Pixhawk FMUv2 / Cube FMU v3 Serial MappingΒΆ

Many different names are given to the serial hardware on Pixhawk and Cube where ArduPilot is concerned. This document attempts to supply a mapping between them.

DataSheet NuttX Userland PX4_HAL ParamPrefix HW Label Cube Full CB Def Role Notes
  /dev/ttyACM0 UARTA SERIAL0_   Console Console Micro-USB Plug
UART4 /dev/ttyS3 UARTB SERIAL3_ GPS GPS1 GPS  
USART2 /dev/ttyS1 UARTC SERIAL1_ TELEM1 TELEM1 MAVLink bl serial
USART3 /dev/ttyS2 UARTD SERIAL2_ TELEM2 TELEM2 MAVLink  
UART8 /dev/ttyS6 UARTE SERIAL4_ SERIAL4 GPS2 GPS  
UART7 /dev/ttyS5     SERIAL5 CONS NSH Console  
USART1 /dev/ttyS0         PX4IO Debug  
USART6 /dev/ttyS4         PX4IO Serial