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docs/uk/flight_controller/autopilot_manufacturer_supported.md
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@ -32,6 +32,7 @@ This category includes boards that are not fully compliant with the pixhawk stan
- [Holybro Pix32 v5](../flight_controller/holybro_pix32_v5.md)
- [ModalAI VOXL 2](../flight_controller/modalai_voxl_2.md)
- [mRo Control Zero](../flight_controller/mro_control_zero_f7.md)
- [Radiolink PIX6](../flight_controller/radiolink_pix6.md)
- [Sky-Drones AIRLink](../flight_controller/airlink.md)
- [SPRacing SPRacingH7EXTREME](../flight_controller/spracingh7extreme.md)
- [ThePeach FCC-K1](../flight_controller/thepeach_k1.md)

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# RadiolinkPIX6 Flight Controller
<Badge type="tip" text="main (planned for: PX4 v1.17)" />
:::warning
PX4 не розробляє цей (або будь-який інший) автопілот.
Contact the [manufacturer](https://radiolink.com.cn/) for hardware support or compliance issues.
:::
Автопілот рекомендується для комерційної системної інтеграції, але також підходить для академічних досліджень і будь-якого іншого використання.
![RadiolinkPIX6](http://www.radiolink.com.cn/firmware/wiki/RadiolinkPIX6/RadiolinkPIX6.png)
The Radiolink PIX6 is a high-performance flight controller.
Featuring STM32F7 CPU, vibration isolation of IMUs, redundant IMUs, integrated OSD chip, IMU heating, and DShot.
:::info
This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
:::
## Короткий опис
- Процесор
- 32-bit ARM Cortex M7 core with DPFPU - STM32F765VIT6
- 216 MHz/512 KB RAM/2 MB Flash
- 32-bit IOMCU co-processor - STM32F100
- 32KB FRAM - FM25V02A
- AT7456E OSD
- Датчики
- Bosh BMI088 IMU (accel, gyro)
- InvenSense ICM-42688 IMU (accel, gyro)
- SPA06 barometer
- IST8310 magnetometer
- Power
- SMBUS/I2C Power Module Inputs (I2C)
- voltage and current monitor inputs (Analog)
- Інтерфейси
- 16 PWM Outputs with independent power rail for external power source
- 5x UART serial ports, 2 with HW flow control
- Camera Input and Video Output
- PPM/SBUS input, DSM/SBUS input
- Вхід RSSI (ШІМ або напруга)
- I2C, SPI, 2x CAN, USB
- 3.3V and 6.6V ADC inputs
- Звуковий сигнал і захисний вимикач
- microSD card
- Вага та розміри:
- Weight 80g
- Size 94mm x 51.5mm x 14.5mm
## Де купити
[Radiolink Amazon](https://www.radiolink.com.cn/pix6_where_to_buy)（International users）
[Radiolink Taobao](https://item.taobao.com/item.htm?spm=a21dvs.23580594.0.0.1d292c1bNMdSqV&ft=t&id=815993357068&skuId=5515756705284)（China Mainland user）
## Призначення конекторів
### Top View
![Pix6 top view](../../assets/flight_controller/radiolink_pix6/top_view.png)
### Left View
![Pix6 left view](../../assets/flight_controller/radiolink_pix6/left_view.png)
### Right View
![Pix6 right view](../../assets/flight_controller/radiolink_pix6/right_view.png)
### Rear View
![Pix6 rear view](../../assets/flight_controller/radiolink_pix6/rear_view.png)
## Схема розташування виводів
Якщо не вказано інше, всі конектори - це JST GH.
### TELEM1, TELEM2 порти
| Pin | Сигнал | Вольтаж |
| --- | -------------------------- | --------------------- |
| 1 | VCC | +5V |
| 2 | TX(OUT) | +3.3V |
| 3 | RX(IN) | +3.3V |
| 4 | CTS | +3.3V |
| 5 | RTS | +3.3V |
| 6 | GND | GND |
### OSD
| Pin | Сигнал | Вольтаж |
| --- | ------ | --------------------- |
| 1 | GND | GND |
| 2 | VOUT | +3.3V |
| 3 | VCC | +5V |
| 4 | GND | GND |
| 5 | VCC | +5V |
| 6 | VIN | +3.3V |
### I2C port
| Pin | Сигнал | Вольтаж |
| --- | ------ | -------------------------------------------------- |
| 1 | VCC | +5V |
| 2 | SCL | +3.3V (pullups) |
| 3 | SDA | +3.3V (pullups) |
| 4 | GND | GND |
### CAN1, CAN2 ports
| Pin | Сигнал | Вольтаж |
| --- | -------------------------- | ------- |
| 1 | VCC | +5V |
| 2 | CAN_H | +12V |
| 3 | CAN_L | +12V |
| 4 | GND | GND |
### GPS1 порт
| Pin | Сигнал | Вольтаж |
| --- | -------------------------- | --------------------- |
| 1 | VCC | +5V |
| 2 | TX(OUT) | +3.3V |
| 3 | RX(IN) | +3.3V |
| 4 | SCL | +3.3V |
| 5 | SDA | +3.3V |
| 6 | GND | GND |
### GPS2 Port
| Pin | Сигнал | Вольтаж |
| --- | -------------------------- | --------------------- |
| 1 | VCC | +5V |
| 2 | TX(OUT) | +3.3V |
| 3 | RX(IN) | +3.3V |
| 4 | SCL | +3.3V |
| 5 | SDA | +3.3V |
| 6 | GND | GND |
### SPI
| Pin | Сигнал | Вольтаж |
| --- | ------------------------------ | --------------------- |
| 1 | VCC | +5V |
| 2 | SPI_SCK | +3.3V |
| 3 | SPI_MISO | +3.3V |
| 4 | SPI_MOSI | +3.3V |
| 5 | !SPI_NSS1 | +3.3V |
| 6 | !SPI_NSS2 | +3.3V |
| 7 | DRDY | +3.3V |
| 8 | GND | GND |
### POWER1 (HY2.0-6P)
Port for analog power monitors.
| Pin | Сигнал | Вольтаж |
| --- | ------- | ------------------------ |
| 1 | VCC | +5V |
| 2 | VCC | +5V |
| 3 | CURRENT | до +3.3V |
| 4 | VOLTAGE | до +3.3V |
| 5 | GND | GND |
| 6 | GND | GND |
### POWER2 (HY2.0-6P)
Port for digital (I2C) power monitor.
| Pin | Сигнал | Вольтаж |
| --- | ------ | --------------------- |
| 1 | VCC | +5V |
| 2 | VCC | +5V |
| 3 | SCL | +3.3V |
| 4 | SDA | +3.3V |
| 5 | GND | GND |
| 6 | GND | GND |
### ADC 3.3V
| Pin | Сигнал | Вольтаж |
| --- | ------- | --------------------------- |
| 1 | VCC | +5V |
| 2 | ADC IN1 | до +3.3V |
| 3 | GND | GND |
| 4 | ADC IN2 | up to +3.3v |
| 5 | GND | GND |
### ADC 6.6V
| Pin | Сигнал | Вольтаж |
| --- | ------ | -------------------------- |
| 1 | VCC | +5V |
| 2 | ADC IN | up to 6.6V |
| 3 | GND | GND |
### USB remote port
| Pin | Сигнал | Вольтаж |
| --- | ------- | --------------------- |
| 1 | USB VDD | +5V |
| 2 | DM | +3.3V |
| 3 | DP | +3.3V |
| 4 | GND | GND |
### SWITCH
| Pin | Сигнал | Вольтаж |
| --- | -------------------------------------------------------- | --------------------- |
| 1 | VCC | +3.3V |
| 2 | !IO_LED_SAFETY | GND |
| 3 | SAFETY | GND |
### Buzzer port
| Pin | Сигнал | Вольтаж |
| --- | ------- | ------- |
| 1 | VCC | +5V |
| 2 | BUZZER- | +5V |
### Spektrum/DSM Port (PH1.25-3P)
| Pin | Сигнал | Вольтаж |
| --- | ------ | --------------------- |
| 1 | VCC | +3.3V |
| 2 | GND | GND |
| 3 | Сигнал | +3.3V |
### Debug port (SH1.0-8P)
| Pin | Сигнал | Вольтаж |
| --- | ------------------------------ | --------------------- |
| 1 | VCC | +5V |
| 2 | FMU_SWCLK | +3.3V |
| 3 | FMU_SWDIO | +3.3V |
| 4 | TX(UART7) | +3.3V |
| 5 | RX(UART7) | +3.3V |
| 6 | IO_SWCLK | +3.3V |
| 7 | IO_SWDIO | +3.3V |
| 8 | GND | GND |
## Збірка прошивки
To [build PX4](../dev_setup/building_px4.md) for this target:
```sh
make radiolink_PIX6_default
```
## Встановлення прошивки PX4
Прошивку можна встановити будь-якими звичайними способами:
- Збудуйте та завантажте джерело
```sh
make radiolink_PIX6_default upload
```
- [Load the firmware](../config/firmware.md) using _QGroundControl_.
Ви можете використовувати або готове вбудоване програмне забезпечення, або власне користувацьке програмне забезпечення.
::: info
At time of writing the only pre-built software is `PX4 main` (see [Installing PX4 Main, Beta or Custom Firmware](../config/firmware.md#installing-px4-main-beta-or-custom-firmware)).
Release builds will be supported for PX4 v1.17 and later.
:::
## Конфігурація PX4
In addition to the [basic configuration](../config/index.md), the following parameters are important:
| Параметр | Налаштування |
| -------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| [SYS_HAS_MAG](../advanced_config/parameter_reference.md#SYS_HAS_MAG) | Це має бути вимкнено, оскільки у платі немає внутрішнього магніту. Ви можете активувати це, якщо приєднаєте зовнішній магніт. |
### Powering the PIX6
The PIX6 has 2 dedicated power monitor ports, each with a 6 pin connector.
One is the Analog power monitor (`POWER1`), and the others is the I2C power monitor (`POWER2`).
The power module that comes with the flight controller with a wide voltage input range of 2-12S (7.4-50.4V), a maximum detection current of 90A (single ESC maximum detection current is 22.5A), a BEC output voltage of 5.3±0.2V, and a BEC output current of 2A.
![Radiolink power modules MODULES](../../assets/flight_controller/radiolink_pix6/radiolink_power_modules.png)
The PIX6 also supports power modules from other manufacturers, such as [holybro_pm02d](../power_module/holybro_pm02d.md).
## Recommended Accessories
### GPS Modules
Radiolink manufactures a variety of high-performance GPS，Dual Anti-interference Technology Worry-free of UAV High-power Image Transmission, High-Voltage Lines, or Other Strong Signal Interference.
The PIX6 has 2 dedicated GPS ports, `GPS1` and `GPS2`, each with a 6 pin connector.
Recommended modules include:
- [Radiolink SE100](https://radiolink.com.cn/se100)
- [Radiolink TS100](https://radiolink.com.cn/ts100v2)
- [Radiolink RTK F9P](https://radiolink.com.cn/rtk_f9p)
## Налаштування послідовного порту
| UART | Пристрій | Порт |
| ------ | ---------- | --------------------------------------------- |
| UART1 | /dev/ttyS0 | GPS1 |
| USART2 | /dev/ttyS1 | TELEM1 (керування потоком) |
| USART3 | /dev/ttyS2 | TELEM2 (керування потоком) |
| UART4 | /dev/ttyS3 | GPS2 |
| UART7 | /dev/ttyS4 | Debug Console |
| UART8 | /dev/ttyS5 | PX4IO |
## Analog inputs
The Radiolink PIX6 has 3 analog inputs, one 6V tolerant and two 3.3V tolerant.
- ADC Pin12 -> ADC 6.6V Sense
- ADC Pin4 -> ADC IN1 3.3V Sense
- ADC Pin13 -> ADC IN2 3.3V Sense
## Радіоуправління
A [Radio Control (RC)](../getting_started/rc_transmitter_receiver.md) system is required if you want to _manually_ control your vehicle (PX4 does not require a radio system for autonomous flight modes).
Вам потрібно [вибрати сумісний передавач/приймач](../getting_started/rc_transmitter_receiver.md) і _зв'язати_ їх таким чином, щоб вони взаємодіяли (ознайомтеся з інструкціями, що додаються до вашого конкретного передавача/приймача).
- Spektrum/DSM receivers connect to the **DSM/SBUS RC** input.
- PPM or SBUS receivers connect to the **RC IN** input port.
- CRSF receiver must be wired to a spare port (UART) on the Flight Controller.
Then you can bind the transmitter and receiver together.
#### CRSF Parameter Configuration
[Find and set](../advanced_config/parameters.md) the following parameters:
1. Set [RC_CRSF_PRT_CFG](../advanced_config/parameter_reference.md#RC_CRSF_PRT_CFG) to the port that is connected to the CRSF receiver (such as `TELEM1`).
This [configures the serial port](../peripherals/serial_configuration.md) to use the CRSF protocol.
Note that some serial ports may already have a [default serial port mapping](../peripherals/serial_configuration.md#default-serial-port-configuration) or [default MAVLink serial port mapping](../peripherals/mavlink_peripherals.md#default-mavlink-ports) that you will have to un-map before you can assign the port to CRSF.
For example, if you want to use `TELEM1` or `TELEM2` you first need to modify [MAV_0_CONFIG](../advanced_config/parameter_reference.md#MAV_0_CONFIG) or [MAV_1_CONFIG](../advanced_config/parameter_reference.md#MAV_1_CONFIG) to stop setting those ports.
Немає потреби встановлювати швидкість передачі для порту, оскільки це налаштовано драйвером.
2. Enable [RC_CRSF_TEL_EN](../advanced_config/parameter_reference.md#RC_CRSF_TEL_EN) to activate Crossfire telemetry.
Для отримання додаткової інформації про вибір радіосистеми, сумісність приймача та зв'язок вашої передавача/приймача, див. статтю: [Пульт керування передавачів & приймачів](../getting_started/rc_transmitter_receiver.md).