> For the complete documentation index, see [llms.txt](https://docs.arkelectron.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.arkelectron.com/products/flight-controller/ark-voxl2-rtk-pab-carrier/hardware.md). # Hardware Reference ## Specifications | Specification | Value | | ---------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | Form factor | [Pixhawk Autopilot Bus (PAB)](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-010%20Pixhawk%20Autopilot%20Bus%20Standard.pdf) and [ModalAI VOXL2](https://www.modalai.com/products/voxl-2) | | GNSS receiver | [u-blox ZED-F9P](https://www.u-blox.com/en/product/zed-f9p-module), L1/L2 multi-band RTK with centimeter-level accuracy. Concurrent GPS, GLONASS, Galileo and BeiDou. Moving base for heading. MMCX antenna connector | | VOXL2 connectors | MicroSD. USB-C: USB 3.0 host, 5 V 1.5 A. USB: USB 2.0 host, 4-pin JST-GH, 5 V 0.75 A | | PAB board-to-board interface | 100-pin Hirose DF40, 50-pin Hirose DF40 | | Flight Controller IO | 40-pin Molex Pico-Clasp: dual 5 V 1.5 A (shared with Payload IO), 5 V 0.25 A out for an RC receiver, dual CAN, dual UART (TX/RX), UART with RTS/CTS, dual I2C, 8 PWM | | SPI | 11-pin JST-GH | | Debug | Pixhawk Debug, 10-pin JST-SH: SWD, UART | | Payload IO | 40-pin Molex Pico-Clasp: battery output, dual 5 V 1.5 A (shared with Flight Controller IO), autopilot UART with RTS/CTS, autopilot UART (TX/RX), dual VOXL2 UARTs (TX/RX), USB 2.0 | | Power | 14-pin Molex CLIK-Mate: 12S 3 A battery input, dual 5 V 6 A inputs, dual I2C power module inputs | | Dimensions | 94.25 × 36.00 × 18 mm, without VOXL2 and flight controller module | | Weight | 25 g | This product is not intended for military use. See the [u-blox code of conduct](https://www.u-blox.com/en/code-of-conduct). ## Pinout
{% file src="/files/DZBYm0xVuphQPgMFOCVS" %} ### Flight Controller IO — 40-pin Molex [Pico-Clasp 501571](https://www.molex.com/en-us/part-list/501571) Mating plug [5011894010](https://www.digikey.com/en/products/detail/molex/5011894010/1531524) Pre-crimped wires [0797581019](https://www.digikey.com/en/products/detail/molex/0797581019/6564344) | Pin | Signal | Voltage | Pin | Signal | Voltage | | --- | -------------------------- | ------- | --- | -------------------------- | ------- | | 1 | CAN1\_P | 5.0V | 2 | UART8\_TX\_GPS2\_EXT | 3.3V | | 3 | CAN1\_N | 5.0V | 4 | UART8\_RX\_GPS2\_EXT | 3.3V | | 5 | GND | GND | 6 | I2C2\_SCL\_BASE\_GPS2\_EXT | 3.3V | | 7 | VDD\_5V\_HIPOWER | 5.0V | 8 | I2C2\_SDA\_BASE\_GPS2\_EXT | 3.3V | | 9 | VDD\_5V\_HIPOWER | 5.0V | 10 | GND | GND | | 11 | GND | GND | 12 | FMU\_CH1\_EXT | 3.3V | | 13 | GND | GND | 14 | FMU\_CH2\_EXT | 3.3V | | 15 | VDD\_5V\_SBUS\_RC | 5.0V | 16 | FMU\_CH3\_EXT | 3.3V | | 17 | GND | GND | 18 | FMU\_CH4\_EXT | 3.3V | | 19 | RX\_SBUS\_IN\_EXT | 3.3V | 20 | GND | GND | | 21 | USART6\_TX\_EXT | 3.3V | 22 | FMU\_CH5\_EXT | 3.3V | | 23 | I2C1\_SDA\_BASE\_GPS1\_EXT | 3.3V | 24 | FMU\_CH6\_EXT | 3.3V | | 25 | I2C1\_SCL\_BASE\_GPS1\_EXT | 3.3V | 26 | FMU\_CH7\_EXT | 3.3V | | 27 | GND | GND | 28 | FMU\_CH8\_EXT | 3.3V | | 29 | GND | GND | 30 | GND | GND | | 31 | VDD\_5V\_PERIPH | 5.0V | 32 | UART7\_TX\_TELEM1\_EXT | 3.3V | | 33 | VDD\_5V\_PERIPH | 5.0V | 34 | UART7\_RX\_TELEM1\_EXT | 3.3V | | 35 | GND | GND | 36 | UART7\_CTS\_TELEM1\_EXT | 3.3V | | 37 | CAN2\_P | 5.0V | 38 | UART7\_RTS\_TELEM1\_EXT | 3.3V | | 39 | CAN2\_N | 5.0V | 40 | GND | GND | ### Payload IO — 40-pin Molex [Pico-Clasp 501571](https://www.molex.com/en-us/part-list/501571) Mating plug [5011894010](https://www.digikey.com/en/products/detail/molex/5011894010/1531524) Pre-crimped wires [0797581019](https://www.digikey.com/en/products/detail/molex/0797581019/6564344) | Pin | Signal | Voltage | Pin | Signal | Voltage | | --- | ------------------------- | ------- | --- | -------------------- | ------- | | 1 | VDD\_5V\_PERIPH | 5.0V | 2 | VIN | BAT | | 3 | VDD\_5V\_PERIPH | 5.0V | 4 | VIN | BAT | | 5 | GND | GND | 6 | VIN | BAT | | 7 | GND | GND | 8 | VIN | BAT | | 9 | USART2\_TX\_TELEM3\_EXT | 3.3V | 10 | VIN | BAT | | 11 | USART2\_RX\_TELEM3\_EXT | 3.3V | 12 | GND | GND | | 13 | USART2\_CTS\_TELEM3\_EXT | 3.3V | 14 | GND | GND | | 15 | USART2\_RTS\_TELEM3\_EXT | 3.3V | 16 | GND | GND | | 17 | GND | GND | 18 | GND | GND | | 19 | VDD\_5V\_HIPOWER | 5.0V | 20 | GND | GND | | 21 | VDD\_5V\_HIPOWER | 5.0V | 22 | UART4\_TX\_EXT | 3.3V | | 23 | GND | GND | 24 | UART4\_RX\_EXT | 3.3V | | 25 | GND | GND | 26 | GND | GND | | 27 | GPIO\_23\_UART7\_RXD\_EXT | 3.3V | 28 | PAYLOAD\_5V | 5.0V | | 29 | GPIO\_22\_UART7\_TXD\_EXT | 3.3V | 30 | PAYLOAD\_5V | 5.0V | | 31 | GND | GND | 32 | GND | GND | | 33 | ttyHS2\_RX\_EXT | 3.3V | 34 | GND | GND | | 35 | ttyHS2\_TX\_EXT | 3.3V | 36 | USB\_PAYLOAD\_EXT\_P | 3.3V | | 37 | GND | GND | 38 | USB\_PAYLOAD\_EXT\_N | 3.3V | | 39 | GND | GND | 40 | GND | GND | ### Flight Controller Debug — 10-pin JST-SH | Pin | Signal | Voltage | | --- | -------------------- | ------- | | 1 | 3V3\_FMU | 3.3V | | 2 | USART3\_TX\_DEBUG | 3.3V | | 3 | USART3\_RX\_DEBUG | 3.3V | | 4 | FMU\_SWDIO | 3.3V | | 5 | FMU\_SWCLK | 3.3V | | 6 | SPI6\_SCK\_EXTERNAL1 | 3.3V | | 7 | NFC\_GPIO | 3.3V | | 8 | PD15 | 3.3V | | 9 | FMU\_NRST | 3.3V | | 10 | GND | GND | ### USB — 4-pin JST-GH | Pin | Signal | Voltage | | --- | ---------------- | ------- | | 1 | USB\_JST\_5V | 5.0V | | 2 | USB\_JST\_EXT\_N | 3.3V | | 3 | USB\_JST\_EXT\_P | 3.3V | | 4 | GND | GND | ### POWER — 14-pin 2.00mm Molex [CLIK-Mate 502494](https://www.molex.com/en-us/part-list/502494) Mating plug [5024391400](https://www.digikey.com/en/products/detail/molex/5024391400/2380427) Pre-crimped wires [0797581014](https://www.digikey.com/en/products/detail/molex/0797581014/6346648) `VBRICK1` and `VBRICK2` are ideal-diode ORed; see [Carrier Power Inputs](/knowledge-base/knowledge-base/carrier-power-inputs.md) for load sharing. | Pin | Signal | Voltage | | --- | ------------------------- | ------- | | 1 | VIN | BAT | | 2 | VBRICK1 | 5.0V | | 3 | VBRICK1 | 5.0V | | 4 | I2C1\_SCL\_PWR\_EXT | 3.3V | | 5 | I2C1\_SDA\_PWR\_EXT | 3.3V | | 6 | VBRICK2 | 5.0V | | 7 | VBRICK2 | 5.0V | | 8 | I2C2\_SCL\_BASE\_PWR\_EXT | 3.3V | | 9 | I2C2\_SDA\_BASE\_PWR\_EXT | 3.3V | | 10 | GND | GND | | 11 | GND | GND | | 12 | GND | GND | | 13 | GND | GND | | 14 | GND | GND | ### SPI — 11-pin JST-GH | Pin | Signal | Voltage | | --- | ----------------- | ------- | | 1 | VDD\_5V\_PERIPH | 5.0V | | 2 | SPI6\_SCK\_EXT | 3.3V | | 3 | SPI6\_MISO\_EXT | 3.3V | | 4 | SPI6\_MOSI\_EXT | 3.3V | | 5 | SPI6\_nCS1\_EXT | 3.3V | | 6 | SPI6\_nCS2\_EXT | 3.3V | | 7 | SPIX\_nSYNC\_EXT | 3.3V | | 8 | SPI6\_DRDY1\_EXT | 3.3V | | 9 | SPI6\_DRDY2\_EXT | 3.3V | | 10 | SPI6\_nRESET\_EXT | 3.3V | | 11 | GND | GND | ## Connectors and Cables ### Flight Controller IO and Payload IO — 40-pin Molex Pico-Clasp Pico-Clasp 501189 [Connector - 5011894010](https://www.digikey.com/en/products/detail/molex/5011894010/1531524) [Pre-crimped Wires 6"](https://www.digikey.com/en/products/detail/molex/0797581018/6564343) [Pre-crimped Wires 12"](https://www.digikey.com/en/products/detail/molex/0797581019/6564344) [Crimps](https://www.molex.com/en-us/part-list/501193) ### Power — 14-pin Molex CLIK-Mate CLIK-Mate 502439 [Connector - 5024391400](https://www.digikey.com/en/products/detail/molex/5024391400/2380427) [Pre-crimped Wires 6"](https://www.digikey.com/en/products/detail/molex/0797581014/6346648) [Pre-crimped Wires 12"](https://www.digikey.com/en/products/detail/molex/0797581015/6592311) [Crimps](https://www.digikey.com/en/products/detail/molex/5024380000/2421358) ## 3D Model and Case | File | Contents | | ------------------------------------------------------------------------------------------------------------------------------------------------------------------ | ------------ | | [VOXL2\_RTK\_PAB\_CARRIER\_Rev\_2.step](https://github.com/ARK-Electronics/ark-hardware/raw/main/ARK_VOXL2_RTK_PAB_Carrier/model/VOXL2_RTK_PAB_CARRIER_Rev_2.step) | Board, rev 2 | All files: [ARK\_VOXL2\_RTK\_PAB\_Carrier in ark-hardware](https://github.com/ARK-Electronics/ark-hardware/tree/main/ARK_VOXL2_RTK_PAB_Carrier) --- # Agent Instructions This documentation is published with GitBook. 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