MBR120VLSFT1G

5V

MIC5219-3.3

C22

C11

.1uF

VCC

GND GND

D4

GND

GND
GND

X1-2

VCC
C12

GND GND

INT

ESC 5V EN

C23

4.7uF 4.7uF

.047uF

220

X1-1

10uF
GND

MMSZ5233BT1G

C21

AUX_SDA
AUX_SCL
SS_3V3
MISO_3V3
FSYNC
INT

C7
.1uF

1
2
3
4
5
6
7
8
9
10
11
12

SDA/SDI
SCL/SCLK
CLKOUT
RESV2
CPOUT
RESV1
GND
NC8
NC7
NC6
NC5
VDD

CLKIN
NC1
NC2
NC3
NC4
AUX_DA
AUX_CL
/CS
AD0/SDO
REGOUT
FSYNC
INT

5
7
6
8

CSB2
CSB1
VDD SDI/SDA
SDO
PS
SCLK
GND

CS_MS5611
MOSI_3V3
MISO_3V3
SCK_3V3

MS5611-01BA

GND

GND
GND

VCC
3.3V

SCK_3V3
MOSI_3V3
SS_3V3
MISO_3V3

U$7
VCC

PB1
PB2
PB0
PB3

B1
A1
B2
A2
B3
A3
B4
A4
VCCAGND
VCCB OE

GND

C9
.1uF

MPU-6000

GND

4
1
2
3

C1
.1uF

24 MOSI_3V3
23 SCK_3V3
22
21
20
19
18
17
16
15 3.3V GND
14
13

CS_MS5611

R10
10k

U5

R19
ESC 5V EN

JP_VCC

EN BP

PE6

D1

GND

10k

IN OUT

FSYNC

R22

4.7K

PG1
U$12

RST

4.7K

PJ3

R23

F2

3.3V
U3

MUX
3.3V
3.3V

MBR120VLSFT1G
D2

.01uF

500mA

VCC

3.3V

10k
R25

SPI_OE

R33

MPU/Pressure

VCC

C13

3.3V Regulator

PPM_PC2
1
2
3
4
5

PPM_TX
C5
.1uF

SPI_OE

PPM_RX

GND

COM1
NC1
V+
NC2
COM2

IN1
NO1
GND
NO2
IN2

10
9
8
7
6

VCC
1k
COM_RX
PE0 RX0-I
R30
3DR_RX
3DR_TX
1k
COM_TX
PE1 TX0-O
R27

PPM_PC2
GND

GND

GND

TS5A23157

GND

AT32-U2
AT2560

79
69
68
67
66
65
64
63

PJ7
PJ6(PCINT15)
PJ5(PCINT14)
PJ4(PCINT13)
PJ3(PCINT12)
PJ2(XCK3/PCINT11)
PJ1(TXD3/PCINT10)
PJ0(RXD3/PCINT9)

NA
9
8
7
6
NA
TX2-O 16
RX2-I 17

PH7
PH6
PH5
PH4
PH3
PH2
PH1
PH0

27
18
17
16
15
14
13
12

pwm
pwm
pwm
pwm

PH7(T4)
PH6(OC2B)
PH5(OC4C)
PH4(OC4B)
PH3(OC4A)
PH2(XCK2)
PH1(TXD2)
PH0(RXD2)

NA

(ADC7/TDI)PF7
(ADC6/TDO)PF6
(ADC5/TMS)PF5
(ADC4/TCK)PF4
(ADC3)PF3
(ADC2)PF2
(ADC1)PF1
(ADC0)PF0
(OC0B)PG5
(TOSC1)PG4
(TOSC2)PG3
(ALE)PG2
(RD)PG1
(WR)PG0

90
91
92
93
94
95
96
97
1
29
28
70
52
51

PF7
PF6
PF5
PF4
PF3
PF2
PF1
PF0
PG5
PG4
PG3
PG2
PG1
PG0

3
2
5
NA
1
0

10K

R37

CH5

4 PG5 pwm
NA
NA
39
40
41

IN PWM
IN7
220
IN6
220
IN5
220
IN4
220
PPM_MISO 220
PPM_MOSI 220
PPM_SCK 220
IN0
220

CH8

R38
R39
R40

CH5

R41
R42
R43
R44

CH1

5V

1
2
3
4
5
6
7
8

GND

1
2
3
4
5
6
7
8

1
2
3
4
5
6
7
8

PB5
PH5
PH4
PH3
PE5
PE4
PE3

1M

JP19

5V
220

R8

220

R7

220

R6

220

R5

OUT PWM

220

R4

220

R3

220

R2

220

R1

1
2
3
4
5
6
7
8

5V

GND

1
2
3
4
5
6
7
8

JP5

PPM_IN

1K

PPM_IN

1
2
3
4
5
6
7
8

JP3

MISO
R48
10k

3.3V
MOSI_DF
SCK_DF
CS_DF
RST_DF

PA2

GND
GND
PJ1
PJ2
PA6
PG0

B1
A1
B2
A2
B3
A3
B4
A4
VCCAGND
VCCB OE

PA1
R47 VCC

SPI_OE

GND

R35
LED5
ORANGE
1k

PC7_LED
LED7
RED

R51

VCC
VCC

VCC

IO pins
PF0
PF1
PF2
PF3
PF4
PF5
PF6
PF7
PK0
SJ0
SJ1
SJ2

1
2
3
4
5
6
7
8
9
10
11
12

5V

JP8

GND

GND

1
2
3
4
5
6
7
8
9
10
11
12

1
2
3
4
5
6
7
8
9
10
11
12

JP7
GND

PIXHAWK2_DF13-5P-1.25DSA
U$6-1
U$6-2
U$6-3 GPS
U$6-4
U$6-5

TX1-O PD3
RX1-I PD2

Magneto
3.3V
U$13

GND

JP_VCC
ADC12 PK4
ADC13 PK5
JP6

PIXHAWK2_DF13-6P-1.25DSA
U$10-1
U$10-2
U$10-3
U$10-4
U$10-5
U$10-6

PM

C4

C10

0.1uF

4.7uF

2
13
4
10

VDD
VDDIO
S1
C1

9
11

GND
GND2

DRDY
SDA
SCL

15
16
1

SETP

SETC

12

PC6
SDA
SCL1

C8

GND
VCC
SJ0
1k

VCC
PIXHAWK2_DF13-5P-1.25DSA
PB7

R17
JP1

GND
PWM Outputs

VCC

CARD PC4

R46
1k
1k

PJ0

GND

R32
LED4
ORANGE
1k

PL1

PPM_PD6

VCC

WP
SCK
CS

AT45DB161D-MU
VCC

GND
1k

5
2
4

SCK_DF
CS_DF

GND compassVCC
SDA
X3-1
C14
JP2
SDA1 compass
X3-2
.1uF

TXLED

R11

PPM_PC4

VCC

R45

JP16
JP18
PWM Inputs GND

PB6

#RST
PPM_PD6
TXLED
RXLED
PPM_TX
PPM_RX
PPM_PD1
PPM_PD0

Pins/Connectors/LEDs

VCC

ATMEGA2560-16AU

ArduPilot Mega 2.8.0

SJ2

GND

ADC7
ADC6
ADC5
ADC4
ADC3
ADC2
ADC1
ADC0

13
12
11
10
9
8
7
6

RXLED

TX1-O
RX1-I
SDA
SCL

TX0-O
RX0-I

PAD

(CTS/HWB/AIN6/TO/INT7)PD7
(RTS/AIN5/INT6)PD6
(XCK/AIN4/PCINT12)PD5
(INT5/AIN3)PD4
(TXD1/INT3)PD3
(RXD1/AIN1/INT2)PD2
(AIN0/INT1)PD1
(OC0B/INT0)PD0

ATMEGA32U2-MU

PPM_OUT
PPM_IN

R15

pwm
pwm
pwm

EXP

PC7_LED
PPM_OUT
VCC
PPM_PC4
PPM_PC2

GND

R14
10K

LO

GND
#RST PPM_PD6
X2-1
PPM_PD6
JP3

SJ1
1k

1k

R24

PE0

R49

PE1

SJ9

SDA1

U$17-1
U$17-2
U$17-3
U$17-4 3DR-radio
U$17-5

GND

DF13-4P-1.25H
U$3-1
U$3-2
U$3-3 EX_MAG
U$3-4

SCL1
SDA1

0.22uF

HMC5883L
GND

GND GND
VCC

3.3V

GND

SCL1
MUX_SDA
SJ5

PH0

PH1

U$11-1
U$11-2
U$11-3
U$11-4

MUX2
MUX_TX2

3.3V
DF13-4P-1.25DSA

MUX2
MUX3

MUX_TX0
SJ8
MUX3

MUX_RX2

VCC

MUX_SCL
SJ7

MUX_RX0
SJ6

PL5

3DR_TX
3DR_RX

R50

SJ4
PL4

R21

SJ2
1k

1k

GND

MUX

SCL1
SDA1

U2

4
1
2
3

EN
GND
VREF1 VREF2
SCL2
SCL1
SDA2
SDA1
PCA9306DC

GND

8
7
6 PD0
5 PD1

200k

PJ7
PJ6
PJ5
PJ4
PJ3
PJ2
PJ1
PJ0

PE7
PE6
PE5
PE4
PE3
PE2
PE1
PE0

UCAP
UVCC
DD+
UGND

22
23
25
26
5

3.3V

IC2
RST_DF 3 RESET VCC 6
MOSI_DF 1 SI
SO 8

R12

NA
NA
NA
NA
NA
NA
TX3-O 14
RX3-I 15

9
8
7
6
5
4
3
2

(CLKO/ICP3/INT7)PE7
(T3/INT6)PE6
(OC3C/INT5)PE5
(OC3B/INT4)PE4
(OC3A/AIN1)PE3
(XCK0/AIN0)PE2
(TXD0)PE1
(RXD0/PCIN8)PE0

VCC
GND

(INT4/ICP1/CLK0)PC7
(OC1A/PCINT8)PC6
(PCINT9/OC1B)PC5
(PCINT10)PC4
(AIN2/PCINT11)PC2

10K

HI

X4-2

2.2k

PK7(ADC15/PCINT23)
PK6(ADC14/PCINT22)
PK5(ADC13/PCINT21)
PK4(ADC12/PCINT20)
PK3(ADC11/PCINT19)
PK2(ADC10/PCINT18)
PK1(ADC9/PCINT17)
PK0(ADC8/PCINT16)

38
NA
NA
NA
18
19
20
21

3.3V

PPM_PC4

2.2k
R9

82
83
84
85
86
87
88
89

PD7
PD6
PD5
PD4
PD3
PD2
PD1
PD0

X4-1

JP4

SCL1

PK7
PK6
PK5
PK4
PK3
PK2
PK1
PK0

50
49
48
47
46
45
44
43

4
3

GND

PPM_PC4

IN7
IN6
IN5
IN4
PPM_MISO
PPM_MOSI
PPM_SCK
IN0

R16

ADC15
ADC14
ADC13
ADC12
ADC11
ADC10
ADC9
ADC8

(T0)PD7
(T1)PD6
(XCK1)PD5
(ICP1)PD4
(TXD1/INT3)PD3
(RXD1/INT2)PD2
(SDA/INT1)PD1
(SCL/INT0)PD0

1uF

VCC
LO
LO
HI
LO

AVCC

27
31
30
29
28

VUCAP
VCC
RDRD+
GND

21
20
19
18
17
16
15
14

SDA1

PL7
PL6
PL5(OC5C)
PL4(OC5B)
PL3(OC5A)
PL2(T5)
PL1(ICP5)
PL0(ICP4)

C17
.1uF

32

1k

42
41
40
39
38
37
36
35

30
31
32
33
34
35
36
37

27
VCC

R36

PL7
PL6
PL5
PL4
PL3
PL2
PL1
PL0

PC7
PC6
PC5
PC4

C16

PPM_MOSI

GND

LED6
GRN

42
43
pwm 44
pwm 45
pwm 46
47
48
49

60
59
58
57
56
55
54
53

USHIELD

+5
MOSI
GND

X2-2

1k

GND

(A15)PC7
(A14)PC6
(A13)PC5
(A12)PC4
(A11)PC3
(A10)PC2
(A9)PC1
(A8)PC0

pwm
pwm
pwm
pwm

XT1R

LED1
RED-A

GND

13
12
11
10
50
51
52
53

Y1
R28

PA5

GND

PB7
PB6
PB5
PB4
PB3
PB2
PB1
PB0

XT1
16MHz

1k
LED2
YELLOW-B
R13

.1uF

26
25
24
23
22
21
20
19

GND

22
R31 RD22
RD+
R34

PA4

C3

.1uF

(OC0A/OC1C/PCINT7)PB7
(OC1B/PCINT6)PB6
(OC1A/PCINT5)PB5
(OC2A/PCINT4)PB4
(MISO/PCINT3)PB3
(MOSI/PCINT2)PB2
(SCK/PCINT1)PB1
(SS/PCINT0)PB0

500mA
XUSB
DD+

TP4 TP3 TP2

VCC
VCC
VCC
VCC
GND
GND
GND
GND

24

R18

10
31
61
80
11
32
62
81

29
28
27
26
25
24
23
22

1k

AREF
AVCC
AGND

PA7
PA6
PA5
PA4
PA3
PA2
PA1
PA0

R20

XTAL1

98
100
99

71
72
73
74
75
76
77
78

2
4
6

SPI_PPM

(PCINT7/OC0A/OC1C)PB7
(PCINT6)PB6
(PCINT5)PB5
RESET(PC1/DW)
(T1/PCINT4)PB4
(PD0/MISO/PCINT3)PB3
(PDI/MOSI/PCINT2)PB2
XTAL2(PC0)
(SCLK/PCINT1)PB1
(SS/PCINT0)PB0
XTAL1

XT2
(AD7)PA7
(AD6)PA6
(AD5)PA5
(AD4)PA4
(AD3)PA3
(AD2)PA2
(AD1)PA1
(AD0)PA0

1
3
5

DataFlash

PPM_RST
R29
GND

XTAL2

34

F1

MISO
SCK
RESET

U$8

Arduino Pins

PGB1010604

RESET

33

VCC

D+
DXUSB

Z1

30

GND

GND

5
4
3
2
1

LED3
BLUE-C

C2

SJ3

PB2

PA3

VCC

+5
MOSI
GND

SPI_Mega
IC1

VCC
GND
VCC

PB3-PIN
MISO_3V3

2
4
6

PGB1010604
Z2

AREF

1
3
5

U8
PPM_MISO
PPM_SCK
PPM_RST

L1

VCC

16MHZ

MISO
SCK
RESET

VCC

USHIELD

BLM21

TP1

#RST

10k

D3

VCC

GND
U1

PB3

U7
PB3-PIN
PB1
RST

.1uF

3
4

GND

AREF

C15

RST

1
2

VCC

R26

S1

MBR120VLSFT1G

VCC
VCC