Pixhawk 6X Pro User Manual

Pixhawk 6X Pro 16 - Pixhawk 6X Pro User Manual

Table of Contents

Overview

Key Design Point
  • 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

Features

  • 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

Technical Specification

Processors & Sensors

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

Electrical data

  • Voltage Ratings:
  1. Max input voltage: 6V
  2. USB Power Input: 4.75~5.25V
  3. Servo Rail Input: 0~36V
  • Current Ratings:
  1. Telem1 output current limiter: 1.5A
  2. All other port combined output current limiter: 1.5A

Mechanical data

  • Dimensions
  1. Flight Controller Module: 38.8 x 31.8 x 30.1mm
  2. Standard Baseboard: 52.4 x 103.4 x 16.7mm
  3. Mini Baseboard: 43.4 x 72.8 x 14.2 mm
  • Weight
  1. Flight Controller Module: 50g
  2. Standard Baseboard: 51g
  3. Mini Baseboard: 26.5g

Interfaces

  • 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
  • 4 general purpose serial ports
  1. 3 with full flow control
  2. 1 with separate 1.5A current limit (Telem1)
  3. 1 with I2C and additional GPIO line for external NFC reader
  • 2 GPS ports
  1. 1 full GPS plus Safety Switch Port
  2. 1 basic GPS port
  • 1 I2C port
  • 1 Ethernet port
  1. Transformerless Applications
  2. 100Mbps
  • 1 SPI bus
  1. 2 chip select lines
  2. 2 data-ready lines
  3. 1 SPI SYNC line
  4. 1 SPI reset line
  • 2 CAN Buses for CAN peripheral
  1. CAN Bus has individual silent controls or ESC RX-MUX control
  • 2 Power input ports with SMBus
  1. 1 AD & IO port
  2. 2 additional analog input
  3. 1 PWM/Capture input
  4. 2 Dedicated debug and GPIO lines

Other Characteristics

  • Operating temperature: -40 ~ 85°c

Sample Wiring Diagram

Pixhawk Baseboards

Pixhawk Baseboard Ports

Compatible with Pixhawk 5X & 6X

This baseboard is compatible with both Pixhawk 5X & 6X, and any flight controller that follow the Pixhawk Autopilot Bus Standard.

 

  • I/O PWM OUT = MAIN OUT
  • FMU PWM OUT = AUX OUT
  • Refer to this diagram for location of pin1. All connectors are JST GH 1.25 mm Pitch unless noted otherwise.
Power1 (Main) & Power2 Port (Backup) (2.00mm Pitch CLIK-Mate)

Pin

Signal

Volt

1(red)

VDD5V_BRICK1/2

+5V

2(black)

VDD5V_BRICK1/2

+5V

3(black)

SCL1/2

+3.3V

4(black)

SDA1/2

+3.3V

5(black)

GND

GND

6(black)

GND

GND

Telem1, Telem2, Telem3 ports

Pin

Signal

Volt

1(red)

VCC

+5V

2(black)

TX7/5/2 (out)

+3.3V

3(black)

RX7/5/2 (in)

+3.3V

4(black)

CTS7/5/2 (in)

+3.3V

5(black)

RTS7/5/2 (out)

+3.3V

6(black)

GND

GND

GPS 1 Port

Pin

Signal

Volt

1(red)

VCC

+5V

2 black)

TX1(out)

+3.3V

3(black)

RX1(in)

+3.3V

4(black)

SCL1

+3.3V

5(black)

SDA1

+3.3V

6(black)

SAFETY_SWITCH

+3.3V

7(black)

SAFETY_SWITCH_LED

+3.3V

8(black)

VDD_3V3

+3.3V

9(black)

BUZZER-

0~5V

10(black)

GND

GND

GPS 2 Port

Pin

Signal

Volt

1(red)

VCC

+5V

2 black)

TX8(out)

+3.3V

3(black)

RX8(in)

+3.3V

4(black)

SCL2

+3.3V

5(black)

SDA2

+3.3V

6(black)

GND

GND

CAN1, CAN2 ports

Pin

Signal

Volt

1(red)

VCC

+5V

2(black)

CANH1/2

+3.3V

3(black)

CANL1/2

+3.3V

4(black)

GND

GND

Uart4 & I2C port

Pin

Signal

Volt

1(red)

VCC

+5V

2(black)

TX4(out)

+3.3V

3(black)

RX4(in)

+3.3V

4(black)

SCL3

+3.3V

5(black)

SDA3

+3.3V

6(black)

NFC_GPIO

+3.3V

7(black)

GND

GND

SPI Port

Pin

Signal

Volt

1(red)

VCC

+5V

2 (black)

SPI6_SCK

+3.3V

3(black)

SPI6_MISO

+3.3V

4(black)

SPI6_MOSI

+3.3V

5(black)

SPI6_CS1

+3.3V

6(black)

SPI6_CS2

+3.3V

7(black)

SPIX_SYNC

+3.3V

8(black)

SPI6_DRDY1

+3.3V

9(black)

SPI6_DRDY2

+3.3V

10(black)

SPI6_nRESET

+3.3V

11(black)

GND

GND

USB Port

Pin

Signal

Volt

1(red)

VBUS

+5V

2(black)

DM

+3.3V

3(black)

DP

+3.3V

4(black)

GND

GND

I2C Port

Pin

Signal

Volt

1(red)

VCC

+5V

2(black)

SCL3

+3.3V

3(black)

SDA3

+3.3V

4(black)

GND

GND

ETH Port

Pin

Signal

Volt

1(red)

RXN

+3.3V

2(black)

RXP

+3.3V

3(black)

TXN

+3.3V

4(black)

TXP

+3.3V

AD&IO Port

Pin

Signal

Volt

1(red)

VCC

+5V

2(black)

FMU_CAP1

+3.3V

3(black)

FMU_BOOTLOADER

+3.3V

4(black)

FMU_RST_REQ

+3.3V

5(black)

NARMED

+3.3V

6(black)

ADC1_3V3

+3.3V

7(black)

ADC1_6V6

+6.6V

8(black)

GND

GND

DSM RC Port (JST-ZH 1.5mm Pitch)

Pin

Signal

Volt

1(yellow)

VDD_3V3_SPEKTRUM

+3.3V

2(black)

GND

GND

3(gray)

DSM/SPEKTRUM IN

+3.3V

RC IN Port

Pin

Signal

Volt

S

SBUS/PPM in

+3.3V

+

VDD_5V _RC

+5V

GND

GND

IO Debug Port (JST-SH 1mm Pitch)

Pin

Signal

Volt

1(red)

IO_VDD_3V3

+3.3V

2 black)

IO_USART1_TX

+3.3V

3(black)

NC

4(black)

IO_SWD_IO

+3.3V

5(black)

IO_SWD_CK

+3.3V

6(black)

IO_SWO

+3.3V

7(black)

IO_SPARE_GPIO1

+3.3V

8(black)

IO_SPARE_GPIO2

+3.3V

9(black)

IO_nRST

+3.3V

10(black)

GND

GND

FMU Debug Port (JST-SH 1mm Pitch)

Pin

Signal

Volt

1(red)

FMU_VDD_3V3

+3.3V

2 black)

FMU_USART3_TX

+3.3V

3(black)

FMU_USART3_RX

+3.3V

4(black)

FMU_SWD_IO

+3.3V

5(black)

FMU_SWD_CK

+3.3V

6(black)

SPI6_SCK_EXTERNAL1

+3.3V

7(black)

NFC_GPIO

+3.3V

8(black)

PH11

+3.3V

9(black)

FMU_nRST

+3.3V

10(black)

GND

GND

RSSI Port

Pin

Signal

Volt

S

SBUS_OUT/RSSI_IN

+3.3V

+

VDD_SERVO

0~36V

GND

GND

FMU PWM OUT Port

Pin

Signal

Volt

S

FMU_CH1~8

+3.3V

+

VDD_SERVO

0~36V

GND

GND

I/O PWM OUT Port

Pin

Signal

Volt

S

IO_CH1~8

+3.3V

+

VDD_SERVO

0~36V

GND

GND

Dimensions

Dimension in millimeters

Supported Firmware

Pixhawk 6X Pro is shipped with PX4 FMUv6X Firmware, but it is also supported in Ardupilot.

PX4

Pixhawk 6X Pro is supported on Master/Main or PX4 1.14.3 release and later.

Ardupilot

Pixhawk 6X Pro is supported in Ardupilot 4.5.0 stable release and later. Ardupilot firmware can be flash via Mission Planner or QGroundControl.

It can also be downloaded here: https://firmware.ardupilot.org/

Using Analog PM with Pixhawk 5X/6X

Pixhawk 5X/6X uses digital power module (such as PM02D, D stands for digital), if you would like to use it with an Analog Power Module, see below.

PX4

If you are have to use analog power module with Pixhawk 5X or 6X. With PX4 & QGC, you can use an ADS1115 board and wire it like this diagram and set the following parameters:

These parameters are available in PX4 v1.14 with Github PR, or you can build an FW with these board config changes.

  • ADC_ADS1115_EN = 1
  • Save & Reboot
  • BAT1_A_PER_V = 36
  • BAT1_I_CHANNEL = 1
  • BAT1_V_CHANNEL = 0
  • BAT1_V_DIV = 18.18

Follow us World Drone Market on our YouTube to view more about the Pixhawk 6X Pro User Manual.

Comments

0 Comments Add comment

Leave a comment