Holybro Pixhawk 6C Mini
WARNING
PX4 does not manufacture this (or any) autopilot. Contact the manufacturer for hardware support or compliance issues.
Pixhawk 6C Mini® is the latest update to the successful family of Pixhawk® flight controllers designed and made in collaboration with Holybro® and the PX4 team.
It is equipped with a high performance H7 Processor, and comes with IMU redundancy, temperature-controlled IMU board, and cost effective design, delivering incredible performance and reliability. It complies with the Pixhawk Connector Standard.
TIP
This autopilot is supported by the PX4 maintenance and test teams.
소개
The Pixhawk® 6C Mini is the latest update to the successful family of Pixhawk® flight controllers.
Inside the Pixhawk® 6C Mini, you can find an STMicroelectronics® based STM32H743, paired with sensor technology from Bosch® & InvenSense®, giving you flexibility and reliability for controlling any autonomous vehicle, suitable for both academic and commercial applications.
The Pixhawk® 6C Mini's H7 microcontroller contain the Arm® Cortex®-M7 core running up to 480 MHz, has 2MB flash memory and 1MB RAM. Thanks to the updated processing power, developers can be more productive and efficient with their development work, allowing for complex algorithms and models.
The Pixhawk 6C Mini includes high-performance, low-noise IMUs on board, designed to be cost effective while having IMU redundancy. A vibration isolation System to filter out high-frequency vibration and reduce noise to ensure accurate readings, allowing vehicles to reach better overall flight performances.
The Pixhawk® 6C Mini is perfect for developers at corporate research labs, startups, academics (research, professors, students), and commercial application.
Key Design Points
- High performance STM32H743 Processor with more computing power & RAM
- New cost-effective design with low-profile form factor
- Newly designed integrated vibration isolation system to filter out high frequency vibration and reduce noise to ensure accurate readings
- IMUs are temperature-controlled by onboard heating resistors, allowing optimum working temperature of IMUs 
Technical Specification
Processors & Sensors
- FMU Processor: STM32H743 
- 32 Bit Arm® Cortex®-M7, 480MHz, 2MB memory, 1MB SRAM 
- IO Processor: STM32F103
- 32 Bit Arm® Cortex®-M3, 72MHz, 64KB SRAM 
- On-board sensors 
- Accel/Gyro: ICM-42688-P 
- Accel/Gyro: BMI055 
- Mag: IST8310 
- 기압계: MS5611
Electrical data
- Voltage Ratings:
- 최대 입력 전압: 6V
- USB Power Input: 4.75~5.25V
- Servo Rail Input: 0~36V
- Current Ratings:
- `TELEM1`` Max output current limiter: 1A
- All other port combined output current limiter: 1A
Mechanical data
- Dimensions: 53.3 x 39 x 16.2 mm
- Weight : 39.2g
Interfaces
14- PWM servo outputs (8 from IO, 6 from FMU)
범용 시리얼 포트 3개
TELEM1- Full flow control, separate 1A current limitTELEM2- Full flow control
2 GPS ports
- GPS1 - Full GPS port (GPS plus safety switch)
- GPS2 - Basic GPS port
1 I2C port
- Supports dedicated I2C calibration EEPROM located on sensor module
2개의 CAN 버스
- CAN Bus has individual silent controls or ESC RX-MUX control
1 Debug ports:
- FMU Debug Mini
Dedicated R/C input for Spektrum/DSM and S.BUS, CPPM, analog / PWM RSSI
1 Power input ports (Analog)
기타 특성:
- Operating & storage temperature: -40 ~ 85°c
구매처
Order from Holybro.
조립 및 설정
The Pixhawk 4 Mini's port is very similar to the Pixhawk 6C Mini's port. Please refer to the Pixhawk 4 Mini Wiring Quick Start as it provides instructions on how to assemble required/important peripherals including GPS, Power Module etc.
핀배열
시리얼 포트 매핑
| UART | 장치 | QGC Parameter Description | Port Label on FC |
|---|---|---|---|
| USART1 | /dev/ttyS0 | GPS1 | GPS1 |
| USART2 | /dev/ttyS1 | TELEM3 | 해당없음 |
| USART3 | /dev/ttyS2 | 해당없음 | FMU Debug |
| UART5 | /dev/ttyS3 | TELEM2 | TELEM2 |
| USART6 | /dev/ttyS4 | PX4IO | I/O PWM Out |
| UART7 | /dev/ttyS5 | TELEM1 | TELEM1 |
| UART8 | /dev/ttyS6 | GPS2 | GPS2 |
크기
정격 전압
Pixhawk 6C Mini can be double-redundant on the power supply if two power sources are supplied. The two power rails are: POWER1 and USB.
Normal Operation Maximum Ratings
이러한 조건에서 전원은 아래의 순서대로 시스템에 전원을 공급하여야합니다.
- POWER1 inputs (4.9V to 5.5V)
- USB input (4.75V to 5.25V)
Absolute Maximum Ratings
아래의 조건에서 시스템은 전원을 사용하지 않지만(작동하지 않음), 그대로 유지됩니다.
- POWER1 inputs (operational range 4.1V to 5.7V, 0V to 10V undamaged)
- USB input (operational range 4.1V to 5.7V, 0V to 6V undamaged)
- Servo input: VDD_SERVO pin of FMU PWM OUT and I/O PWM OUT (0V to 42V undamaged)
Voltage monitoring
Pixhawk 6C Mini uses analog power modules.
Holybro makes various analog power modules for different needs:
펌웨어 빌드
TIP
Most users will not need to build this firmware! It is pre-built and automatically installed by QGroundControl when appropriate hardware is connected.
To build PX4 for this target:
make px4_fmu-v6c_default디버그 포트
The PX4 System Console and SWD interface run on the FMU Debug port.
The pinouts and connector comply with the Pixhawk Debug Mini interface defined in the Pixhawk Connector Standard interface (JST SH connector).
| 핀 | 신호 | 전압 |
|---|---|---|
| 1(red) | Vtref | +3.3V |
| 2 (흑) | Console TX (OUT) | +3.3V |
| 3 (흑) | Console RX (IN) | +3.3V |
| 4 (흑) | SWDIO | +3.3V |
| 5 (흑) | SWCLK | +3.3V |
| 6 (흑) | GND | GND |
For information about using this port see:
- SWD Debug Port
- PX4 System Console (Note, the FMU console maps to USART3).
주변 장치
지원 플랫폼 및 기체
일반 RC 서보 또는 Futaba S-Bus 서보로 제어 가능한 모든 멀티콥터/비행기/로버 또는 보트. The complete set of supported configurations can be seen in the Airframes Reference.