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Port Numbers for Labels on PX4 Flight Controller Boards

The PX4 Serial Receive and PX4 Serial Transmit block in UAV Toolbox Support Package for PX4® Autopilots support sending/receiving of data using the serial ports on the PX4 flight controller board.

This section lists the mapping of the different port labels on the PX4 flight controller board to the UART/USART port numbers that you can select during the configuration of the Simulink model.

Port Numbers for Pixhawk 1

LabelsUART/USART port number
USB/dev/ttyACM0
TELEM 1/dev/ttyS1
TELEM 2/dev/ttyS2
GPS/dev/ttyS3
Serial 4/dev/ttyS6
Serial 5 (NSH port)/dev/ttyS5

Port Numbers for Pixhawk 2.1 (Cube)

LabelsUART/USART port number
USB/dev/ttyACM0
TELEM 1/dev/ttyS1
TELEM 2/dev/ttyS2
GPS1/dev/ttyS3
GPS2/dev/ttyS6
Serial 5 (NSH port)/dev/ttyS5

Port Numbers for Pixracer

LabelsUART/USART port number
USB/dev/ttyACM0
TELEM 1/dev/ttyS1
TELEM 2/dev/ttyS2
Serial 5 (NSH port)/dev/ttyS5

Port Numbers for Pixhawk 4

LabelsUART/USART port number
USB/dev/ttyACM0
TELEM 1/dev/ttyS1
TELEM 2/dev/ttyS2
GPS/dev/ttyS0
UART/dev/ttyS4