# Review Request: Pixhawk 6C + PM07 Wiring Diagram & Power Distribution for ASV **URL:** \ **Category:** Pixhawk\ **Created:** [March 27, 2026, 1:23pm UTC](https://discuss.px4.io/t/review-request-pixhawk-6c-pm07-wiring-diagram-power-distribution-for-asv/48723 "2026-03-27T13:23:36Z")\ **Posts on this page:** 6\ **Page:** 1
**Author:** ![ivomendes9](https://discuss.px4.io/user_avatar/discuss.px4.io/ivomendes9/32/21342_2.png) [@ivomendes9](https://discuss.px4.io/u/ivomendes9)\ **Post date:** [March 27, 2026, 1:23pm UTC](https://discuss.px4.io/t/review-request-pixhawk-6c-pm07-wiring-diagram-power-distribution-for-asv/48723/1 "2026-03-27T13:23:36Z")
Hi everyone, I’m currently working on an Autonomous Surface Vehicle (ASV) project for a university competition, and I would love to get some expert feedback on my wiring diagram and power distribution strategy before I start crimping and soldering. **Our Core Hardware:** - **Flight Controller:** Pixhawk 6C - **Power Module/PDB:** Holybro PM07 - **Propulsion:** 4x Blue Robotics T200 Thrusters + Basic ESCs (Skid steering setup) - **Companion Computer:** Seeed reComputer J3011 with Jetson Orin Nano (running ROS 2) - **Battery:** 4S 14.8V 5000mAh 60C _Project Context:_ Our competition has a strict speed limit of 5 knots. To comply with this and protect the hardware, we are placing inline 15A fuses between the PM07 power pads and the ESCs to physically cap the max current draw (also limited in software with `MOT_THR_MAX)`. I have two main areas where I’d love your input: **1. PWM Signal Routing** Since we are using standard motor ESCs (no servos) and rely on hardware failsafes, I interpreted the documentation and routed the signals as follows: - Pixhawk `I/O PWM OUT` → PM07 `I/O-PWM-in` (via the 10-pin ribbon cable). - ESC signal wires (White/Yellow) → PM07 PWM `Mx` pins. - ESC signal ground (Black) → PM07 PWM `GND` pins (to prevent ground loops). - `FMU PWM OUT` is left disconnected. Does this implementation look solid according to ArduRover/PX4 standards? **2. Powering the Companion Computer via PM07 Motor Pads** To power our Jetson Orin Nano and some sensors, we are using an industrial Traco Power 12V DC-DC converter. Since the M1-M4 pads on the PM07 are taken by our thrusters, my plan is to solder the converter’s input (protected by its own inline 10A fuse) directly to the unused **M8 `B+`and `GND` pads** on the PM07. - Is this a reliable practice in the ArduPilot/PX4 community? - My assumption is that M1-M8 share the same copper planes _after_ the shunt resistor, meaning the PM07 will correctly measure the total system current (thrusters + companion computer). Are there any electrical noise or hardware concerns I should be aware of when pulling logic power from these ESC pads alongside the thrusters? ![image](https://discuss.px4.io/uploads/default/original/3X/0/8/084d05ab5eb309d96f54cbcdf3140890d9acc488.jpeg) Thanks in advance for your time and expertise! ---
**Author:** ![nitru](https://discuss.px4.io/user_avatar/discuss.px4.io/nitru/32/18827_2.png) [@nitru](https://discuss.px4.io/u/nitru)\ **Post date:** [March 27, 2026, 4:54pm UTC](https://discuss.px4.io/t/review-request-pixhawk-6c-pm07-wiring-diagram-power-distribution-for-asv/48723/2 "2026-03-27T16:54:16Z")
Hi there! 1. Looks good to me. One could argue if it makes sense to rout the PWM through the PM-07 or get them directly, but thats more about your hardware setup. 2. Using those pads seems resonable to me. The pads are definitely after the shunt, so the PM07 will measure ALL current that you consume, not just the motors. ---
**Author:** ![ivomendes9](https://discuss.px4.io/user_avatar/discuss.px4.io/ivomendes9/32/21342_2.png) [@ivomendes9](https://discuss.px4.io/u/ivomendes9)\ **Post date:** [March 30, 2026, 3:19pm UTC](https://discuss.px4.io/t/review-request-pixhawk-6c-pm07-wiring-diagram-power-distribution-for-asv/48723/3 "2026-03-30T15:19:49Z")
Thank you for your input. Would you elaborate a little bit your first tip, please? ---
**Author:** ![nitru](https://discuss.px4.io/user_avatar/discuss.px4.io/nitru/32/18827_2.png) [@nitru](https://discuss.px4.io/u/nitru)\ **Post date:** [March 30, 2026, 3:23pm UTC](https://discuss.px4.io/t/review-request-pixhawk-6c-pm07-wiring-diagram-power-distribution-for-asv/48723/4 "2026-03-30T15:23:02Z")
Your blue and yellow wire is the same signal, just routed through the PM07 board. You could bypass the board with the PWM wire, and just use it for power. But like I said, It depends if it is conveniently placed in your setup or not. ---
**Author:** ![ivomendes9](https://discuss.px4.io/user_avatar/discuss.px4.io/ivomendes9/32/21342_2.png) [@ivomendes9](https://discuss.px4.io/u/ivomendes9)\ **Post date:** [March 30, 2026, 3:33pm UTC](https://discuss.px4.io/t/review-request-pixhawk-6c-pm07-wiring-diagram-power-distribution-for-asv/48723/5 "2026-03-30T15:33:39Z")
Ok, thank you. I will investigate that. ---
**Author:** ![system](https://discuss.px4.io/uploads/default/original/3X/7/3/73ce918bdcd64854de904f0c8d9ab70ca9723f2a.png) [@system](https://discuss.px4.io/u/system)\ **Post date:** [June 28, 2026, 3:34pm UTC](https://discuss.px4.io/t/review-request-pixhawk-6c-pm07-wiring-diagram-power-distribution-for-asv/48723/6 "2026-06-28T15:34:21Z")
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