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Holybro Pixhawk 6X Pro

WARNING

PX4 does not manufacture this (or any) autopilot. Contact the manufacturer for hardware support or compliance issues.

Pixhawk6X Pro Internal Architecture

Key Design Points

  • High-performance ADIS16470 Industrial IMU with high accelerometer dynamic range (±40 g), perfect for accurate motion sensing in demanding UAV applications
  • All new advanced durable vibration isolation material with resonance frequency in the higher spectrum, ideal for industrial and commercial drone applications
  • High performance STM32H753 Processor
  • Ethernet interface for high-speed mission computer integration

Baseboards

The Pixhawk 6X Pro can be purchased with a number of baseboards (or no baseboard) to suit different use cases and vehicle types, including Standard v2A, Standard v2B, and Mini, which are shown below. It can also be used with any other Pixhawk Autopilot Bus (PAB) specification-compliant baseboard, such as the Holybro Pixhawk Jetson Baseboard and Holybro Pixhawk RPi CM4 Baseboard.

특징

  • Triple redundant IMU & double redundant barometer on separate buses
  • Modular flight controller: separated IMU, FMU, and Base system
  • Safety-driven design incorporates sensors from different manufacturers and model lineups
  • Independent LDO powers every sensor set with independent power control.
  • Temperature-controlled IMU board, allowing optimum working temperature of IMUs
Details

Processors & Sensors

  • FMU Processor: STM32H753
    • 32 Bit Arm® Cortex®-M7, 480MHz, 2MB flash memory, 1MB RAM
  • IO Processor: STM32F103
    • 32 Bit Arm® Cortex®-M3, 72MHz, 64KB SRAM
  • 내장 센서 :
    • Accel/Gyro: ADIS16470 (±40g, Vibration Isolated, Industrial IMU)
    • Accel/Gyro: IIM-42652 (±16g, Vibration Isolated, Industrial IMU)
    • Accel/Gyro: ICM-45686 with BalancedGyro™ Technology (±32g, Hard Mounted)
    • Barometer: ICP20100
    • Barometer: BMP388
    • Mag: BMM150
Details

Electrical data

  • Voltage Ratings:
    • 최대 입력 전압: 6V
    • USB 전원 입력: 4.75~5.25V
    • 서보 레일 입력: 0~36V
  • Current Ratings: - Telem1 output current limiter: 1.5A - All other port combined output current limiter: 1.5A
Details

Mechanical data

  • 크기
    • Flight Controller Module: 38.8 x 31.8 x 30.1mm
    • Standard Baseboard: 52.4 x 103.4 x 16.7mm
    • Mini Baseboard: 43.4 x 72.8 x 14.2 mm
  • Weight - Flight Controller Module: 50g - Standard Baseboard: 51g - Mini Baseboard: 26.5g
Details

인터페이스

  • 16- PWM servo outputs
  • R/C input for Spektrum / DSM
  • Dedicated R/C input for PPM and S.Bus input
  • Dedicated analog / PWM RSSI input and S.Bus output
  • 범용 시리얼 포트 4개
    • 전체 흐름 제어 3개
    • 1 with separate 1.5A current limit (Telem1)
    • 1 with I2C and additional GPIO line for external NFC reader
  • 2 GPS ports
    • 1 full GPS plus Safety Switch Port
    • 1 basic GPS port
  • 1 I2C port
  • 1 Ethernet port
    • Transformerless Applications
    • 100Mbps
  • 1 SPI bus
    • 2 chip select lines
    • 2 data-ready lines
    • 1 SPI SYNC line
    • 1 SPI reset line
  • 2 CAN Buses for CAN peripheral
    • CAN Bus has individual silent controls or ESC RX-MUX control
  • 2 Power input ports with SMBus - 1 AD & IO port - 2 additional analog input - 1 PWM/Capture input - 2 Dedicated debug and GPIO lines

구매처

Order from Holybro.

조립 및 설정

The Pixhawk 6X Wiring Quick Start provides instructions on how to assemble required/important peripherals including GPS, Power Module etc.

연결

Multicopter Wiring Example

Pixhawk 6X Pro Wiring Overview

VTOL Wiring Example

Pixhawk 6X Pro VTOL Fixed wing Wiring Overview

핀배열

참고:

시리얼 포트 매핑

UART장치포트
USART1/dev/ttyS0GPS
USART2/dev/ttyS1TELEM3
USART3/dev/ttyS2디버그 콘솔
UART4/dev/ttyS3UART4 & I2C
UART5/dev/ttyS4TELEM2
USART6/dev/ttyS5PX4IO/RC
UART7/dev/ttyS6TELEM1
UART8/dev/ttyS7GPS2

크기

Pixhawk 6X Pro Dimensions

정격 전압

Pixhawk 6X Pro can be triple-redundant on the power supply if three power sources are supplied. The three power rails are: POWER1, POWER2 and USB. The POWER1 & POWER2 ports on the Pixhawk 6X uses the 6 circuit 2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle.

Normal Operation Maximum Ratings

이러한 조건에서 전원은 아래의 순서대로 시스템에 전원을 공급하여야합니다.

  1. POWER1 and POWER2 inputs (4.9V to 5.5V)
  2. USB input (4.75V to 5.25V)

Absolute Maximum Ratings

아래의 조건에서 시스템은 전원을 사용하지 않지만(작동하지 않음), 그대로 유지됩니다.

  1. POWER1 and POWER2 inputs (operational range 4.1V to 5.7V, 0V to 10V undamaged)
  2. USB input (operational range 4.1V to 5.7V, 0V to 6V undamaged)
  3. Servo input: VDD_SERVO pin of FMU PWM OUT and I/O PWM OUT (0V to 42V undamaged)

Voltage monitoring

Digital I2C battery monitoring is enabled by default (see Quickstart > Power).

INFO

Analog battery monitoring via an ADC is not supported on this particular board, but may be supported in variations of this flight controller with a different baseboard.

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-v6x_default

디버그 포트

The PX4 System Console and SWD interface run on the FMU Debug port.

The pinouts and connector comply with the Pixhawk Debug Full interface defined in the Pixhawk Connector Standard interface (JST SM10B connector).

신호전압
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)SWO+3.3V
7 (흑)NFC GPIO+3.3V
8 (blk)PH11+3.3V
9 (blk)nRST+3.3V
10 (blk)GNDGND

For information about using this port see:

주변 장치

Supported Platforms/Airframes

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.

CAD File

Download here.

See Also