# Autopilot FMUv6X

It is based on the Pixhawk​​® Autopilot FMUv6X Standard (opens new window), Autopilot Bus Standard (opens new window), and Connector Standard (opens new window).

Equipped with a high performance H7 Processor, modular design, triple redundancy, temperature-controlled IMU board, isolated sensor domains, delivering incredible performance, reliability, and flexibility.

# Key Design Points

  • High performance STM32H753 Processor
  • Modular flight controller: separated IMU, FMU, and Base system connected by a 100-pin & a 50-pin Pixhawk Autopilot Bus connector.
  • Redundancy: 3x IMU sensors & 2x Barometer sensors on separate buses
  • Triple redundancy domains: Completely isolated sensor domains with separate buses and separate power control
  • Newly designed vibration isolation system to filter out high frequency vibration and reduce noise to ensure accurate readings
  • Ethernet interface for high-speed mission computer integration

# Processors & Sensors

  • FMU Processor: STM32H753
    • 32 Bit Arm Cortex-M7, 480MHz, 2MB flash memory, 1MB RAM
  • IO Processor: STM32F100
    • 32 Bit Arm Cortex-M3, 24MHz, 8KB SRAM
  • On-board sensors
    • Accel/Gyro: ICM-20649 or BMI088
    • Accel/Gyro: ICM-42688-P
    • Accel/Gyro: ICM-42670-P
    • Mag: BMM150
    • Barometer: 2x BMP388

# Electrical data

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

# Mechanical data

  • Dimensions
    • Flight Controller Module: 38.8 x 31.8 x 14.6mm
    • 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: 23g
    • Standard Baseboard: 51g
    • Mini Baseboard: 26.5g

3D model can be downloaded on GrabCAD (opens new window) (opens new window).

# 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

    • 3 with full flow control
    • 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

  • Other Characteristics:

    • Operating & storage temperature: -40 ~ 85°c

# Connectors

№ Connector Description
1 CAN-HV (1,2) High Voltage CAN bus, typically for communication with peripherals that operate at higher voltage levels.
2 CAN-LV (1,2) Low Voltage CAN bus, typically for communication with peripherals that operate at lower voltage levels.
3 FMU-USB USB interface for connecting the Flight Management Unit (FMU) to a computer for programming or debugging.
4 TELEM1, TELEM2, UART4, GPS1 Telemetry ports for communication with ground control stations or peripherals.
5 SWD-DEBUG Serial Wire Debug interface for programming and debugging the microcontroller.
6 PWR1 Power input for the system, typically used for connecting a battery or other power sources over 5v
7 SD CARD SD card slot for storage, typically used for logging data or storing software.
8 SPI6 Serial Peripheral Interface (SPI) port for high-speed communication with sensors or peripherals.
9 SPI4 Another SPI interface, usually used for additional sensor or peripheral connections.
10 CC Carrier Connector, typically for connecting the main processing board to the carrier board.
11 Carrier connector (2) Additional carrier connector for expanding or connecting other peripherals to the carrier board.
12 RPI connector (2) Raspberry Pi-compatible connector for attaching a Raspberry Pi or similar device.
13 RPI-USB USB interface for connecting a Raspberry Pi or other devices to the system.

TIP

ETH ports is not mentioned because of this function is under development.

# 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

# Voltage Ratings

Pixhawk 6X 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 (opens new window).

Normal Operation Maximum Ratings

Under these conditions all power sources will be used in this order to power the system:

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

Absolute Maximum Ratings

Under these conditions the system will not draw any power (will not be operational), but will remain intact.

  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

# Building Firmware

For correct rotations of sensors and enabling exact sesors that used in our solution the file https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v6x/init/rc.board_sensors should be modified:

# Magnetometers
# External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer)
ist8310 -X -R 4 start
rm3100 -I -R 1 start

# IMUs
# Internal SPI bus ICM42688p
icm42688p -R 4 -s start
# Internal SPI bus ICM20649
icm20649 -s -R 12 start
bmi088 -A -R 0 -s start
bmi088 -G -R 0 -s start


# Possible internal Baro
if param compare SENS_INT_BARO_EN 1
then
  icp201xx -I start
fi

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 (opens new window) for this target:

make px4_fmu-v6x_default

# Debug Port

WARNING

CAN2 bus has issues and may not work at default firmware.

# Peripherals

# Supported Platforms / Airframes

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 (opens new window).

# Further info

← CAN-WiFi Sniffer →