PIXHAWK LEDs

The PIXHAWK communicates it's state via audio signals and LEDs. Below are the meanings of the various patterns of color and blinking for the official PX4 Flight Stack. Please note that other flight stacks (the APM Flight stack or user modified firmwares) may assign different meanings.

Main LED

Solid any color - Armed

Breathing any color - Standby

Amber - Low battery or Failsafe (Return to home, etc)

Blue - GPS not locked

Green - GPS Locked

Fast Blink & Red - Arming error

Blink & Red - Other error

FMU LEDs

Green - Power LED - Always On

Amber - Error indicator

  • Fast Blink: Bootloader Active (the blue LED should be off in this state)
  • Blinking: CPU is too heavily loaded.
  • OFF: System OK

IO LEDs

Green - Power LED - Always On

Blue - Heartbeat LED

  • 2Hz Blink - Heartbeat Loop Running
  • Solid - Uploading new firmware for IO (red LED should be solid or blinking unevenly)

Amber - Error indicator

  • Fast Blink: Bootloader Active (the blue LED should be off in this state)
  • 4Hz: No FMU Input (e.g. no controller app loaded at startup)
  • ON: Initialization error, check your RC config options in your parameters
  • OFF: System OK

Police lights

  • Amber and Blue alternating at the same frequency indicates a memory allocation error to developers. Normal users should never see this pattern in practice.

Safety Switch

  • ON: FMU and IO ARMED
  • Slow Blink: Ready to arm
  • Fast Blink: Error / refusing to arm
  • Long Off with fast double blink: IO armed, but FMU not
  • Long Off with fast quad blink: FMU armed, but IO not

PX4FMU+PX4IO Board LEDs

FMU Board, normal operation

Led Overview

Green - Power LED - Always On

Blue - GPS/Position LED

  • Off: No position sensor / GPS module found / connected.
  • Slow Blink: GPS module or optical flow module found
  • Fast Blink: Error
  • Solid: Position lock (= good position information, by GPS or another sensor)

Amber/Red - Arming LED

  • Slow Blink: Ready to arm (system self-tests ok)
  • Fast Blink: Refusing to arm (system self-tests are not ok)
  • Solid: Armed

LED Patterns

  • Blue-red police pattern with buzzer alarm sound: The sensors are not calibrated, calibrate the sensors before flying.
  • Rapidly-blinking red, blue off, just after power is applied: The board is in bootloader mode and will accept new firmware if it is being uploaded via USB as described in building and flashing firmware.
  • Solid blue, red off, buzzer indicating SOS in morse code: The FMU did not properly initialize; perhaps the microSD card is not present?

IO Board LEDs

Led Overview

Green - Power LED - Always On

Blue - Heartbeat LED

  • 2Hz Blink - Heartbeat Loop Running
  • Solid - Uploading new firmware for IO (red LED should be solid or blinking unevenly)

Amber/red - Failsafe State

  • Fast Blink: Bootloader Active (the blue LED should be off in this state)
  • 4Hz: No FMU Input
  • ON: Initialization error, check your RC config options in your parameters
  • OFF: System OK

Safety Switch

  • ON: FMU and IO ARMED
  • Slow Blink: Ready to arm
  • Fast Blink: Error / refusing to arm
  • Long Off with fast double blink: IO armed, but FMU not
  • Long Off with fast quad blink: FMU armed, but IO not

References

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