# ARK Pixhawk Autopilot Bus Carrier

::: warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://arkelectron.com/contact-us/) for hardware support or compliance issues.
:::

The [ARK Pixhawk Autopilot Bus (PAB) Carrier](https://arkelectron.gitbook.io/ark-documentation/flight-controllers/ark-pixhawk-autopilot-bus-carrier) is a USA-built flight controller carrier board, based on the [Pixhawk Autopilot Bus open source standard](https://github.com/pixhawk/Pixhawk-Standards).

The PAB form factor enables the ARK PAB Carrier to be used with any [PAB-compatible flight controller](../flight_controller/pixhawk_autopilot_bus.md), such as the [ARKV6X](../flight_controller/ark_v6x.md).

![ARKPAB Main Photo](../../assets/flight_controller/arkpab/ark_pab_main.jpg)

### Where To Buy {#store}

Order From [Ark Electronics](https://arkelectron.com/product/ark-pixhawk-autopilot-bus-carrier/) (US)

## Features

- [Pixhawk Autopilot Bus (PAB) Form Factor](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-010%20Pixhawk%20Autopilot%20Bus%20Standard.pdf?_ga=2.20605755.2081055420.1671562222-391294592.1671562222)
- USA Built

## Connectors

- PAB Board to Board Interface
  - 100 Pin Hirose DF40
  - 40 Pin Hirose DF40
- Dual Digital Power Module Inputs
  - 5V Input
  - I2C Power Monitor
  - 6 Pin Molex CLIK-Mate
- Ethernet
  - 100Mbps
  - Built in Magnetics
  - 4 Pin JST-GH
- Full GPS Plus Safety Switch Port
  - 10 Pin JST-GH
- Basic GPS Port
  - 6 Pin JST-GH
- Dual CAN Ports
  - 4 Pin JST-GH
- Triple Telemetry Ports with Flow Control
  - 6 Pin JST-GH
- Eight PWM Outputs
  - 10 Pin JST-GH
- UART/I2C Port
  - 6 Pin JST-GH
- I2C Port
  - 4 Pin JST-GH
- PPM RC Port
  - 3 Pin JST-GH
- DSM RC Port
  - 3 Pin JST-ZH
- SPI Port
  - 11 Pin JST-GH
- ADIO Port
  - 8 Pin JST-GH
- Debug Port
  - 10 Pin JST-SH

## Dimensions

- Without Flight Controller Module
  - 74.0mm x 43.5mm x 12.0mm
  - 22g

## Power

- 5V input on `POWER1`, `POWER2`, `USB C`, and the `USB JST-GH` connector
  - Input is prioritized in the following order: POWER1 > POWER2 > USB
  - `USB C` and the `USB JST-GH` are in parallel
  - Overvoltage protection at 5.8V
  - Undervoltage protection at 3.9V
- `VDD_5V_HIPOWER` and `VDD_5V_PERIPH` can each provide a total of 1.5A across all the connectors

## LEDS

- There are two LEDs on the ARK PAB
  - `Red` is the ethernet power LED
  - `Green` is the ethernet activity LED

## Pinout

![ARKPAB Pinout](../../assets/flight_controller/arkpab/arkpab_pinout.jpg)

## POWER1

| Pin     | Signal    | Volt  |
| ------- | --------- | ----- |
| 1 (red) | `VBRICK1` | +5.0V |
| 2 (blk) | `VBRICK1` | +5.0V |
| 3 (blk) | I2C1_SCL  | +3.3V |
| 4 (blk) | I2C1_SDA  | +3.3V |
| 5 (blk) | `GND`     | GND   |
| 6 (blk) | `GND`     | GND   |

## POWER2

| Pin     | Signal    | Volt  |
| ------- | --------- | ----- |
| 1 (red) | `VBRICK2` | +5.0V |
| 2 (blk) | `VBRICK2` | +5.0V |
| 3 (blk) | I2C2_SCL  | +3.3V |
| 4 (blk) | I2C2_SDA  | +3.3V |
| 5 (blk) | `GND`     | GND   |
| 6 (blk) | `GND`     | GND   |

## PWM

| Pin      | Signal                    | Volt  |
| -------- | ------------------------- | ----- |
| 1 (red)  | VDD_SERVO (Not Connected) | +5.0V |
| 2 (blk)  | FMU_CH1                   | +3.3V |
| 3 (blk)  | FMU_CH2                   | +3.3V |
| 4 (blk)  | FMU_CH3                   | +3.3V |
| 5 (blk)  | FMU_CH4                   | +3.3V |
| 6 (blk)  | FMU_CH5                   | +3.3V |
| 7 (blk)  | FMU_CH6                   | +3.3V |
| 8 (blk)  | FMU_CH7                   | +3.3V |
| 9 (blk)  | FMU_CH8                   | +3.3V |
| 10 (blk) | `GND`                     | GND   |

## GPS1

| Pin      | Signal                 | Volt  |
| -------- | ---------------------- | ----- |
| 1 (red)  | `VDD_5V_PERIPH`        | +5.0V |
| 2 (blk)  | USART1_TX_GPS1         | +3.3V |
| 3 (blk)  | USART1_RX_GPS1         | +3.3V |
| 4 (blk)  | I2C1_SCL               | +3.3V |
| 5 (blk)  | I2C1_SDA               | +3.3V |
| 6 (blk)  | nSAFETY_SWITCH_IN      | +3.3V |
| 7 (blk)  | nSAFETY_SWITCH_LED_OUT | +3.3V |
| 8 (blk)  | `3V3_FMU`              | +3.3V |
| 9 (blk)  | BUZZER                 | +5.0V |
| 10 (blk) | `GND`                  | GND   |

## GPS2

| Pin     | Signal           | Volt  |
| ------- | ---------------- | ----- |
| 1 (red) | `VDD_5V_HIPOWER` | +5.0V |
| 2 (blk) | UART8_TX_GPS2    | +3.3V |
| 3 (blk) | UART8_RX_GPS2    | +3.3V |
| 4 (blk) | I2C2_SCL         | +3.3V |
| 5 (blk) | I2C2_SDA         | +3.3V |
| 6 (blk) | `GND`            | GND   |

## TELEM1

| Pin     | Signal           | Volt  |
| ------- | ---------------- | ----- |
| 1 (red) | `VDD_5V_HIPOWER` | +5.0V |
| 2 (blk) | UART7_TX         | +3.3V |
| 3 (blk) | UART7_RX         | +3.3V |
| 4 (blk) | UART7_CTS        | +3.3V |
| 5 (blk) | UART7_RTS        | +3.3V |
| 6 (blk) | `GND`            | GND   |

## TELEM2

| Pin     | Signal          | Volt  |
| ------- | --------------- | ----- |
| 1 (red) | `VDD_5V_PERIPH` | +5.0V |
| 2 (blk) | UART5_TX        | +3.3V |
| 3 (blk) | UART5_RX        | +3.3V |
| 4 (blk) | UART5_CTS       | +3.3V |
| 5 (blk) | UART5_RTS       | +3.3V |
| 6 (blk) | `GND`           | GND   |

## TELEM3

| Pin     | Signal           | Volt  |
| ------- | ---------------- | ----- |
| 1 (red) | `VDD_5V_HIPOWER` | +5.0V |
| 2 (blk) | USART2_TX        | +3.3V |
| 3 (blk) | USART2_RX        | +3.3V |
| 4 (blk) | USART2_CTS       | +3.3V |
| 5 (blk) | USART2_RTS       | +3.3V |
| 6 (blk) | `GND`            | GND   |

## UART4/I2C3

| Pin     | Signal          | Volt  |
| ------- | --------------- | ----- |
| 1 (red) | `VDD_5V_PERIPH` | +5.0V |
| 2 (blk) | UART4_TX        | +3.3V |
| 3 (blk) | UART4_RX        | +3.3V |
| 4 (blk) | I2C3_SCL        | +3.3V |
| 5 (blk) | I2C3_SDA        | +3.3V |
| 6 (blk) | `GND`           | GND   |

## I2C3

| Pin     | Signal          | Volt  |
| ------- | --------------- | ----- |
| 1 (red) | `VDD_5V_PERIPH` | +5.0V |
| 2 (blk) | I2C3_SCL        | +3.3V |
| 3 (blk) | I2C3_SDA        | +3.3V |
| 4 (blk) | `GND`           | GND   |

## CAN1

| Pin     | Signal           | Volt  |
| ------- | ---------------- | ----- |
| 1 (red) | `VDD_5V_HIPOWER` | +5.0V |
| 2 (blk) | CAN1_H           | +3.3V |
| 3 (blk) | CAN1_L           | +3.3V |
| 4 (blk) | `GND`            | GND   |

## CAN2

| Pin     | Signal          | Volt  |
| ------- | --------------- | ----- |
| 1 (red) | `VDD_5V_PERIPH` | +5.0V |
| 2 (blk) | CAN2_H          | +3.3V |
| 3 (blk) | CAN2_L          | +3.3V |
| 4 (blk) | `GND`           | GND   |

## USB

All signals in parallel with USB C connector
Pin | Signal | Volt
--- | --- | ---
1 (red) | `VBUS_IN` | +5.0V
2 (blk) | USB_N | +3.3V
3 (blk) | USB_P | +3.3V
4 (blk) | `GND` | GND

## ETH

| Pin     | Signal   | Volt            |
| ------- | -------- | --------------- |
| 1 (red) | ETH_RD_N | +50.0V Tolerant |
| 2 (blk) | ETH_RD_P | +50.0V Tolerant |
| 3 (blk) | ETH_TD_N | +50.0V Tolerant |
| 4 (blk) | ETH_TD_P | +50.0V Tolerant |

## ADIO

| Pin     | Signal          | Volt  |
| ------- | --------------- | ----- |
| 1 (red) | `VDD_5V_PERIPH` | +5.0V |
| 2 (blk) | FMU_CAP         | +3.3V |
| 3 (blk) | BOOTLOADER      | +3.3V |
| 4 (blk) | FMU_RST_REQ     | +3.3V |
| 5 (blk) | nARMED          | +3.3V |
| 6 (blk) | ADC1_3V3        | +3.3V |
| 7 (blk) | ADC1_6V6        | +3.3V |
| 8 (blk) | `GND`           | GND   |

## RC/SBUS

| Pin     | Signal             | Volt  |
| ------- | ------------------ | ----- |
| 1 (red) | `VDD_5V_SBUS_RC`   | +5.0V |
| 2 (blk) | USART6_RX_SBUS_IN  | +3.3V |
| 3 (blk) | USART6_TX          | +3.3V |
| 4 (blk) | `VDD_3V3_SPEKTRUM` | +3.3V |
| 5 (blk) | `GND`              | GND   |

## PPM

| Pin     | Signal                  | Volt  |
| ------- | ----------------------- | ----- |
| 1 (red) | `VDD_5V_PPM_RC`         | +5.0V |
| 2 (blk) | DSM_INPUT/FMU_PPM_INPUT | +3.3V |
| 3 (blk) | `GND`                   | GND   |

## DSM

| Pin     | Signal                  | Volt  |
| ------- | ----------------------- | ----- |
| 1 (red) | `VDD_3V3_SPEKTRUM`      | +3.3V |
| 2 (blk) | `GND`                   | GND   |
| 3 (blk) | DSM_INPUT/FMU_PPM_INPUT | +3.3V |

## SPI6

| Pin      | Signal          | Volt  |
| -------- | --------------- | ----- |
| 1 (red)  | `VDD_5V_PERIPH` | +5.0V |
| 2 (blk)  | SPI6_SCK        | +3.3V |
| 3 (blk)  | SPI6_MISO       | +3.3V |
| 4 (blk)  | SPI6_MOSI       | +3.3V |
| 5 (blk)  | SPI6_nCS1       | +3.3V |
| 6 (blk)  | SPI6_nCS2       | +3.3V |
| 7 (blk)  | SPIX_nSYNC      | +3.3V |
| 8 (blk)  | SPI6_DRDY1      | +3.3V |
| 9 (blk)  | SPI6_DRDY2      | +3.3V |
| 10 (blk) | SPI6_nRESET     | +3.3V |
| 11 (blk) | `GND`           | GND   |

## Debug Port

The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) run on the **FMU Debug** port.

The pinouts and connector comply with the [Pixhawk Debug Full](../debug/swd_debug.md#pixhawk-debug-full) interface defined in the [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf) interface (JST SM10B connector).

| Pin      | Signal           | Volt  |
| -------- | ---------------- | ----- |
| 1 (red)  | `Vtref`          | +3.3V |
| 2 (blk)  | Console TX (OUT) | +3.3V |
| 3 (blk)  | Console RX (IN)  | +3.3V |
| 4 (blk)  | `SWDIO`          | +3.3V |
| 5 (blk)  | `SWCLK`          | +3.3V |
| 6 (blk)  | `SWO`            | +3.3V |
| 7 (blk)  | NFC GPIO         | +3.3V |
| 8 (blk)  | PH11             | +3.3V |
| 9 (blk)  | nRST             | +3.3V |
| 10 (blk) | `GND`            | GND   |

For information about using this port see:

- [SWD Debug Port](../debug/swd_debug.md)
- [PX4 System Console](../debug/system_console.md) (Note, the FMU console maps to USART3).

![ARKPAB Top Down Photo](../../assets/flight_controller/arkpab/ark_pab_top.jpg)

![ARKPAB Bottom Photo](../../assets/flight_controller/arkpab/ark_pab_back.jpg)

## See Also

- [ARK Pixhawk Autopilot Bus Carrier](https://arkelectron.gitbook.io/ark-documentation/flight-controllers/ark-pixhawk-autopilot-bus-carrier) (ARK Docs)