Wiring Diagram

Electrical connections between all Bennu components.

Power Distribution

graph TD
    BAT["4S LiPo<br/>Battery"] --> PM["PM02<br/>Power Module"]
    PM -->|Power| PIX["Pixhawk 6C"]
    PM -->|XT60| ESC["Tekko32<br/>4-in-1 ESC"]
    BAT -->|"BEC input<br/>(battery voltage)"| BEC["BEC 5V 3A"]
    BEC --> PI["Raspberry Pi 4"]
    ESC --> M1["Motor 1<br/>Front Right CCW"]
    ESC --> M2["Motor 2<br/>Rear Left CCW"]
    ESC --> M3["Motor 3<br/>Front Left CW"]
    ESC --> M4["Motor 4<br/>Rear Right CW"]

Signal Connections

From	To	Connection	Notes
Pixhawk MAIN OUT 1-4	ESC signal	DShot600	Motor control
Pixhawk GPS1	Holybro M9N GPS	UART/I2C	Position + compass
Pixhawk TELEM1	SiK Radio	UART	Telemetry to QGC
Pixhawk TELEM2 TX	Pi 4 GPIO 15 (RX)	UART cross-wired	uXRCE-DDS
Pixhawk TELEM2 RX	Pi 4 GPIO 14 (TX)	UART cross-wired	uXRCE-DDS
Pixhawk RC IN	RC Receiver	SBUS/CRSF	RC control
Pi 4 CSI	Pi HQ Camera	Ribbon cable	Image capture

Cross-Wire UART

The TELEM2 TX/RX lines must be cross-wired to Pi 4 GPIO: Pixhawk TX --> Pi RX (GPIO 15), Pixhawk RX --> Pi TX (GPIO 14). Do not connect TX-to-TX.

Voltage

Pi 4 GPIO is 3.3V only. Pixhawk TELEM2 is also 3.3V --- safe to connect directly. Never connect 5V signals to Pi GPIO.