diff --git a/docs/assets/flight_controller/pixhawk6c_mini/HB_6C_MINI-A_B.jpg b/docs/assets/flight_controller/pixhawk6c_mini/HB_6C_MINI-A_B.jpg new file mode 100644 index 0000000000..cde9d32be6 Binary files /dev/null and b/docs/assets/flight_controller/pixhawk6c_mini/HB_6C_MINI-A_B.jpg differ diff --git a/docs/assets/flight_controller/pixhawk6c_mini/pixhawk_6c_mini_b_dimensions.jpg b/docs/assets/flight_controller/pixhawk6c_mini/pixhawk_6c_mini_b_dimensions.jpg new file mode 100644 index 0000000000..02d31856e8 Binary files /dev/null and b/docs/assets/flight_controller/pixhawk6c_mini/pixhawk_6c_mini_b_dimensions.jpg differ diff --git a/docs/assets/flight_controller/pixhawk6x/HB_6X_rev8_V2A.png b/docs/assets/flight_controller/pixhawk6x/HB_6X_rev8_V2A.png new file mode 100644 index 0000000000..960c3c6722 Binary files /dev/null and b/docs/assets/flight_controller/pixhawk6x/HB_6X_rev8_V2A.png differ diff --git a/docs/assets/flight_controller/pixhawk6x/HB_Jetson_BB.jpg b/docs/assets/flight_controller/pixhawk6x/HB_Jetson_BB.jpg new file mode 100644 index 0000000000..45990f5b50 Binary files /dev/null and b/docs/assets/flight_controller/pixhawk6x/HB_Jetson_BB.jpg differ diff --git a/docs/assets/flight_controller/pixhawk6x/HB_PH6X_CM4.jpg b/docs/assets/flight_controller/pixhawk6x/HB_PH6X_CM4.jpg new file mode 100644 index 0000000000..61fb149095 Binary files /dev/null and b/docs/assets/flight_controller/pixhawk6x/HB_PH6X_CM4.jpg differ diff --git a/docs/assets/flight_controller/pixhawk6x/HB_PH6X_Mini.jpg b/docs/assets/flight_controller/pixhawk6x/HB_PH6X_Mini.jpg new file mode 100644 index 0000000000..24f0862998 Binary files /dev/null and b/docs/assets/flight_controller/pixhawk6x/HB_PH6X_Mini.jpg differ diff --git a/docs/assets/flight_controller/pixhawk6x/HB_PH6X_V2A.jpg b/docs/assets/flight_controller/pixhawk6x/HB_PH6X_V2A.jpg new file mode 100644 index 0000000000..bc39c6cc12 Binary files /dev/null and b/docs/assets/flight_controller/pixhawk6x/HB_PH6X_V2A.jpg differ diff --git a/docs/assets/flight_controller/pixhawk6x/HB_PH6X_V2B.jpg b/docs/assets/flight_controller/pixhawk6x/HB_PH6X_V2B.jpg new file mode 100644 index 0000000000..a381ea912e Binary files /dev/null and b/docs/assets/flight_controller/pixhawk6x/HB_PH6X_V2B.jpg differ diff --git a/docs/assets/flight_controller/pixhawk6x/hb_6x_internal_v2.png b/docs/assets/flight_controller/pixhawk6x/hb_6x_internal_v2.png new file mode 100644 index 0000000000..596d3feaf8 Binary files /dev/null and b/docs/assets/flight_controller/pixhawk6x/hb_6x_internal_v2.png differ diff --git a/docs/assets/flight_controller/pixhawk6x/pixhawk_6x_internal_Architecture.png b/docs/assets/flight_controller/pixhawk6x/pixhawk_6x_internal_Architecture.png new file mode 100644 index 0000000000..90bf35d4e7 Binary files /dev/null and b/docs/assets/flight_controller/pixhawk6x/pixhawk_6x_internal_Architecture.png differ diff --git a/docs/en/flight_controller/pixhawk6c_mini.md b/docs/en/flight_controller/pixhawk6c_mini.md index 695f1cfcd7..12d172465c 100644 --- a/docs/en/flight_controller/pixhawk6c_mini.md +++ b/docs/en/flight_controller/pixhawk6c_mini.md @@ -7,10 +7,10 @@ Contact the [manufacturer](https://holybro.com/) for hardware support or complia _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 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](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf). -![Pixhawk6c mini Upright Image](../../assets/flight_controller/pixhawk6c_mini/pixhawk6c_mini_hero.jpg) +![Pixhawk6c mini A&B Image](../../assets/flight_controller/pixhawk6c_mini/HB_6C_MINI-A_B.jpg) :::tip This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md) by the PX4 maintenance and test teams. @@ -22,13 +22,13 @@ The Pixhawk® 6C Mini is the latest update to the successful family of Pixhawk® 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. +The Pixhawk® 6C Mini's H7 microcontroller contain the Arm® Cortex®-M7 core running up to 480 MHz, and 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. +The Pixhawk® 6C Mini is perfect for developers at corporate research labs, startups, academics (research, professors, students), and commercial applications. **Key Design Points** @@ -64,7 +64,7 @@ The Pixhawk® 6C Mini is perfect for developers at corporate research labs, star ### **Mechanical data** - Dimensions: 53.3 x 39 x 16.2 mm -- Weight : 39.2g +- Weight: 39.2g ### **Interfaces** @@ -116,7 +116,8 @@ Please refer to the [Pixhawk 4 Mini Wiring Quick Start](../assembly/quick_start_ ## Dimensions -![Pixhawk6c Mini Dimensions](../../assets/flight_controller/pixhawk6c_mini/pixhawk_6c_mini_dimension.jpg) +![Pixhawk6c Mini A Dimensions](../../assets/flight_controller/pixhawk6c_mini/pixhawk_6c_mini_dimension.jpg) +![Pixhawk6c Mini B Dimensions](../../assets/flight_controller/pixhawk6c_mini/pixhawk_6c_mini_b_dimensions.jpg) ## Voltage Ratings @@ -124,14 +125,14 @@ _Pixhawk 6C Mini_ can be double-redundant on the power supply if two power sourc **Normal Operation Maximum Ratings** -Under these conditions all power sources will be used in this order to power the system: +Under these conditions, all power sources will be used in this order to power the system: 1. **POWER1** inputs (4.9V to 5.5V) 1. **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. +Under these conditions, the system will not draw any power (will not be operational), but will remain intact. 1. **POWER1** inputs (operational range 4.1V to 5.7V, 0V to 10V undamaged) 1. **USB** input (operational range 4.1V to 5.7V, 0V to 6V undamaged) diff --git a/docs/en/flight_controller/pixhawk6x.md b/docs/en/flight_controller/pixhawk6x.md index 37a4a26529..d467aa83c1 100644 --- a/docs/en/flight_controller/pixhawk6x.md +++ b/docs/en/flight_controller/pixhawk6x.md @@ -9,31 +9,44 @@ _Pixhawk 6X_® is the latest update to the successful family of Pi It is based on the [Pixhawk​​® Autopilot FMUv6X Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-012%20Pixhawk%20Autopilot%20v6X%20Standard.pdf), [Autopilot Bus Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-010%20Pixhawk%20Autopilot%20Bus%20Standard.pdf), and [Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf). -Equipped with a high performance H7 Processor, modular design, triple redundancy, temperature-controlled IMU board, isolated sensor domains, delivering incredible performance, reliability, and flexibility. +Equipped with a high-performance H7 Processor, modular design, triple redundancy, temperature-controlled IMU board, and isolated sensor domains, delivering incredible performance, reliability, and flexibility. -### Pixhawk 6X (Rev 3) +### Pixhawk 6X (Rev 8) - + +#### Pixhawk 6X (Rev 3/4, discontinued) -### Pixhawk 6X (ICM-45686) + + +### Pixhawk 6X Baseboards Options :::: tabs ::: tab Standard v2A -![Pixhawk 6X Standard v2A](../../assets/flight_controller/pixhawk6x/pixhawk6x_icm_v2a.webp) +![Pixhawk 6X Standard v2A](../../assets/flight_controller/pixhawk6x/HB_PH6X_V2A.jpg) ::: ::: tab Standard v2B -![Pixhawk 6X Standard v2B](../../assets/flight_controller/pixhawk6x/pixhawk6x_icm_v2b.webp) +![Pixhawk 6X Standard v2B](../../assets/flight_controller/pixhawk6x/HB_PH6X_V2B.jpg) ::: ::: tab Mini -![Pixhawk 6X Mini](../../assets/flight_controller/pixhawk6x/pixhawk6x_icm_mini.webp) +![Pixhawk 6X Mini](../../assets/flight_controller/pixhawk6x/HB_PH6X_Mini.jpg) +::: + +::: tab Jetson Baseboard + +![Jetson Baseboard](../../assets/flight_controller/pixhawk6x/HB_Jetson_BB.jpg) +::: + +::: tab CM4 Baseboard + +![Pixhawk 6X CM4](../../assets/flight_controller/pixhawk6x/HB_PH6X_CM4.jpg) ::: :::: @@ -54,15 +67,15 @@ An independent LDO powers every sensor set with independent power control. A vib External sensor bus (SPI5) has two chip select lines and data-ready signals for additional sensors and payload with SPI-interface, and with an integrated Microchip Ethernet PHY, high-speed communication with mission computers via ethernet is now possible. -The Pixhawk®​ 6X is perfect for developers at corporate research labs, startups, academics (research, professors, students), and commercial application. +The Pixhawk®​ 6X is perfect for developers at corporate research labs, startups, academics (research, professors, students), and commercial applications. ## Key Design Points -- High performance STM32H753 Processor +- 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 +- 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 - IMUs are temperature-controlled by onboard heating resistors, allowing optimum working temperature of IMUs @@ -72,7 +85,11 @@ The Pixhawk®​ 6X is perfect for developers at corporate research labs, startu - 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 +- On-board sensors (Shipping Currently, Rev 8) + - Accel/Gyro: 3x ICM-45686 (with BalancedGyro™ Technology) + - Barometer: ICP20100 & BMP388 + - Mag: BMM150 +- On-board sensors (Rev 3/4, discontinued) - Accel/Gyro: ICM-20649 or BMI088 - Accel/Gyro: ICM-42688-P - Accel/Gyro: ICM-42670-P @@ -182,14 +199,14 @@ The **POWER1** & **POWER2** ports on the Pixhawk 6X uses the 6 circuit [2.00mm P **Normal Operation Maximum Ratings** -Under these conditions all power sources will be used in this order to power the system: +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) 1. **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. +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) 1. **USB** input (operational range 4.1V to 5.7V, 0V to 6V undamaged) @@ -200,7 +217,7 @@ Under these conditions the system will not draw any power (will not be operation Digital I2C battery monitoring is enabled by default (see [Quickstart > Power](../assembly/quick_start_pixhawk6x.md#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. +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. ::: ## Building Firmware