4_Experiment_Communication_Pi_Pixhawk.md

Communication between Raspberry Pi 4B+ and Pixhawk 5.

There are two ways for communication between a Pixhawk 5 and a Raspberry pi 4B+:

• through serial ports
• through USB ports

There are also different methods to power Raspberry Pi:

• through battery and BEC
• through autopilot (not tested)

1 Communication through serial ports of Raspberry Pi

1.1 Connect Raspberry Pi and Pixhawk 5

Let us have a look at all the ports provided by Pixhawk 5.

Pixhawk ports Therefore, we will use Telem 2 as the port for Raspberry Pi.

The details of Telem 2 is shown by the figure below

Pins of Tele 2 port

Pins in red and black can be indentified by using cables with Pixhawk. Here is an example.

Pixhawk ports

Pixhawk ports

We need to make a wire to connect them like the way below

Pixhawk 5x - Raspberry Pi

1.2 Set parameters on PX4

Some parameters are needed to be modified to enable serial communication between Pixhawk and Raspberry Pi.

Here are the list

• MAV_2_CONFIG = TELEM 2
• MAV_2_MODE = Onboard
• MAV_2_RATE= 80000 Bytes/s
• MAV_2_FORWARD = True
• SER_TEL2_BAUD = 921600 baud

2 Communication through USB ports of Raspberry Pi

https://www.raspberrypi.com/documentation/computers/raspberry-pi.html#power-supply