Document Information

Revision Date Description

0.1.0 September 22, 2023 Preliminary release of the datasheet

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Skynode X Datasheet 2
Table of contents
Document Information 2
Table of contents 3
Product Variants 5
Skynode X 5
Skynode GX 5
Core Module Components 6
Flight Management Unit Specifications 7
General 7
Autopilot 7
Supported vehicles 8
Multicopter 8
VTOL Airplane 8
Airplane 8
Helicopter 8
Rover / UGV 8
Mission Computer Specifications 9
General 9
Video 9
Software 9
Supported Industry Standards 10
Remote ID / ASTM F3411 - 19 10
Pixhawk Autopilot Standard DS-011 10
Pixhawk Payload Bus PX P10 - 20 10
Interfaces 11
Interface Function Map 11
Attachment Points/Other 12
Serial Port Mapping on the FMU 13
Skynode Interfaces (Block Diagram) 14
Power 15
Power Architecture 15
Peripheral Power Domains 16
Connector Pin Map 17
J1 - IO Debug [Int]1 - JST BM10B-SRSS-TB(LF)(SN) 17
J2 - FMU Debug [Int]1 - JST BM10B-SRSS-TB(LF)(SN) 17
J3 - Flight Control Secondary - Molex 5015714007 18
J4 - Flight Control Main - Molex 5015714007 19
J5 - Primary Power Module - Molex 5055670681 20
J6 - Back-up Power Module - Molex 5055670681 20
J7 - Ethernet 1 - JST SM04B-GHS-TB 20
J8 - USB 1 - JST SM04B-GHS-TB 20
J9 - USB 2 - JST SM04B-GHS-TB 20
J10 - Pixhawk Payload Bus - Amp SFV30R-3STBE1HLF 21
J11 - microSD Slot for Mission Computer [Int]1 21
J12 - USB-C OTG for Mission Computer (USB 2.0 only) 22
J13 - Technexion E1 SOM Connector [Int]1 22
J14 - Technexion X2 SOM Connector [Int]1 22
J15 - Technexion X1 SOM Connector [Int]1 22
J16 - LTE module connector [Int]1 - Amp 10132797-011100LF 22
J17 - Pixhawk Autopilot Bus X1 [Int]1-HR DF40HC(3.0)-100DS-0.4V(58) 22
J18 - Pixhawk Autopilot Bus X2 [Int]1 - HR DF40HC(3.0)-50DS-0.4V(51) 23

Skynode X Datasheet 3
 J19 - Mission Computer Debug [Int]1 - JST BM10B-SRSS-TB(LF)(SN) 23
J20 - MIPI-CSI Camera Port - Molex 0545482271 24
Inertial Sensor Ratings 25
Accelerometers 25
Gyroscopes 25
Magnetometer 25
Barometers 25
Navigation and Control Performance 26
Navigation 26
Control 26
Installation 27
Skynode Mounting 27
Antenna Placement 27
Regulatory Requirements 27
General Recommendations 28
Dimensions and Orientation 29
Skynode X and GX 29
Skynode OEM Edition 30

Skynode X Datasheet 4
Product Variants

Skynode X Skynode GX

Recommended for R&D and Enterprise production. Recommended for Government use cases.

Fully NDAA Section 848 compliant. Manufactured,

Fully NDAA Section 848 compliant. Manufactured,
tested and provisioned in the US. LTE, WiFi, and
tested and provisioned in the US.
logging can be disabled

Remote ID enabled Remote ID optional, can be completely disabled

Aluminum enclosure

Weight: 159 g

Dimensions: 110 × 58 × 22.2 mm (see page 29)

Same connectors and cabling

Operating Temperature: 0°C to +50°C

Relative Humidity: 10% - 90% RH (non-condensing)

Expected Lifetime: 8 years

OEM units available upon request

Skynode X Datasheet 5
Core Module Components

Skynode X Datasheet 6
Flight Management Unit Specifications

General

Flight modes Manual, assisted, missions, terrain following

Waypoint Mission Planning Autopilot supports up to 5000 waypoints

Black box 50 hours continuous recording, no-logging mode supported for GOV edition

External u-Blox dual-frequency or Trimble dual-frequency modules

GNSS
supported

GNSS denied navigation Available as app from ecosystem partners

Supported Peripherals All standard PX4-compatible sensors

Endurance Not limited by Skynode. Depends on the vehicle capabilities

ECCN EAR99

Specific Operations Risk Skynode can be used for operations in the open and specific category.
Assessment (SORA) Contact sales for support during the application process.

Autopilot
Flight Controller Architecture FMUv6X (Pixhawk Autopilot Standard compliant)

Flight Controller STM32H753 (2MB Flash, 1MB RAM)

IO Coprocessor STM32F103

Triple redundant setup. Each IMU contains: 3 axis gyroscope, 2000°/sec. 3

Inertial sensors
axis accelerometer, up to ±24g

Supported takeoff weight 1-1000 pounds / 0.5 - 500 kg (expandable)

Number of actuators Up to 16 via PWM (more via SBUS and UAVCAN)

UART Interfaces 5+2+1 (5 configurable, 2 internal communication, 1 console)

CAN Dual redundant CAN

Ethernet 100Base-TX (onboard switch with VLAN)

Interfaces 16× Digital IO, 2× I2C, 1× SPI

Skynode X Datasheet 7
Supported vehicles

Multicopter
Airframe types Quad, Hex, Octo, Dodeca, Coaxial

VTOL Airplane
Airframe types Multicopter planes, Tiltrotor

Airplane
Takeoff Hand-launch, runway, catapult

Landing Grass / belly landing, runway

Helicopter Contact sales for early access

Rover / UGV Contact sales for early access

Skynode X Datasheet 8
Mission Computer Specifications

General

Processor Architecture ARM Cortex-A53 Quad Core 1.8GHz

GCNanoUltra for 3D acceleration and GC320 for 2D

Embedded GPU
acceleration

Memory 4GB LPDDR4

Storage eMMC 16GB, plus internal SD card 128GB

100Base-TX Ethernet (onboard switch), USB 2.0, USB 2.0

OTG (USB 3.0 usage is discouraged due to GPS
High-Speed Interfaces
interference), 4-lane MIPI-CSI (Software support
pending)

Wireless Interfaces (Wifi / Bluetooth) QCA9377, 802.11a/b/g/n/ac (2.4 + 5GHz) + Bluetooth 5

LTE Cat-4, 50MBit/s upload and 150MBit/s download

RC7611 (US), Frequency bands: B2, B4, B5, B12, B13, B14,
B25, B26, B66, B71
LTE Module RC7620 (EMEA), Frequency bands: B1, B3, B7, B8, B20,
B28
RC7630 (APAC), Frequency bands: B1, B3, B5, B7, B8,
B18, B19, B21

Video

Ethernet, USB, 4-lane MIPI-CSI (Software support

Camera Interfaces
pending)

Video Decode 1080p60 H.264

Video Encode 1080p60 H.264 in hardware

HDMI Input Software support pending

Software

Software Stack Auterion Enterprise PX4

Application Stack Auterion Payload Manager, Auterion Connection Manager,

Auterion Flight Log Manager

App Support Container Architecture

Skynode X Datasheet 9
Supported Industry Standards

Remote ID / ASTM F3411 - 19

The ASTM remote ID standard supports the remote

identification of unmanned aircraft, which is
required by international regulatory bodies such as
FAA and EASA.

The standard is implemented on Wifi (802.11).

AuterionOS 2.5.6 and above includes all software

features to ensure a fully compliant system can be
built . Final compliance remains the responsibility of
the OEM.

All drone operations will mandate this standard

Applications
2021/22

Drones can be operated in a regulatory compliant

Main Benefit
fashion.

Pixhawk Autopilot Standard DS-011

The Pixhawk autopilot standard allows the integration of a

standard flight management module into an aircraft. This
enables drone manufacturers to build airframes that fit the
standard and leverage different types and generations of
autopilots.

Applications All commercial and government drones (incl. group 2)

Main Benefit Standardization of electronic components, supply chain

Pixhawk Payload Bus PX P10 - 20

The Pixhawk payload bus standardizes the electrical,

mechanical and software interfaces for drone payloads
connected to the main avionics system of a drone. This
enables payload manufacturers and drone manufacturers
to more effectively offer well-integrated solutions.

Applications Payloads up to 5kg

Main Benefit Payloads of different manufacturers are interchangeable.

Skynode X Datasheet 10
Interfaces
Interface Function Map

Ext Name Main Functions Description

J1 IO DEBUG SWD / Debug Debug connector for product development.

J2 FMU DEBUG SWD / Debug Debug connector for product development.

J3 ✓ Secondary Flight Control Secondary Secondary avionics port with redundant

TELEM3, GPS2, CAN2 interfaces.
MON PWM, SBUS OUT

J4 ✓ Primary Flight Control Main Main avionics port

TELEM1, GPS1, CAN1
FMU PWM

J5 ✓ PWR 1 Primary Power module 5V/5A Redundant power inputs to Skynode.

J6 ✓ PWR 2 Back-up Power module 5V/5A Redundant power inputs to Skynode.

J7 ✓ ETH Ethernet 100 Base-TX standard ethernet.

J8 ✓ USB 1 USB 2.0 port USB 2.0 does not interfere with GPS while
USB 3.0 does.

Skynode X Datasheet 11
 J9 ✓ USB 2 USB 2.0 port USB 2.0 does not interfere with GPS while
USB 3.0 does.

J10 ✓ PPB Pixhawk Payload Bus Industry standard bus for drone payloads.
ETH, UART, CAN, PPS, CAM

J11 MICROSD MicroSD storage Internal storage of the mission computer. This
slot can be used to increase the storage.

J12 ✓ USB-OTG Mission computer USB This port is the primary interface for on-site
firmware updates and diagnostics.

J13 MC E1 Mission computer socket E1 Socket for the onboard mission computer.

J14 MC X2 Mission computer socket X2 Socket for the onboard mission computer.

J15 MC X1 Mission computer socket X1 Socket for the onboard mission computer.

J16 LTE USB port for LTE modem

J17 PAB X1 Autopilot socket X1 Socket for the onboard flight controller.

J18 PAB X2 Autopilot socket X2 Socket for the onboard flight controller.

J19 MC DEBUG Mission computer debug Debug connector for product development.
port

J20 ✓ MIPI MIPI-CSI Camera Interface Camera Interface connector (Software

support pending)

Attachment Points/Other
There are external attachment points for two LTE Antennas, and a Wifi Antenna. There is also a port for inserting a SIM
card.

Name Connector Description

SIM Port Nano SIM SIM card is typically included and preconfigured. To insert/remove,
press in with another SIM (or similar tool) until there is a click
sound. After clicking for removal, the SIM can easily be pulled out
using fingers.

LTE Antenna MMCX Attachment point for LTE antennas (included).

Note: In order to comply with FCC regulations, all antennas must be
located at least 20cm apart from each other.

WiFi Antenna MMCX Attachment point for the WiFi antenna (included)
Note: In order to comply with FCC regulations, all antennas must be
located at least 20cm apart from each other.

Skynode X Datasheet 12
Serial Port Mapping on the FMU

UART Device Port

UART1 /dev/ttyS0 GPS1

UART2 /dev/ttyS1 TELEM3

UART3 /dev/ttyS2 Debug (Internal)

UART4 /dev/ttyS3 Pixhawk Payload Bus

UART5 /dev/ttyS4 TELEM2 (Internal to Mission Computer)

UART6 /dev/ttyS5 (Internal for IO)

UART7 /dev/ttyS6 TELEM1

UART8 /dev/ttyS7 GPS2

Skynode X Datasheet 13
Skynode Interfaces (Block Diagram)

Skynode X Datasheet 14
Power
Rating Min Typ Max Note

6S Power module supply voltage 9V 25V 36V 3-6S LiPo batteries supported

12S Power module supply voltage 12V 45V 51V 4-12S LiPo batteries supported

Unit supply voltage 5.1V 5.3V 5.4V Use supplied power module (low-noise)

Skynode supply current @ 5V 1.4A 5A Skynode supply without any peripherals

System (incl. radio) current @

0.4A 2A Depends on vehicle configuration
25V

Power Architecture

Skynode X Datasheet 15
Peripheral Power Domains

Domain Lvl Max Current Description

VDD_5V_SBUS_RC 5V 250mA 5V supply for SBUS RC receiver and output

FMU_VDD_3V3 3.3V 50mA

VDD_5V_HIPOWER 5V 3.0A External 2, shared with the internal LTE

module which allocates 2A.

VDD_5V_PERIPH 5V 1.5A 5V supply for flight control peripherals

VDD_5V_CAN1_GPS1 5V 0.46A 5V supply for the primary GPS and CAN

VBUS1DN1 5V 500mA USB VBUS

VBUS1DN2 5V 500mA USB VBUS

VBUS1DN3 5V 500mA USB VBUS

USBC_VBUS 5V 500mA USB VBUS, enabled when in USB-C host

mode

COMP_3V3_VDD 3.3V 500mA 3.3V supply for the MIPI CSI camera

Skynode X Datasheet 16
Connector Pin Map
J1 - IO Debug [Int]1 - JST BM10B-SRSS-TB(LF)(SN)

Pin Name Dir Lvl Function

1 IO_VDD_3V3 OUT 3.3V Target voltage sense

2 IO_USART1_TX_DEBUG OUT 3.3V PX4 console TX
3 NC 3.3V Not connected
4 IO_SWDIO I/O 3.3V ARM SWDIO
5 IO_SWCLK IN 3.3V ARM SWCLK
6 IO_SWO OUT 3.3V ARM SWO
7 IO_SPARE_GPIO1 I/O 3.3V TRACE1
8 IO_SPARE_GPIO2 I/O 3.3V TRACE2
9 IO_nRST IN 3.3V ARM RST
10 GND Ground

J2 - FMU Debug [Int]1 - JST BM10B-SRSS-TB(LF)(SN)

Pin Name Dir Lvl Function

1 FMU_VDD_3V3 OUT 3.3V Target voltage sense

2 USART3_TX_DEBUG OUT 3.3V PX4 console TX
3 RX_DEBUG_CATHODE IN 3.3V PX4 console RX
4 FMU_SWDIO I/O 3.3V ARM SWDIO
5 FMU_SWCLK IN 3.3V ARM SWCLK
6 SPI6_SCK_EXTERNAL1 / SWO OUT 3.3V ARM SWO
7 NFC_GPIO I/O 3.3V TRACE1
8 PH11 I/O 3.3V TRACE2
9 FMU_nRST IN 3.3V ARM RST
10 GND Ground

1
[Int] - Internal Connector (not accessible when assembled in the enclosure)

Skynode X Datasheet 17
J3 - Flight Control Secondary - Molex 5015714007
Pi
Name Dir Lvl Function
n

1 VDD_5V_PERIPH OUT 5V 5V supply for peripherals

2 SPI6_DRDY1 IN 3.3V
3 SPIX_SYNC OUT 3.3V
4 GND Ground
5 SPI6_SCK OUT 3.3V
6 SPI6_MOSI OUT 3.3V
7 GND Ground
8 SPI6_nCS1 OUT 3.3V
9 USART2_TX OUT 3.3V TELEM3 TX
10 SPI6_nRESET OUT 3.3V
11 USART2_RX IN 3.3V TELEM3 RX
12 SPI6_MISO IN 3.3V
13 VDD_5V_PERIPH IN 5V
14 GND Ground

15 VDD_5V_SBUS_RC OUT 5V Max 250mA

16 IO_SBUS_OUTPUT OUT 3.3V SBUS protocol output
17 GND Ground

18 UART8_TX OUT 3.3V GPS2 TX

19 I2C2_SCL I/O 3.3V I2C SCL, connected to J6 pin 3, internal PU 1kΩ
20 UART8_RX IN 3.3V GPS2 RX
21 I2C2_SDA I/O 3.3V I2C SDA, connected to J6 pin 4, internal PU 1kΩ
22 VDD_5V_PERIPH OUT 5V
23 GND Ground
24 GND Ground

25 IO_CH1 OUT 3.3V PWM channels from fault monitor

26 IO_CH5 OUT 3.3V
27 IO_CH2 OUT 3.3V
28 IO_CH6 OUT 3.3V
29 IO_CH3 OUT 3.3V
30 IO_CH7 OUT 3.3V
31 IO_CH4 OUT 3.3V
32 IO_CH8 OUT 3.3V
33 GND Ground
34 VDD_SERVO_SENSE IN <9V IMPORTANT: NC, used for FMU rail sensing
(J4 pin 34)

35 CAN2_P I/O 5V *
36 GND Ground
37 CAN2_N I/O 5V *
38 GND Ground
39 GND Ground
40 VDD_5V_PERIPH OUT 5V

Skynode X Datasheet 18
J4 - Flight Control Main - Molex 5015714007

Pin Name Dir Lvl Function

1 VDD_5V_SBUS_RC OUT 5V 5V supply for RC receiver, max 250mA

2 IO_SBUS_INPUT IN 5V SBUS protocol RC input
3 FMU_IO_SAFETY_SWITCH_IN IN 3.3V Safety switch state input
4 GND Ground
5 FMU_IO_nSAFETY_SWITCH_LED_OUT OUT 3.3V Safety switch led output
6 BUZZER_1_INV OUT Buzzer output (Open drain)
7 GND Ground
8 FMU_VDD_3V3 OUT 3.3V 3.3V supply for peripherals, max 50mA

9 UART7_TX OUT 3.3V TELEM1 TX

10 UART7_CTS IN 3.3V TELEM1 CTS
11 UART7_RX IN 3.3V TELEM1 RX
12 UART7_RTS OUT 3.3V TELEM1 RTS
13 VDD_5V_HIPOWER OUT 5V 5V supply for peripherals, max. 1.0A
14 GND Ground
15 VDD_5V_HIPOWER OUT 5V 5V supply for peripherals, fused with pin 13
16 GND Ground
17 FMU_CAP1_AUX / GND ** Ground

18 USART1_TX OUT 3.3V GPS1 TX

19 I2C1_SCL I/O 3.3V I2C SCL, connected to J5 pin 3, internal PU 1kΩ
20 USART1_RX IN 3.3V GPS1 RX
21 I2C1_SDA I/O 3.3V I2C SDA, connected to J5 pin 4, internal PU 1kΩ
22 VDD_5V_CAN1_GPS1 OUT 5V 5V supply for primary GPS and CAN interface
23 GND I/O 3.3V GPS PPS
24 GND Ground

25 FMU_CH1 I/O 3.3V PWM channels from FMU, input capable

26 FMU_CH5 I/O 3.3V
27 FMU_CH2 I/O 3.3V
28 FMU_CH6 I/O 3.3V
29 FMU_CH3 I/O 3.3V
30 FMU_CH7 I/O 3.3V IMPORTANT: Connected to pin 11 of J10
31 FMU_CH4 I/O 3.3V
32 FMU_CH8 I/O 3.3V IMPORTANT: Connected to pin 13 of J10
33 GND Ground
34 VDD_SERVO_SENSE IN <9V

35 CAN1_P 5V Connected to J10 pin 8, *

36 GND Ground
37 CAN1_N 5V Connected to J10 pin 9, *
38 GND Ground
39 GND Ground
40 VDD_5V_CAN1_GPS1 5V 5V supply for primary GPS and CAN interface

Skynode X Datasheet 19
J5 - Primary Power Module - Molex 5055670681
Pin Name Dir Lvl Function

1 VDD_5V_BRICK1 IN 5V 5V input
2 VDD_5V_BRICK1 IN 5V 5V input (redundant)
3 I2C1_SCL I/O 3.3V Connected to J4 pin 19, internal PU 1kΩ
4 I2C1_SDA I/O 3.3V Connected to J4 pin 21, internal PU 1kΩ
5 GND
6 GND

J6 - Back-up Power Module - Molex 5055670681

Pin Name Dir Lvl Function

1 VDD_5V_BRICK2 IN 5V 5V input
2 VDD_5V_BRICK2 IN 5V 5V input (redundant)
3 I2C2_SCL I/O 3.3V Connected to J3 pin 19, internal PU 1kΩ
4 I2C2_SDA I/O 3.3V Connected to J3 pin 21, internal PU 1kΩ
5 GND
6 GND

J7 - Ethernet 1 - JST SM04B-GHS-TB

Pin Name Dir Lvl Function

1 ETH_RD_N IN 3.3V Receive - (Diff.)

2 ETH_RD_P IN 3.3V Receive + (Diff.)
3 ETH_TD_N OUT 3.3V Transmit - (Diff.)
4 ETH_TD_P OUT 3.3V Transmit + (Diff.)

J8 - USB 1 - JST SM04B-GHS-TB

Pin Name Dir Lvl Function

1 VBUS1DN2 OUT 5V USB VBus

2 USB_GH_1_N I/O 3.3V USB D-
3 USB_GH_1_P I/O 3.3V USB D+
4 GND GND

J9 - USB 2 - JST SM04B-GHS-TB

Pin Name Dir Lvl Function

1 VBUS1DN3 OUT 5V USB VBus

2 USB_GH_2_N I/O 3.3V USB D-
3 USB_GH_2_P I/O 3.3V USB D+
4 GND GND

Skynode X Datasheet 20
J10 - Pixhawk Payload Bus - Amp SFV30R-3STBE1HLF

Pin Name Dir Lvl Function

1 GND Ground
2 UART4_TX OUT 3.3V FMU UART TX
3 UART4_RX IN 3.3V FMU UART RX
4 GND Ground
5 I2C3_SDA I/O 3.3V FMU I2C SDA, 0x25 and 0x51 reserved
addresses, internal PU 1kΩ
6 I2C3_SCL I/O 3.3V FMU I2C SCL, 0x25 and 0x51 reserved
addresses, internal PU 1kΩ
7 GND Ground
8 CAN1_P I/O 5V FMU CAN, connected to pin 35 of J4,
terminated with 120Ω
9 CAN1_N I/O 5V FMU CAN, connected to pin 37 of J4,
terminated with 120Ω
10 GND Ground
11 FMU_CH7 I/O 3.3V Connected to pin 30 of J4
12 RES1_EXT Reserved pin, NC in Skynode
13 FMU_CH8 I/O 3.3V Connected to pin 32 of J4
14 GND Ground
15 FMU_CAP1_AUX I/O 3.3V GPS PPS
16 GND Ground
17 ETH_TD_P OUT 3.3V Transmit + (Diff.)
18 ETH_TD_N OUT 3.3V Transmit - (Diff.)
19 GND Ground
20 ETH_RD_P IN 3.3V Receive + (Diff.)
21 ETH_RD_N IN 3.3V Receive - (Diff.)
22 GND Ground
23 COMP_GPIO5_IO20 I/O 1.8V Mission Computer GPIO
24 VBUS1DN1 OUT USB VBus
25 USB_PAYLOAD_N I/O USB D-
26 USB_PAYLOAD_P I/O USB D+
27 GND Ground
28 VDD_5V_HIPOWER_nEN OUT High-Power enable pin (VBAT)
29 VDD_5V_PERIPH_nEN OUT Peripheral-Power enable pin
30 GND Ground

J11 - microSD Slot for Mission Computer [Int]1

Pin Name Dir Lvl Function

1 DAT2 / / /
2 CD/DAT3
3 CMD

Skynode X Datasheet 21
 4 VDD
5 CLK
6 VSS
7 DAT0
8 DAT1

J12 - USB-C OTG for Mission Computer (USB 2.0 only)

Pin Name Dir Lvl Function

Pinout as specified by USB-C standard.

J13 - Technexion E1 SOM Connector [Int]1

Pin Name Dir Lvl Function

Pinout as specified by Technexion E1 connector

J14 - Technexion X2 SOM Connector [Int]1

Pin Name Dir Lvl Function

Pinout as specified by Technexion X2 connector

J15 - Technexion X1 SOM Connector [Int]1

Pin Name Dir Lvl Function

Pinout as specified by Technexion X1 connector

1
[Int] - Internal Connector (not accessible when assembled in the enclosure)

J16 - LTE module connector [Int]1 - Amp 10132797-011100LF

Pin Name Dir Lvl Function

1 VDD_5V_HIPOWER 5V
2 VDD_5V_HIPOWER 5V
3 VDD_5V_HIPOWER 5V
4 GND
5 GND
6 COMP_PWR_ON_LTE 1.8V
7 COMP_RST_LTE 1.8V
8 GND
9 USB_LTE_N
10 USB_LTE_P

J17 - Pixhawk Autopilot Bus X1 [Int]1-HR DF40HC(3.0)-100DS-0.4V(58)

Pin Name Dir Lvl Function

Skynode X Datasheet 22
 Pinout as specified by Pixhawk Autopilot Bus standard X1 connector

J18 - Pixhawk Autopilot Bus X2 [Int]1 - HR DF40HC(3.0)-50DS-0.4V(51)

Pin Name Dir Lvl Function

Pinout as specified by Pixhawk Autopilot Bus standard X2 connector

J19 - Mission Computer Debug [Int]1 - JST BM10B-SRSS-TB(LF)(SN)

Pin Name Dir Lvl Function

1 COMP_3V3_VDD OUT 3.3V Target voltage sense

2 COMP_UART1_TXD OUT 3.3V Mission computer console TX
3 COMP_UART1_RXD IN 3.3V Mission computer console RX
4 NC - Not connected
5 NC - Not connected
6 NC - Not connected
7 NC - Not connected
8 NC - Not connected
9 COMP_RESET IN 1.8V Mission computer reset RST
10 GND Ground

1
[Int] - Internal Connector (not accessible when assembled in the enclosure)

Skynode X Datasheet 23
J20 - MIPI-CSI Camera Port - Molex 0545482271

Pin Name Dir Lvl Function

1 COMP_3V3_VDD OUT 3.3V Camera power

2 COMP_I2C3_SDA I/O 3.3V I2C SDA, internal PU 1.5kΩ
3 COMP_I2C3_SCL I/O 3.3V I2C SCL, internal PU 1.5kΩ
4 GND
5 CAM_CCM_CLKO1 OUT 3.3V CCM Clock
6 CAM_GPIO0_RESET OUT 3.3V Reset
7 GND
8 CAM_MIPI_CSI_D3_EXT_P I/O 3.3V MIPI CSI D3 P
9 CAM_MIPI_CSI_D3_EXT_N I/O 3.3V MIPI CSI D3 N
10 GND
11 CAM_MIPI_CSI_D2_EXT_P I/O 3.3V MIPI CSI D2 P
12 CAM_MIPI_CSI_D2_EXT_N I/O 3.3V MIPI CSI D2 N
13 GND
14 CAM_MIPI_CSI_CLK_EXT_P I/O 3.3V MIPI CSI clock P
15 CAM_MIPI_CSI_CLK_EXT_N I/O 3.3V MIPI CSI clock N
16 GND
17 CAM_MIPI_CSI_D1_EXT_P I/O 3.3V MIPI CSI D1 P
18 CAM_MIPI_CSI_D1_EXT_N I/O 3.3V MIPI CSI D1 N
19 GND
20 CAM_MIPI_CSI_D0_EXT_P I/O 3.3V MIPI CSI D0 P
21 CAM_MIPI_CSI_D0_EXT_N I/O 3.3V MIPI CSI D0 N
22 GND

* For Baseboard versions before and including 9, the CAN lines are terminated with 120Ω resistors.
Please check the Baseboard version with the command ver all in the MAVLink Shell.

** For Baseboard versions before and including 9, PIN 17 is GND.

For Baseboard versions after 9, PIN 17 is FMU_CAP1_AUX.
Please check the Baseboard version with the command ver all in the MAVLink Shell.

Skynode X Datasheet 24
Inertial Sensor Ratings

Accelerometers Triple redundant sensor set (properties stated for primary sensor)

Range ±24g

Resolution 0.733mg

Zero Offset ±20mg Typical over life-time

Noise Density 190 μg/√Hz

Nonlinearity 0.5 % FS

Bandwidth 245 Hz 3dB cutoff frequency

Gyroscopes Triple redundant sensor set (properties stated for primary sensor)

Range ±2000 °/s

Resolution 0.061 °/s

Zero Offset ±1 °/s

Noise Density 0.014 °/s/√Hz

Nonlinearity 0.05 % FS

Bandwidth 532 Hz

Magnetometer
Range ±0.13T (x,y), ±0.25T (z)

Resolution 0.3μT

Zero Offset ±40μT

Nonlinearity < 1 % FS

Barometers Dual redundant sensor set

Range 300-1250 hPa

Resolution 0.016 Pa

Relative Accuracy ± 0.03 hPa

Absolute Accuracy ± 0.5 hPa

Bandwidth 200 Hz

Skynode X Datasheet 25
Navigation and Control Performance
Navigation
Specification with an external GPS (u-Blox ZED F9P based).

Rating Max Note

Heading Compass 1 degree RMS

Roll-Pitch (Static) < 1 degree RMS

Roll-Pitch (Dynamic) < 0.2 degree RMS

PVT 1.5m CEP

Position Accuracy Horizontal As per F9P datasheet
RTK 0.01m

Position Accuracy Vertical RTK 0.01 CEP As per F9P datasheet

50% @ 30 m/s for dynamic

Velocity Accuracy 0.05 m/s operation
As per F9P datasheet.

Vibration resilience 12 g / 1000 Hz

Maximum speed 250 m/s

Control

Rating Max Note

Angular rate loop update rate 1000 Hz

Angular rate control latency < 0.1 ms

Attitude loop update rate 250 Hz

Position loop update rate 50 Hz

Skynode X Datasheet 26
Installation
Skynode Mounting
For best performance and longevity it is recommended to mount Skynode in an orientation where the
z-axis (Dimensions and Orientation) points down.

Antenna Placement
Regulatory Requirements

To stay compliant with FCC regulations, antennas of Skynode must not be co-located with antennas of
other transmitters.

Antennas of Skynode that are not connected to the same wireless module have to be installed with a
distance of at least 25 centimeters to each other. This means that Wifi, 4G and the ground station link
(e.g. Microhard or Silvus) antennas need each to be spaced 25 centimeters apart. If a module has two or
more antennas, then these can be placed closer to each other.

Applicable Regulatory Approvals

Skynode is an evaluation platform for the Auterion software stack, and thus not a certified consumer
product. It is the OEM’s responsibility to ensure the devices they are selling adhere to the local
regulations of where the devices are deployed. Auterion’s reference design includes only pre-certified RF
emitter modules and was designed in hardware and software with due diligence in regard to regulatory
requirements in the EU and North America, promoting a swift process when the OEM submits their final
integration for approval certification.

Skynode contains modules with the following FCC IDs:

Component Module FCC ID

LTE US Sierra Wireless RC7611 N7NRC76B

LTE EMEA Sierra Wireless RC7620 n/a

LTE APAC Sierra Wireless RC7630 n/a

Wifi/Bluetooth Qualcomm Atheros QCA9377 2AKZA-QCA9377

Skynode X Datasheet 27
General Recommendations

Any avionics requires careful considerations when mounting the unit to avoid external disturbances and
interferences. The recommendations below are industry-standard and apply in general.

Skynode has been carefully engineered to de-conflict the objective of adding state-of-the-art
high-speed interfaces including ethernet, USB and MIPI-CSI while keeping the EMI impact to a minimum.
These design considerations include avoiding USB 3.0 frequencies (which overlap with GPS frequencies)
by using USB 2.0.

1. In order to maximize the flight performance, the GPS antenna requires a significant ground plane
(shown in orange). The GPS receiver should not be closer than 40 mm horizontally and 50 mm
vertically to the Skynode. This keep out zone is shown in green.
2. Note that emissions from high speed signals like USB or Ethernet interfere with the GPS. It is
therefore recommended to route high speed cables as far as possible from the GPS and the GPS
wire.
3. The keep out zone should be avoided by high-current wiring or ESC / motor wires with high
switching frequencies.
4. The keep out zone should be properly ventilated to not exceed 60 degrees Celsius ambient
temperature.

Skynode will provide optimal navigation and control performance when these constraints are met.

Skynode X Datasheet 28
Dimensions and Orientation
Skynode X and GX

Skynode X Datasheet 29
Skynode OEM Edition

Skynode X Datasheet 30