Pinout

Connect your peripherals according to the following pinout:

Func. Pin Pin Func. 3.3V 1 2 5V SDA (I2C) 3 4 5V SCL (I2C) 5 6 GND --- 7 8 TX (UART0) --- 9 10 RX (UART0) --- 11 12 PWM1 --- 13 14 GND --- 15 16 --- --- 17 18 --- --- 19 20 GND --- 21 22 --- --- 23 24 --- GND 25 26 --- --- 27 28 --- LED0* 29 30 GND LED1* 31 32 PWM1.1* PWM2 33 34 GND PWM2.1* 35 36 LED2* IO26* 37 38 --- GND 39 40 IO21*

Pins marked with * are additionally broken out on our custom Pi-Hat. You do not need to connect them if you don't want this extra functionality:

Pin(s)	Function
LED0, LED1, LED2	Debugging LEDs showing current state of the streamer
IO21, IO26	IO pins without functionality yet, available for custom use
PWM1.1, PWM2.1	Backup PWM pins or additional GPIO

Note

Some pins might be configurable, but wiring up like this will be the easiest, most consistent and reliable way.

Note

Although a Raspberry Pi Zero 2 W is depicted here, the pinout is the same for all supported Raspberry Pis: Raspberry Pi Zero 2 W, Pi 3 and Pi 4.

The only really mandatory connections are PWM1 and PWM2 for Servo and Speed-controller. The INA is highly recommended for voltage monitoring.

UART0 is the only available hardware UART and can be used for one of the following:

• Serial console - great for debugging
• GPS

Power supply

The best option is to power the RPi and modem directly through the 5V rail with a clean BEC (or DC/DC converter) capable of pushing at least 2A. Technically you could also power the setup via ESC if you can run your ESC at 5V.

Warning

Technically the RPi should be fine to 6V input on the 5V rail, but this is out of spec and not recommended. Keep in mind that the RPi Zero 2 W has no over voltage or over current protection so a reliable BEC is really a must.

INAxxx - current/voltage sensor

Voltage is measured via bus pin, not the main pins over the shunt - those are only used for current sensing (which is not yet implemented).

Tested options:

• INA226
• INA231
• INA219