# DCS2.Pilot\_PX

<details>

<summary><strong>Release notes</strong></summary>

**rev.2**

* Added FRAM to onboard FMU
* Added side platting for the board
* Board dimension expanded 1mm in width and 1mm in height
* Added TPM module
* Added additional RTC circuit + rail for possibility to charge battery externally
* Added EMI shield on the TOP side of the board.
* Onboard FMU signals (4xPWM, 1xUART) routed to board-to-board connector in parallel
* Jetson configuration USB routed to board-to-board connector
* 1V8\_Adapter rail removed from board-to-board connector
* Jetson standoffs mechanically reinforced
* Changed MPN for SSD oscillator
* Changed MPN for CAN transceivers

**rev.1**

* HDMI connector changed to ZIF\\

**rev.0 (preproduction series)**

</details>

<figure><img src="/files/r3c1k1L92Nx6itlOn9zj" alt=""><figcaption></figcaption></figure>

## Description

The DCS2.Pilot Board serves as the central control unit of the DroneCore Suite, integrating both primary processing and flight-control functionality. It is responsible for managing the drone’s systems and coordinating communication between all onboard components. Additionally, the board provides the main hardware interfaces for connecting expansion boards and other auxiliary modules within the DroneCore ecosystem.

This version of the board utilises a Pixhawk (in v5X/v6X standard) as its primary flight controller. It also features an onboard flight control unit based on an STM32 H7 microcontroller, which can operate as a backup Flight Management Unit (FMU) or even as the primary one. The design further allows for the extension of the onboard FMU with an additional sensor board.

***

## Mechanical / environmental specifications <a href="#dimensions" id="dimensions"></a>

<table><thead><tr><th width="224.2857666015625">Attribute</th><th>Value/Note</th></tr></thead><tbody><tr><td><strong>Weight</strong></td><td>163g</td></tr><tr><td><strong>Dimensions</strong> <em>L</em>×<em>W</em>×<em>H (mm)</em></td><td><p>12 × 5 × 53.5</p><p>(Board + Cube Orange + Jetson Orin NX)</p></td></tr><tr><td><strong>Temperature rating</strong></td><td>-40°C / +85°C</td></tr><tr><td><strong>Conformal coating</strong></td><td>Yes</td></tr><tr><td><strong>EMC performance</strong></td><td><em>The board is always measured with the corresponding expansion board, so measurements for the single board are not available</em></td></tr></tbody></table>

### Dimensions <a href="#dimensions" id="dimensions"></a>

<figure><img src="/files/3fM0XD3Oqz6mBLJjAijI" alt=""><figcaption></figcaption></figure>

{% file src="/files/epndlBW2p01tRZWm2pqk" %}

***

### 3D model

{% file src="/files/1WqjfBJp80DJUnvLRkfx" %}

***

## Power supply

**Power consumption:** 16W

> *Overall consumption of the board strongly depends on the usage of the main computing unit. The given value corresponds to the DCS2 in the default setup with a freshly flashed Orin NX, without any additional peripherals connected.*

{% hint style="info" %}
**Note:**

Power to the .Pilot board is drawn from the expansion board. If you are designing your own board, please refer to the example project for more information.
{% endhint %}

<figure><img src="/files/QgAtzg4lAGB0EzZchsgJ" alt=""><figcaption></figcaption></figure>

***

## Peripherals

{% hint style="info" %}
**Note:**

Some of the peripherals are prepared for future use (dotted lines). 100Mbit Eth line, Serial 8 and CAN3 are related to different assembly variants of the board and usage of different Cube autopilot versions (Cube Red)
{% endhint %}

<figure><img src="/files/JJtHSnjDio4x6BVB7iyd" alt=""><figcaption></figcaption></figure>

***

## Connectors, controls and indicators

### Top side <a href="#top-side-onboard-connectors" id="top-side-onboard-connectors"></a>

<figure><img src="/files/wXOTXZBdcp32gesEk6RQ" alt=""><figcaption></figcaption></figure>

#### Connectors

<details>

<summary><strong>BEEP</strong></summary>

<figure><img src="/files/sJsX9OIoDOUdA84EKKP5" alt="" width="134"><figcaption></figcaption></figure>

Matching connector Hirose DF13-2S-1.25C

| pin | function |
| --- | -------- |
| 1   | BUZZER+  |
| 2   | BUZZER-  |

</details>

<details>

<summary><strong>FAN</strong></summary>

<figure><img src="/files/jabOPKZkDkzJIEDyRUXf" alt="" width="164"><figcaption></figcaption></figure>

* Matching with Molex 51021-0400 cable header
* Ccompatible with Orin NX original cooler

{% hint style="info" %}
5V supply limited to 200mA by internal current limiter
{% endhint %}

| pin | function   |
| --- | ---------- |
| 1   | GND        |
| 2   | 5V\_PERIPH |
| 3   | FAN\_TACH  |
| 4   | FAN\_PWM   |

</details>

<details>

<summary><strong>ETH_EXP</strong></summary>

<figure><img src="/files/TWmfN5DgC5DwpXe5o4vb" alt="" width="232"><figcaption></figcaption></figure>

* 505110-1692 connector type
* possible to use aepilot1\_ethernet\_expansion\_board, to expand to RJ45

{% hint style="info" %}
5V supply limited to 1A by internal current limiter
{% endhint %}

<table><thead><tr><th width="367">pin</th><th>function</th></tr></thead><tbody><tr><td>1</td><td>GBE_B3_P</td></tr><tr><td>2</td><td>GBE_B3_N</td></tr><tr><td>3</td><td>GND</td></tr><tr><td>4</td><td>GBE_M2_P</td></tr><tr><td>5</td><td>GBE_M2_N</td></tr><tr><td>6</td><td>GND</td></tr><tr><td>7</td><td>GBE_M1_P</td></tr><tr><td>8</td><td>GBE_M1_N</td></tr><tr><td>9</td><td>GND</td></tr><tr><td>10</td><td>GBE_M0_P</td></tr><tr><td>11</td><td>GBE_M0_N</td></tr><tr><td>12</td><td>GND</td></tr><tr><td>13</td><td>GBE_LED_LINK</td></tr><tr><td>14</td><td>GBE_LED_ACT</td></tr><tr><td>15</td><td>5V_PERIPH</td></tr><tr><td>16</td><td>5V_PERIPH</td></tr></tbody></table>

</details>

<details>

<summary><strong>FMU SEC.</strong></summary>

<figure><img src="/files/htbyLqURDOiZebeixF45" alt="" width="288"><figcaption></figcaption></figure>

Matching connector JST GHR-12V-S

{% hint style="info" %}
5V supply limited to 1A by internal current limiter
{% endhint %}

{% hint style="info" %}
Connector related to onboard FMU
{% endhint %}

{% hint style="info" %}
Position remains the same as in version v1.x, only pin 1 marking was fixed in v2.0
{% endhint %}

| pin | function       |
| --- | -------------- |
| 1   | 5V\_SAFETY     |
| 2   | 5V\_SAFETY     |
| 3   | SERIAL 2 TX    |
| 4   | SERIAL 2 RX    |
| 5   | SERIAL 1 TX    |
| 6   | SERIAL 1 RX    |
| 7   | GPIO/PWM OUT 1 |
| 8   | GPIO/PWM OUT 2 |
| 9   | GPIO/PWM OUT 3 |
| 10  | GPIO/PWM OUT 4 |
| 11  | GND            |
| 12  | GND            |

</details>

<details>

<summary><strong>USB_DEV</strong></summary>

<figure><img src="/files/OrTn4PA0hmmWZWHenE1s" alt="" width="101"><figcaption></figcaption></figure>

* USB type micro B connector
* Possible to use only as Jetson USB-device
* When a micro USB cable is connected between the board and the host PC, Jetson acts like a USB device.

</details>

<details>

<summary><strong>USB D. EX</strong></summary>

<figure><img src="/files/KhYqTh5a8EzpYWvG9fbt" alt="" width="126"><figcaption></figcaption></figure>

* JST SM04B-SURS-TF(LF)(SN) connector type
* Possibility to route USB\_DEV signals to drone case

{% hint style="warning" %}
If expansion cables are long, be aware of using a suitable cable with proper shielding
{% endhint %}

| pin | function |
| --- | -------- |
| 1   | GND      |
| 2   | D\_P     |
| 3   | D\_N     |
| 4   | VBUS     |

</details>

<details>

<summary><strong>HDMI_OUT</strong></summary>

<figure><img src="/files/Wk0LY50bYdhTIlZPIls2" alt="" width="75"><figcaption></figcaption></figure>

503566-2102 connector type

{% hint style="info" %}
5V supply limited to 0.2A by internal current limiter
{% endhint %}

| pin | function        |
| --- | --------------- |
| 1   | GND             |
| 2   | HDMI\_DATA2\_P  |
| 3   | NC              |
| 4   | HDMI\_DATA2\_N  |
| 5   | GND             |
| 6   | GND             |
| 7   | HDMI\_DATA1\_N  |
| 8   | HDMI\_DATA0\_P  |
| 9   | HDMI\_DATA1\_P  |
| 10  | HDMI\_DATA0\_N  |
| 11  | GND             |
| 12  | GND             |
| 13  | HDMI\_CLK\_N    |
| 14  | HDMI\_CEC       |
| 15  | HDMI\_CLK\_P    |
| 16  | HDMI\_DDC\_CLK  |
| 17  | NC              |
| 18  | GND             |
| 19  | HDMI\_DDC\_DATA |
| 20  | HDMI\_DETECT    |
| 21  | 5V              |

</details>

<details>

<summary><strong>Wi-Fi module</strong></summary>

<figure><img src="/files/XlMVRMXoXbsWSZ3d0xbH" alt="" width="89"><figcaption></figcaption></figure>

The onboard Wi-Fi/Bluetooth module contains two MHF4 micro-coax pigtail connectors for antennas. Suitable cable + antenna combination:

* Connector + cable: C213GST-025MC137B-MHF4L
* Antenna: 2JW1102--C943B

{% hint style="danger" %}
Do not run the Wi-Fi module without antennas connected!
{% endhint %}

</details>

***

### Bottom side

<figure><img src="/files/QHJSGtXX0KGYUjXg5mo6" alt=""><figcaption></figcaption></figure>

#### Connectors

<details>

<summary><strong>PPM</strong></summary>

<figure><img src="/files/0CuoTajnQxQAllYeWRY7" alt="" width="133"><figcaption></figcaption></figure>

Matching connector JST GHR-03V-S

{% hint style="info" %}
5V supply limited to 1A by internal current limiter
{% endhint %}

{% hint style="info" %}
Position remains the same as in version v1.x, only pin 1 marking was fixed in v2.0
{% endhint %}

| pin | function        |
| --- | --------------- |
| 1   | PPM\_SBUS\_PROT |
| 2   | 5V\_CRUCIAL     |
| 3   | GND             |

</details>

<details>

<summary><strong>CONTROL</strong></summary>

<figure><img src="/files/eULSuBNo4DOY9IYe1Zqy" alt="" width="223"><figcaption></figcaption></figure>

1.8V logic

<table><thead><tr><th width="372.45045045045043">pin</th><th>function</th></tr></thead><tbody><tr><td>1</td><td>SYS_RST</td></tr><tr><td>2</td><td>GND</td></tr><tr><td>3</td><td>FC_REC (Force recovery)</td></tr><tr><td>4</td><td>GND</td></tr><tr><td>5</td><td>PWR_BTN</td></tr><tr><td>6</td><td>GND</td></tr></tbody></table>

</details>

<details>

<summary><strong>NVME</strong></summary>

<figure><img src="/files/VwSTdqzex72Yn8ft7So9" alt="" width="340"><figcaption></figcaption></figure>

* M2 key M standard connector
* Connector includes PCIE x4 and I2C bus
* Ready to mount NVME SSD in M2 2242 size

</details>

<details>

<summary><strong>B2B POWER CONNECTOR (PDB/Power board)</strong></summary>

<figure><img src="/files/2V0Dm1ctdPBwkaFU2eSn" alt="" width="348"><figcaption></figcaption></figure>

<table><thead><tr><th width="370.45045045045043">pin</th><th>function</th></tr></thead><tbody><tr><td>1</td><td>5V_PERIPH</td></tr><tr><td>2</td><td>5V_CRUCIAL</td></tr><tr><td>3</td><td>3V3_SOM</td></tr><tr><td>4</td><td>VDD_JETSON (v2.0) / 18V_SOM (v1.x)</td></tr><tr><td>5</td><td>N.C. (v2.0) / ?V_PAYLOAD (v1.x)</td></tr><tr><td>6</td><td>5V_SAFETY</td></tr><tr><td>7</td><td>GND</td></tr><tr><td>8</td><td>GND</td></tr></tbody></table>

</details>

<details>

<summary><strong>B2B SIGNAL CONNECTOR (PDB/Power board)</strong></summary>

<figure><img src="/files/leHvPodcH5XLpFs2bNff" alt="" width="132"><figcaption></figcaption></figure>

<table><thead><tr><th width="278.45045045045043">pin</th><th>function</th></tr></thead><tbody><tr><td>1</td><td>CAN1_N</td></tr><tr><td>2</td><td>CAN1_P</td></tr><tr><td>3</td><td>GND</td></tr><tr><td>4</td><td>CAN2_N</td></tr><tr><td>5</td><td>CAN2_P</td></tr><tr><td>6</td><td>JETSON_ID (v2.0) / GND (v1.x)</td></tr><tr><td>7</td><td>I2C_SCL</td></tr><tr><td>8</td><td>I2C_SDA</td></tr><tr><td>9</td><td>SERIAL 1 TX (v2.0) / RESERVED (v1.x)</td></tr><tr><td>10</td><td>SERIAL 1 RX (v2.0) / RESERVED (v1.x)</td></tr><tr><td>11</td><td>GPIO/PWM OUT 4 (v2.0) / RESERVED (v1.x)</td></tr><tr><td>12</td><td>GPIO/PWM OUT 3 (v2.0) / RESERVED (v1.x)</td></tr><tr><td>13</td><td>GPIO/PWM OUT 2 (v2.0) / RESERVED (v1.x)</td></tr><tr><td>14</td><td>GPIO/PWM OUT 1 (v2.0) / RESERVED (v1.x)</td></tr><tr><td>15</td><td>RESERVED</td></tr><tr><td>16</td><td>BAT_V_SENSE</td></tr><tr><td>17</td><td>BAT_I_SENSE</td></tr><tr><td>18</td><td>RTC_BATTERY (v2.0) / RESERVED (v1.x)</td></tr><tr><td>19</td><td>MOD_SLEEP</td></tr><tr><td>20</td><td>SYS_RST_HS</td></tr></tbody></table>

</details>

<details>

<summary><strong>B2B ADAPTER CONNECTORS</strong></summary>

<figure><img src="/files/jIMsfbzt9BQKeNbr42Ps" alt="" width="375"><figcaption></figcaption></figure>

Pinouts and reference design will be provided as an example Altium Designer project.

</details>

#### Indicators

<details>

<summary><strong>MOD_ON</strong></summary>

<figure><img src="/files/A0YUmGCXm1V0u1Y8sHWP" alt="" width="63"><figcaption></figcaption></figure>

Indicates the activity of the Jetson module.

OFF=Sleep

</details>

<details>

<summary><strong>NVME</strong></summary>

<figure><img src="/files/ESYRkCjTzrpZfVQPaloc" alt="" width="39"><figcaption></figcaption></figure>

Indicates the activity of the connected M2 key E SSD disk

</details>

<details>

<summary><strong>WL</strong></summary>

<figure><img src="/files/Irt1rXqyVbnhBcyOqHoo" alt="" width="92"><figcaption></figcaption></figure>

Indicates the activity of the onboard Wi-Fi module

</details>

<details>

<summary><strong>BT</strong></summary>

<figure><img src="/files/Irt1rXqyVbnhBcyOqHoo" alt="" width="92"><figcaption></figcaption></figure>

Indicates the activity of the onboard Bluetooth module

</details>

<details>

<summary><strong>FMU SEC.</strong> (LED1/LED2)</summary>

<figure><img src="/files/n8dsa66yDcSXXwfgoFKc" alt="" width="111"><figcaption></figcaption></figure>

Indicators of the onboard FMU module

</details>

#### Controls

<details>

<summary><strong>JET.DBG</strong></summary>

<figure><img src="/files/5EMfVoguQp2mm7Ux6Ah6" alt="" width="114"><figcaption></figcaption></figure>

Debug the UART Rx/Tx of the Jetson with 3.3V logic levels

</details>

***

## Example project (Altium)

We provide an example project in Altium Designer as a starting point to help you quickly begin developing your own custom expansion for the Pilot board. The project illustrates connector placement, pin assignments, and includes useful signal-related information, giving you a clear reference for interfacing and ensuring compatibility with our design.

{% file src="/files/3TXUL36GgF9l1K1YIORA" %}


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