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I2C Bus Port Numbers for Labels on PX4 Autopilots

The I2C Controller Read and I2C Controller Write blocks in the UAV Toolbox Support Package for PX4® Autopilots support sending and receiving data using the bus on the PX4 flight controller board.

This section lists the mapping of the different port labels on the PX4 flight controller board to the bus port numbers that you can select when configuring the blocks in your Simulink model.


For Pixhawk 6C Autopilots with serial numbers in the format XXXX 001 XXXXXX (located on the packaging), the TELEM3 port can also function as an I2C device. Do not connect non-I2C devices to the TELEM3 port if you have this version.

Bus Mapping for Supported Target Hardware Boards

Target Hardware SupportedBus Mapping Diagram
Cube Orange

Cube Orange Plus

Pixhawk 6c

Pixhawk 6x

Pixhawk 1

Pixhawk 2.1 (Cube)

Pixhawk 4