# DroneCore JERBOA

<details>

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

**rev.0**

* First revision

</details>

<figure><img src="/files/1r7zo72XjFycJG7Bk5h7" alt=""><figcaption></figcaption></figure>

## Description

This single-board autopilot serves as the central UAV control unit, integrating both flight-control functionality and high-performance onboard computing on a single PCB.

It features an FMU based on an STM32H7 microcontroller responsible for real-time flight control and sensor data processing, together with an NVIDIA Orin module providing compute capability for advanced autonomy functions. Additionally, the board provides the main hardware interfaces for connecting other auxiliary modules within our ecosystem

***

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

| Attribute                       | Value/Note                                          |
| ------------------------------- | --------------------------------------------------- |
| **Weight**                      | <p>43g</p><p>123g with Orin</p>                     |
| **Dimensions** *L*×*W*×*H (mm)* | <p>94 × 53 × 33</p><p>( Board + Jetson Orin NX)</p> |
| **Temperature rating**          | -40°C / +85°C                                       |

### Dimensions

<figure><img src="/files/Ybs1QlJCDa7D9khgNs4x" alt=""><figcaption></figcaption></figure>

{% file src="/files/QZVZhLAFr3hauH43EgpI" %}

***

### 3D model

{% file src="/files/txVd6hEeDxXDQFTQLuiN" %}

***

## Power supply

{% hint style="danger" %}
**WARNING - Do not exceed the maximum input voltage**

Exceeding the maximum input voltage of 36 V may result in permanent damage to the device. Ensure that the input voltage remains within the specified limits at all times. Special care has to be taken if voltage transients and oscillations are present, as these may cause the maximum rating to be exceeded. This can occur in systems with high inductance, during switching events, or when using motor controllers with active braking. Appropriate suppression and protection measures must be implemented
{% endhint %}

{% hint style="danger" %}
**WARNING - Beware of excess heat**

Heat is generated by all onboard voltage regulators during operation, with dissipation increasing at higher load current and total power consumption. Adequate thermal management, such as airflow or passive cooling, is recommended when operating the board at higher load conditions to ensure proper thermal performance and prevent overheating. Onboard power monitoring can be used to provide a precise overview of power consumption across the whole system.
{% endhint %}

**Power supply rating:** 12-36V

**Monitoring:** Input VBAT power rail is monitored

**Power consumption:** approx 8W

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

<figure><img src="/files/g9C1kNbp968gcIT8B8LG" alt=""><figcaption></figcaption></figure>

***

## Peripherals

<figure><img src="/files/h61KRnfGsq7ttaiiOhSI" alt=""><figcaption></figcaption></figure>

***

## Connectors, controls and indicators <a href="#connectors-controls-and-indicators" id="connectors-controls-and-indicators"></a>

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

<figure><img src="/files/kI5WbaI7XM3n6ES4FT99" alt=""><figcaption></figcaption></figure>

#### Connectors

<details>

<summary><strong>FMU_CAN2</strong></summary>

<figure><img src="/files/5mcnCQtE6R9WrCgPnzVX" alt="" width="124"><figcaption></figcaption></figure>

Matching connector JST GHR-04V-S

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

FMU\_CAN1, FMU\_CAN2 and FMU\_GPS connectors share the same power rail internally limited to 1.4A
{% endhint %}

| pin | function |
| --- | -------- |
| 1   | 5V       |
| 2   | CAN2\_P  |
| 3   | CAN2\_N  |
| 4   | GND      |

</details>

<details>

<summary><strong>JET_USB2</strong></summary>

<figure><img src="/files/JH9Tt5K435pG7T2zipt8" alt="" width="121"><figcaption></figcaption></figure>

Matching connector JST GHR-04V-S

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

5V power rail internally limited to 2A
{% endhint %}

| pin | function |
| --- | -------- |
| 1   | 5V       |
| 2   | USB2\_N  |
| 3   | USB2\_P  |
| 4   | GND      |

</details>

<details>

<summary><strong>PAYLOAD</strong></summary>

<figure><img src="/files/PmcAamOVZK7luv1TXmo0" alt="" width="148"><figcaption></figcaption></figure>

Matching connector JST GHR-05V-S

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

VDD\_BATT rail is fused with 0.1A fuse
{% endhint %}

| pin | function      |
| --- | ------------- |
| 1   | VDD\_BATT     |
| 2   | UART0\_TX     |
| 3   | UART0\_RX     |
| 4   | PAYLOAD\_GPIO |
| 5   | GND           |

</details>

<details>

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

<figure><img src="/files/5rYHRuHCm87erzeQ77ai" alt="" width="162"><figcaption></figcaption></figure>

* Compatible with Orin NX original heatsink
* Matching with Molex 51021-0400 cable header

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

</details>

<details>

<summary><strong>FMU</strong> <strong>GPS</strong></summary>

<figure><img src="/files/G5I9wsyKa3hPxr3Zbr3x" alt="" width="156"><figcaption></figcaption></figure>

Matching connector JST GHR-06V-S

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

FMU\_CAN1, FMU\_CAN2 and FMU\_GPS connectors share the same power rail internally limited to 1.4A
{% endhint %}

| pin | function      |
| --- | ------------- |
| 1   | 5V            |
| 2   | UART1\_SE\_TX |
| 3   | UART1\_SE\_RX |
| 4   | I2C1\_SE\_SCL |
| 5   | I2C1\_SE\_SDA |
| 6   | GND           |

</details>

<details>

<summary><strong>FMU CAN1</strong></summary>

<figure><img src="/files/mSwEKAZYQLUZWUwgq4B9" alt="" width="122"><figcaption></figcaption></figure>

Matching connector JST GHR-04V-S

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

FMU\_CAN1, FMU\_CAN2 and FMU\_GPS connectors share the same power rail internally limited to 1.4A
{% endhint %}

| pin | function    |
| --- | ----------- |
| 1   | 5V          |
| 2   | CAN1\_SE\_P |
| 3   | CAN1\_SE\_N |
| 4   | GND         |

</details>

<details>

<summary><strong>JET ETH</strong></summary>

<figure><img src="/files/1ilBBgR8xzmq9KCgLM1R" alt="" width="140"><figcaption></figcaption></figure>

Matching connector JST GHR-05V-S

| pin | function   |
| --- | ---------- |
| 1   | ETH\_RX\_N |
| 2   | ETH\_RX\_P |
| 3   | GND        |
| 4   | ETH\_TX\_N |
| 5   | ETH\_TX\_P |

</details>

<details>

<summary><strong>FMU PWM</strong></summary>

<figure><img src="/files/VUgJ33NDSa46jdx4CPfv" alt="" width="161"><figcaption></figcaption></figure>

Matching connector JST GHR-05V-S

| pin | function    |
| --- | ----------- |
| 1   | SE\_GPIO\_5 |
| 2   | SE\_GPIO\_6 |
| 3   | SE\_GPIO\_7 |
| 4   | SE\_GPIO\_8 |
| 5   | GND         |

</details>

<details>

<summary><strong>UART8_FMU</strong></summary>

<figure><img src="/files/2Pf6lu3g1G3uvGBUHdQw" alt="" width="132"><figcaption></figcaption></figure>

Matching connector JST GHR-04V-S

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

UART8\_FMU, PPM and FMU\_SPI connectors share the same power rail internally limited to 1.4A
{% endhint %}

| pin | function  |
| --- | --------- |
| 1   | 5V        |
| 2   | UART8\_TX |
| 3   | UART8\_RX |
| 4   | GND       |

</details>

***

### Bottom side

<figure><img src="/files/yyNweDRxM7AqhgkTfEec" alt=""><figcaption></figcaption></figure>

#### Connectors

<details>

<summary><strong>RADIO PWR</strong></summary>

<figure><img src="/files/Sqd5K0EpkH0T0EuLZAhC" alt="" width="112"><figcaption></figcaption></figure>

Matching connector JST GHR-04V-S

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

VDD\_BATT rail is fused with 1A fuse
{% endhint %}

| pin | function  |
| --- | --------- |
| 1   | VDD\_BATT |
| 2   | VDD\_BATT |
| 3   | GND       |
| 4   | GND       |

</details>

<details>

<summary><strong>SRV</strong></summary>

<figure><img src="/files/CMpTDHKFMMlraixWqltU" alt="" width="86"><figcaption></figcaption></figure>

Matching connector JST GHR-03V-S

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

5V power rail internally limited to 1.4A
{% endhint %}

| pin | function    |
| --- | ----------- |
| 1   | 5V          |
| 2   | SE\_GPIO\_9 |
| 3   | GND         |

</details>

<details>

<summary><strong>SPI</strong></summary>

<figure><img src="/files/vL8QlV6hyyXOYnrBNxyV" alt="" width="153"><figcaption></figcaption></figure>

Matching connector JST GHR-08V-S

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

UART8\_FMU, PPM and FMU\_SPI connectors share the same power rail internally limited to 1.4A
{% endhint %}

| pin | function   |
| --- | ---------- |
| 1   | 5V         |
| 2   | SPI4\_SCK  |
| 3   | SPI4\_MISO |
| 4   | SPI4\_MOSI |
| 5   | SPI4\_CS0  |
| 6   | SPI4\_CS1  |
| 7   | SPI4\_CS2  |
| 8   | GND        |

</details>

<details>

<summary><strong>ESC</strong></summary>

<figure><img src="/files/DpM9heLrcFVfaOA8j5x7" alt="" width="187"><figcaption></figcaption></figure>

Matching connector JST GHR-10V-S

| pin | function      |
| --- | ------------- |
| 1   | UART5\_SE\_TX |
| 2   | UART5\_SE\_RX |
| 3   | CAN2\_SE\_P   |
| 4   | CAN2\_SE\_N   |
| 5   | SE\_GPIO\_4   |
| 6   | SE\_GPIO\_3   |
| 7   | SE\_GPIO\_2   |
| 8   | SE\_GPIO\_1   |
| 9   | GND           |
| 10  | GND           |

</details>

<details>

<summary><strong>VDD</strong></summary>

<figure><img src="/files/A8CUPpuaQgyNUquNB5Zx" alt="" width="98"><figcaption></figcaption></figure>

* Voltage range 12-36VDC
* Matching connector 5025780200

| pin | function  |
| --- | --------- |
| 1   | VDD\_MAIN |
| 2   | GND       |

</details>

<details>

<summary><strong>JET USB1</strong></summary>

<figure><img src="/files/x50q6CidBIoJDPzriBoc" alt="" width="101"><figcaption></figcaption></figure>

Matching connector JST GHR-04V-S

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

5V power rail internally limited to 2A
{% endhint %}

| pin | function |
| --- | -------- |
| 1   | 5V       |
| 2   | USB1\_N  |
| 3   | USB1\_P  |
| 4   | GND      |

</details>

<details>

<summary><strong>VTX</strong></summary>

<figure><img src="/files/ZjqJeRFnCdjNRi19lxOz" alt="" width="113"><figcaption></figcaption></figure>

Matching connector JST GHR-05V-S

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

VDD\_BATT rail is fused with 1A fuse
{% endhint %}

| pin | function       |
| --- | -------------- |
| 1   | VDD\_BATT      |
| 2   | GND            |
| 3   | GND            |
| 4   | AVOUT\_CONN    |
| 5   | UART7\_FMU\_TX |

</details>

<details>

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

<figure><img src="/files/j1AIrKGCyhNkzIz0RhkC" alt="" width="85"><figcaption></figcaption></figure>

Matching connector JST GHR-03V-S

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

UART8\_FMU, PPM and FMU\_SPI connectors share the same power rail internally limited to 1.4A
{% endhint %}

| pin | function |
| --- | -------- |
| 1   | PPM      |
| 2   | 5V       |
| 3   | GND      |

</details>

<details>

<summary><strong>BUZZ</strong></summary>

<figure><img src="/files/CSg58Uft0yvI83H6fEOo" alt="" width="117"><figcaption></figcaption></figure>

Matching connector Hirose DF13-2S-1.25C

| pin | function    |
| --- | ----------- |
| 1   | Buzzer\_out |
| 2   | GND         |

</details>

<details>

<summary><strong>GIMBAL</strong></summary>

<figure><img src="/files/pIdMovd4rqIWetCm4QZ6" alt="" width="178"><figcaption></figcaption></figure>

Matching connector JST GHR-07V-S

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

VDD\_BATT rail is fused with 1A fuse
{% endhint %}

| pin | function     |
| --- | ------------ |
| 1   | VDD\_BATT    |
| 2   | 5V           |
| 3   | CAN2\_SE\_P  |
| 4   | CAN2\_SE\_N  |
| 5   | SE\_GPIO\_10 |
| 6   | GND          |
| 7   | GND          |

</details>

<details>

<summary><strong>CAM0, CAM1 (2-lane CSI)</strong></summary>

<figure><img src="/files/t610sFcSgkMlj2skRM7D" alt="" width="375"><figcaption></figcaption></figure>

* CAM0, CAM1, CAM2/3 share the same power rails, internally limited to 1.4A
* I2C and PWDN are 3V3 logic
* CAM\_SUPPLY is configurable to 3V3 or 5V by solder bridge near the connector. SB open = 3V3 , SB closed = 5V

| pin   | function    |
| ----- | ----------- |
| 1     | CSI\_CLK\_P |
| 2     | CSI\_CLK\_N |
| 3     | CSI\_D0\_P  |
| 4     | CSI\_D0\_N  |
| 5     | CSI\_D1\_P  |
| 6     | CSI\_D1\_N  |
| 7-12  | NC          |
| 13    | PWDN        |
| 14    | MCLK        |
| 15    | I2C\_SCL    |
| 16    | I2C\_SDA    |
| 17-21 | GND         |
| 22-26 | CAM\_SUPPLY |

</details>

<details>

<summary><strong>CAM2/3 (4-lane CSI)</strong></summary>

<figure><img src="/files/IAznW60CqJT30UWi3tRO" alt="" width="206"><figcaption></figcaption></figure>

* CAM0, CAM1, CAM2/3 share the same power rails, internally limited to 1.4A
* I2C and PWDN are 3V3 logic
* CAM\_SUPPLY is configurable to 3V3 or 5V by solder bridge near the connector. SB open = 3V3 , SB closed = 5V

| pin   | function    |
| ----- | ----------- |
| 1     | CSI\_CLK\_P |
| 2     | CSI\_CLK\_N |
| 3     | CSI\_D0\_P  |
| 4     | CSI\_D0\_N  |
| 5     | CSI\_D1\_P  |
| 6     | CSI\_D1\_N  |
| 7     | CSI\_D2\_P  |
| 8     | CSI\_D2\_N  |
| 9     | CSI\_D3\_P  |
| 10    | CSI\_D3\_N  |
| 11    | NC          |
| 12    | NC          |
| 13    | PWDN        |
| 14    | MCLK        |
| 15    | I2C\_SCL    |
| 16    | I2C\_SDA    |
| 17-21 | GND         |
| 22-26 | CAM\_SUPPLY |

</details>

#### Indicators

<details>

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

<figure><img src="/files/oWW2iqJTaVauaJiGsR8A" alt="" width="111"><figcaption></figcaption></figure>

Indicates the activity of the Jetson module

OFF=Sleep

</details>

<details>

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

<figure><img src="/files/fj3Jwpi4eJlReI9lSgFg" alt="" width="104"><figcaption></figcaption></figure>

Indicates the activity of connected SSD disk

</details>

<details>

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

<figure><img src="/files/JYe9gaJ0hNpSB5ajQfZm" alt="" width="74"><figcaption></figcaption></figure>

Indicators of the onboard FMU module

</details>

#### Controls

<details>

<summary><strong>FCREC</strong></summary>

<figure><img src="/files/uedBPeD9rf2a2waSltfv" alt="" width="142"><figcaption></figcaption></figure>

Force recovery mode dip switch

ON = FR

</details>

<details>

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

<figure><img src="/files/5gJ7UdYmVKcSiUfVbWRk" alt="" width="134"><figcaption></figcaption></figure>

Debug UART Rx/Tx of the Jetson with 1.8V logic levels

</details>


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