows you can either use the UBEC to provide a lower regulated supply, or power the Jetson with a separate battery.

Some of the more common wiring configurations are shown below.

3S/4S Battery​

This configuration demonstrating how to power both the Pixhawk and Jetson parts using a 3S/4S battery (output below 21V).

5S battery and greater (with UBEC)​

This configuration shows how you can use the external UBEC (supplied) to provide an appropriate voltage for the Jetson when using a high-voltage battery (>21V). Depending on your power needs, you might also use this (or another UBEC) for providing appropriate supply for control surfaces and other servo-driven hardware.

Two batteries (no Ubec)​

This configuration shows how you can use a separate battery to supply an appropriate voltage to the Jetson instead of regulating the supply from a large battery as shown in above.

Using the Power Adapter​

When developing and testing the vehicle on the bench, we recommend you power the Jetson using an external power supply, as shown. You can power the Pixhawk part using either a USB-C supply or a battery (as shown here).