Pixhawk V6X v2 Controller
Pixhawk V6X v2® is a new-generation Pixhawk controller co-developed by CUAV and PX4. Designed to the Pixhawk® FMU v6x standard, it delivers exceptional safety and stability. It features an H7 dual-precision floating-point processing unit, a Cortex®-M3 co-processor, triple-redundant IMUs with independent buses and power supplies, factory-calibrated IMU thermal compensation, and dual-redundant barometers. These designs comprehensively ensure reliable operation of unmanned systems and rich expandability. With an integrated 100M Ethernet PHY, it enables high-speed communication with mission computers (onboard PCs), high-end mapping cameras and other payloads, meeting the demands of high-end applications.
Note
Pixhawk V6X v2 is an upgraded iteration of the original Pixhawk V6X. They share compatible carrier boards, but their firmware is mutually incompatible.
Version Differences
Specifications
| Hardware Specifications | |
|---|---|
| Main Processor | STM32H753IIK6 |
| Co-Processor | STM32F103 |
| Accelerometer & Gyroscope | IIM-42652 / BMI088 / ICM-42686 |
| Magnetometer | RM3100 |
| Barometer | ICP-20100 / BMP581 |
| Interfaces | |
| PWM Outputs | 16 |
| POWER | 2 |
| GPS Interface | 2 |
| TELEM (Telemetry) | 3 |
| CAN | 2 |
| PPM RC | 1 |
| SBUS/DSM/RSSI | 1 |
| SBUS OUT | 1 |
| FMU DEBUG | 1 |
| IO DEBUG | 1 |
| ETH (Ethernet) | 1 |
| SPI6 | 1 |
| AD&IO PORT | 1 |
| UART4 | 1 |
| USB Interface | 2 |
| TF Card Slot | 1 |
| Power Module | Standard PMU 2 Lite‑5V Input range: 12–70V |
| Operating Conditions & Physical | |
| Operating Voltage | USB: 4.75 ~ 5.25 V PMU 2 Lite: 12–70V POWER: 4.85 ~ 5.45V |
| Servo Input | 0 ~ 9.9V |
| Operating Temperature | -20°C ~ 85°C |
| Weight | Total controller: 97.9g Core module: 43.1g Carrier board (with screws): 54.8g |
Size
Controller
CORE
Pinouts
Pixhawk v6x Wiring Quick Start
This quick start guide shows how to power the Pixhawk V6X® controller and connect its most important peripherals.
This article only describes the hardware connection, you may also want to read the following chapters.
Wiring Chart Overview
The image below shows how to connect the most important sensors and peripherals (except the motor and servo outputs). We’ll go through each of these in detail in the following sections.
| Main interface | Function |
|---|---|
| POWER C1 | Please connect CAN PMU SE to this interface; this interface is connected to UAVCAN power module |
| POWER C2 | Please connect CAN PMU SE to this interface; this interface is connected to UAVCAN power module |
| POWER 1 | Connect SMbus(I2C) power module |
| POWER 2 | Connect SMbus(I2C) power module |
| GPS&SAFETY | Connect Neo series GPS/C-RTK 9PS, including GPS, safety switch, buzzer interface. |
| GPS2 | Connect GPS/RTK module |
| UART 4 | Support user customization |
| TELEM1/TELME2/TELEM3 | Connect telemetry or mavlink devices |
| TF CARD | SD card for log storage (card pre-inserted in factory). |
| M1~M8 | PWM output from IO , connecting to ESC and Servo |
| A1~A8 | Form FMU,Can be defined as PWM/GPIO; supports Bdshot; used to connect camera shutter/hot shoe, servo, etc. |
| USB | Connect to a computer for communication between the flight controller and the computer, such as loading firmware. |
| CAN1/CAN2 | Connect Dronecan/UAVCAN devices such as NEO3 Pro. |
| DSM/SUB/RSSI | Includes DSM, SBUS, RSSI signal input interface, DSM interface can be connected to DSM satellite receiver, SBUS interface to SBUS remote control receiver, RSSI for signal strength return module |
| PPM | Connecting the PPM RC Receiver |
| ETH | Ethernet interface, you can connect Ethernet devices such as task computers. |
| AD&IO | There are two analog inputs (ADC3.3/ADC6.6); generally not used |
Vehicle Front
Note
If the controller cannot be mounted in the recommended/default orientation (e.g. due to space constraints) you will need to configure the autopilot software with the orientation that you actually used: The Controller Orientation.(for PX4 firmware, for Ardupilot firmware).
GPS
We recommend that you use Dronecan/UAVCAN GPS/RTK (such as Neo 3 pro); you only need to connect it to the CAN 1/2 interface; you can also use an ordinary GPS/RTK module; connect it to the GPS interface; it is commonly used now The GPS module generally integrates GPS, compass, safety switch, buzzer, and LED status light. The GPS module should be installed on the bracket and far away from other electronic devices. The installation direction is towards the front of the carrier (the NEO GPS arrow is in the same direction as the controller arrow)
Radio Control
t is recommended that whether you fly manually or automatically, please connect the handheld remote control (it can be used as an emergency machine, unless you are not proficient in operating the handheld remote control).
- For DMS/SBUS receivers, connect to the DSM/SBUS interface.
- For PPM receivers, connect to the PPM interface.
- For receivers of other protocols， please read Ardupilot Radio Control Systems.
Power
Pixhawk V6X® is equipped with CAN PMU lite module, it supports 3~14s lithium battery, please connect the 6pin connector of the module to the flight control Power C1 、Power C2 interface
Telemetry (Radio) system
Using the telemetry system you can communicate with the drone through the ground station software. Monitor and control drones in flight. The airborne end of the telemetry system should be connected to the TELEM1/TELEM2/TELEM3 interface.
SD Card
The SD card is already installed on Pixhawk V6X® when it leaves the factory, so you don’t need to install it.
Motors/Servo
The motor/servo system is connected to the M1~M8/A1~A8 ports in the order specified for your carrier in the fuselage reference.
Servo power supply
Pixhawk V6X® does not supply power to the servos. You need to use an external BEC to connect to the positive and negative ports of any one of M1~M8/A1~A8 to supply power to the servos.
Ardupilot User Guide
This chapter will describe how to run ArduPilot on Pixhawk V6X and Pixhawk V6X v2®.
load firmware
Note
There is no official stable firmware for Pixhawk V6X v2 yet; the latest beta firmware must be used.
Online burning firmware:
- Connect the flight controller to the computer,
- open the ground station
- click the “SETUP” “install firmware” >select the firmware type you need”
- wait for the burning to complete.
Load local firmware
The following Pixhawk V6X v2 firmware is compiled based on the stable release of AP4.6.3:
The following firmware released by ArduPilot
Tip
For Pixhawk V6X v2, the standard firmware and the DShot firmware are identical.。
- Select to load custom firmware
- select local firmware file
UART MAP
- SERIAL0 -> USB
- SERIAL1 -> UART7 (Telem1) （Contains CTS and RTS ）
- SERIAL2 -> UART5 (Telem2) （Contains CTS and RTS）
- SERIAL3 -> USART1 (GPS1)
- SERIAL4 -> UART8 (GPS2)
- SERIAL5 -> USART2 (Telem3)（Contains CTS and RTS）
- SERIAL6 -> UART4（User）
- SERIAL7 -> USART3（Debug）
- SERIAL8 -> USB（MAVLink, can be used for SLCAN with protocol change）
RC input
Use a special cable (the cable has a label) to connect the remote control receiver. The SBUS/DSM receiver is connected to the DSM/SBUS interface, and the PPM receiver is connected to the PPM interface; for CRSF and the receiver with the telemetry bidirectional protocol, it needs to be connected to the UART interface, such as Serial6 (UART4).
Here is the setup tutorial:
- SERIAL6_PROTOCOL set to 23;
- FPort：SERIAL6_OPTIONS set to 15;
- CRSF：SERIAL6_OPTIONS set to 0;
- SRXL2：SERIAL6_OPTIONS set to 4,And only connect the TX pin.
Note
Any UART can be used for RC system connections in ArduPilot also, and is compatible with all protocols except PPM. See Radio Control Systems for details.
PWM Output
Pixhawk V6X® supports up to 16 PWM outputs (M1~M8, A1~A8). All 16 outputs support all normal PWM output formats. A1~A8 support DShot and BDshot.
The 8 FMU PWM outputs are divided into 4 groups:
- A1~A4 in group1
- A5~A6 in group2
- A7~A8 in group1
Note
FMU outputs within the same group need to use the same output rate and protocol. If any output in a group uses DShot, then all outputs in that group are Dshot.
GPIOs
A1~A8 can be used as GPIO (relay, button, RPM, camera shutter trigger (level), etc.). To use them, you need to set the output SERVOx_FUNCTION to -1 (GPIO).
The numbering of the GPIOs for PIN variables in ArduPilot is:
FMU pins:
- A1:50
- A2:51
- A3:52
- A4:53
- A5:54
- A6:55
- A7:56
- A8:57
Others GPIO:
- FMU_CAP1:58
- NFC_GPIO:59
Analog inputs
Pixhawk V6X® has 3 analog inputs (ADC6.6V、ADC3.3V、Rssi)
- ADC6.6-> 12
- ADC3.3-> 13
- RSSI-> 103
Battery Monitoring
Pixhawk V6X® comes standard with CAN PMU lite ammeter (Dronecan), please connect it to Power C1/Power C2 instead of Power 1/Power2 (I2C/SMBUS)
You need to set the following parameters:
- BATT_MONITOR=8
- CAN_P1_DRIVER=1
- CAN_P2_DRIVER=1
Note
Do not attempt to set up the I2C power monitor for the Pixhawk V6X using the Mission Planner SETUP-> optional hardware > battery monitor tab.
Analog power monitor
Digital power modules are more accurate and reliable（such as CAN PMU lite), Pixhawk V6x is not recommended to use analog power modules; If you do need to use it, connect the hardware as shown（Take HV_PM as an example）:
You need to set the following parameters in the Mission Plannner parameter table:
- BATT_MONITOR=4
- BATT_VOLT_PIN=12（ADC6.6)
- BATT_VOLT_MULT=18(HV_PM)
- BATT_CURR_PIN=13(ADC3.3)
- BATT_AMP_PERVLT=24（A/V,HV_PM）
Compass
Inside the Pixhawk V6X® is an RM3100 magnetic compass. Generally, the flight control is located inside the drone, and the magnetic field environment is more complicated. It is reasonable to use an external compass (such as one on a GPS) as the primary compass; always ensure that the external compass is placed in preference to the internal compass.
If your compass is set up like this:
Please set the external compass as the first compass according to the following figure.
I2C Protocol hardware
The Pixhawk V6X kit includes a UART->I2C cable and CAN/I2C interposer board for transferring I2C devices (e.g. MS5525 airspeed meter, LED status light, etc).
Ethernet Setup
Tip
ArduPilot 4.5 and above supports Pixhawk v6x Ethernet.
Open Mission planner>Config>Full parameters list, set NET_ENABLED=1, restart the autopilot and modify the following parameters:
As shown above, set the autopilot IP to 192.168.10.14 and the gateway IP to 192.10.3
Set the computer IP to 192.168.10.15, set a network port to 15001 to access the network device through UDP, and the port protocol is 2.
Note
Up to four ports can be configured.
Hardware connection
- Use the network cable provided by Pixhawk V6X to connect Pixhawk v6X to the computer and power the autopilot and AG router.。
- Enter the computer [Change Network Adapter Options]>Ethernet Properties [Internet Protocol Version 4 (TCP/IPV4]]> Manually configure the network (local IP, configured as 192.168.0.1, subnet mask 255.255.255.0)> click OK to apply Configuration
Network Connectivity Test
- Enter the Windows command window
- ping 192.168.10.4
Tip
If there is a network delay data reply, the communication is established. If the communication timeout is displayed, the IP may be incorrect or the communication failed.
Connect to Mission planner
- Run Mission planner ground station software
- Set the connection method “UDP”
- port number 15001
Building ArduPilot Firmware
../waf configure --board=CUAV-V6X-v2
./waf copter --upload
Note
Most users do not need to compile firmware. They can directly write firmware online through the ground station.
PX4 Firmware Guide
This chapter will describe the Pixhawk V6X v2® guidelines for running PX4 firmware
Loading firmware
Pixhawk V6X® flight controller supports PX4. The following mainly explains how to load PX4 firmware.
Note
Pixhawk V6X v2 is compatible with PX4 firmware version v1.17.0 and above; Pixhawk V6X supports PX4 firmware version v1.13.3 and above.
Write firmware online:
Connect the flight controller to the computer, open the QGroundControl ground station, click the setting icon > click firmware.
Connect the flight controller to the computer through the usb cable, the following window will pop up on the right side of the ground station “Select PX4 Flight STACK required” OK
Write to local firmware：
- Download firmware to local.
- Open the ground station > click the settings icon > click firmware
- Connect the flight controller to the computer through the usb cable, the following window will pop up on the right side of the ground station “Select PX4 Flight STACK required” Check advanced settings>custon firmware file “Find the downloaded firmware” ok
Serial Port Mapping
| UART | Device | Port |
|---|---|---|
| USART1 | /dev/ttyS0 | GPS |
| USART2 | /dev/ttyS1 | TELEM3 |
| USART3 | /dev/ttyS2 | Debug Console |
| UART4 | /dev/ttyS3 | UART4 & I2C |
| UART5 | /dev/ttyS4 | TELEM2 |
| USART6 | /dev/ttyS5 | PX4IO/RC |
| UART7 | /dev/ttyS6 | TELEM1 |
| UART8 | /dev/ttyS7 | GPS2 |
Building Firmware
Note
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:
for Pixhawk V6X v2
make cuav_fmu-v6x_default
for Pixhawk V6X
make px4_fmu-v6x_default
Debug Port
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).
| Pin | Signal | Volt |
|---|---|---|
| 1 (red) | Vtref | +3.3V |
| 2 (blk) | Console TX (OUT) | +3.3V |
| 3 (blk) | Console RX (IN) | +3.3V |
| 4 (blk) | SWDIO | +3.3V |
| 5 (blk) | SWCLK | +3.3V |
| 6 (blk) | SWO | +3.3V |
| 7 (blk) | NFC GPIO | +3.3V |
| 8 (blk) | PH11 | +3.3V |
| 9 (blk) | nRST | +3.3V |
| 10 (blk) | GND | GND |
For information about wiring and using this port see:
- PX4 System Console (Note, the FMU console maps to USART3).
- SWD (JTAG) Hardware Debugging Interface
Supported Platforms
Any multicopter / airplane / rover or boat that can be controlled with normal RC servos or Futaba S-Bus servos. The complete set of supported configurations can be seen in the Airframes Reference.
Power module
The autopilot includes a DroneCAN power module and battery monitor(CAN PMU lite),CAN PMU Lite connected to Power C1/PowerC2,set the following parameters:
- Connect to QGC Ground Station > Settings > Parameter Settings
- Set UAVCAN_ENABLE parameter to Sensors Automatic config
- Set the UAVCAN_SUB_BAT parameter to Enabled
- Write parameters and restart
Note
When the Pixhawk v6x runs PX4 firmware, it does not support analog power modules such as HV_PM.
Ethernet Setup
I2C Protocol hardware
The Pixhawk V6X v2 kit includes a UART->I2C cable and CAN/I2C interposer board for transferring I2C devices (e.g. MS5525 airspeed meter, LED status light, etc).
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