# CUAV Pixhawk V6X :::warning PX4 does not manufacture this (or any) autopilot. Contact the [manufacturer](https://store.cuav.net/) for hardware support or compliance issues. ::: _Pixhawk V6X_® is the latest update to the successful family of Pixhawk® flight controllers designed and made in collaboration with CUAV® and the PX4 team. 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). ![Pixhawk V6X](../../assets/flight_controller/cuav_pixhawk_v6x/pixhawk_v6x.jpg) :::tip This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md) by the PX4 maintenance and test teams. ::: Pixhawk® V6X brings you the ultimate in performance, stability and reliability in all aspects. - Arm® Cortex®-M7 processor (STM32H753) with Floating Point Unit (FPU), 480MHz high-speed operations and 2MB flash. Developers can be more productive and efficient, allowing for more complex algorithms and models. - High-performance on-board, low-noise IMU and automotive-grade magnetic compass based on FMUv6X open standard. It aims to achieve better stability and anti-interference ability. - Triple redundant IMU & double redundant barometer on separate buses. When the PX4 Autopilot detects a sensor failure, the system seamlessly switches to another to maintain flight control reliability. - An independent LDO powers every sensor set with independent power control. 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. - External sensor bus (SPI5) has two chip select lines and data-ready signals for additional sensors and payload with SPI-interface. - Integrated Microchip Ethernet PHY for high-speed communication over Ethernet with onboard devices such as mission computers. - Newly designed vibration isolation system to filter out high frequency vibration and reduce noise to ensure accurate readings. - IMUs are temperature-controlled by onboard heating resistors, allowing optimum working temperature of IMUs - Modular flight controller: separated IMU, FMU, and Base system connected by a 100-pin & a 50-pin Pixhawk®​ Autopilot Bus connector. The Pixhawk® V6X is ideal for corporate research labs, academic research and commercial applications. ### Processors & Sensors - FMU Processor: STM32H753 - 32 Bit Arm® Cortex®-M7, 480MHz, 2MB flash memory, 1MB RAM - IO Processor: STM32F103 - 32 Bit Arm® Cortex®-M3, 72MHz, 20KB SRAM - On-board sensors - Accel/Gyro: BMI088 - Accel/Gyro: ICM-42688-P - Accel/Gyro: ICM-20649 - Mag: RM3100 - Barometer: 2x ICP-20100 ### Electrical data - Voltage Ratings: - Max input voltage: 5.7V - USB Power Input: 4.75\~5.25V - Servo Rail Input: 0\~9.9V - Current Ratings: - TELEM1 and GPS2 combined output current limiter: 1.5A - All other port combined output current limiter: 1.5A ### Interfaces - 16- PWM servo outputs - 1 Dedicated R/C input for Spektrum / DSM and S.Bus with analog / PWM RSSI input - 3 TELEM Ports（with full flow control） - 1 UART4(Seial and I2C) - 2 GPS ports - 1 full GPS plus Safety Switch Port(GPS1) - 1 basic GPS port(with I2C,GPS2) - 2 USB Ports - 1 TYPE-C - JST GH1.25 - 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 - 4 power input ports - 2 Dronecan/UAVCAN power inputs - 2 SMBUS/I2C power inputs - 1 AD & IO port - 2 additional analog input(3.3 and 6.6v） - 1 PWM/Capture input - 2 Dedicated debug - FMU debug - IO debug ### Mechanical data - Weight - Flight Controller Module: 99g - Core module: 43g - Baseboard: 56g - Operating & storage temperature: -20 ~ 85°c - Size - Flight controller ![Pixhawk V6X](../../assets/flight_controller/cuav_pixhawk_v6x/v6x_size.jpg) - Core module ![Pixhawk V6X](../../assets/flight_controller/cuav_pixhawk_v6x/core.png) ## Where to Buy Order from [CUAV](https://store.cuav.net/). ## Assembly/Setup The [Pixhawk V6X Wiring Quick Start](../assembly/quick_start_cuav_pixhawk_v6x.md) provides instructions on how to assemble required/important peripherals including GPS, Power Module etc. ## Pinouts ![Pixhawk V6x Pinout](../../assets/flight_controller/cuav_pixhawk_v6x/pixhawk_v6x_pinouts.png) Notes: - The [camera capture pin](../camera/fc_connected_camera.md#camera-capture-configuration) (`PI0`) is pin 2 on the AD&IO port, marked above as `FMU_CAP1`. ## Serial Port Mapping | UART | Device | Port | | ------ | ---------- | ------------- | | USART1 | /dev/ttyS0 | GPS | | USART2 | /dev/ttyS1 | TELEM3 | | USART3 | /dev/ttyS2 | Debug Console | | UART4 | /dev/ttyS3 | UART4 | | UART5 | /dev/ttyS4 | TELEM2 | | USART6 | /dev/ttyS5 | PX4IO/RC | | UART7 | /dev/ttyS6 | TELEM1 | | UART8 | /dev/ttyS7 | GPS2 | ## Voltage Ratings _Pixhawk V6X_ can be triple-redundant on the power supply if three power sources are supplied. The three power rails are: **POWERC1/POWER1**, **POWERC2/POWER2** and **USB**. - **POWER C1** and **POWER C2** are DroneCAN/UAVCAN battery interfaces (recommended)；**POWER1** and **POWER2** are SMbus/I2C battery interfaces (backup). - **POWER C1** and **POWER1** use the same power switch, **POWER C2** and **POWER2** use the same power switch. **Normal Operation Maximum Ratings** Under these conditions all power sources will be used in this order to power the system: 1. **POWER C1**, **POWER C2**, **POWER1** and **POWER2** inputs (4.75V to 5.7V) 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 4.7V to 5.7V, 0V to 10V undamaged) 1. **USB input** (operational range 4.7V to 5.7V, 0V to 6V undamaged) 1. **Servo input:** `VDD_SERVO` pin of **FMU PWM OUT** and **I/O PWM OUT** (0V to 42V undamaged) **Voltage monitoring** Digital DroneCAN/UAVCAN battery monitoring is enabled by default (see [Quickstart > Power](../assembly/quick_start_cuav_pixhawk_v6x.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. ::: ## Building Firmware :::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](../dev_setup/building_px4.md) for this target: ``` make px4_fmu-v6x_default ``` ## Debug Port The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) run on the **FMU Debug** port. The pinouts and connector comply with the [Pixhawk Debug Full](../debug/swd_debug.md#pixhawk-debug-full) interface defined in the [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf) 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](../debug/system_console.md#pixhawk_debug_port) (Note, the FMU console maps to USART3). - [SWD Debug Port](../debug/swd_debug.md) ## Peripherals - [Digital Airspeed Sensor](https://holybro.com/products/digital-air-speed-sensor-ms4525do) - [Telemetry Radio Modules](https://holybro.com/collections/telemetry-radios?orderby=date) - [Rangefinders/Distance sensors](../sensor/rangefinders.md) ## 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](../airframes/airframe_reference.md). ## Further info - [CUAV Docs](https://doc.cuav.net/) (CUAV) - [Pixhawk V6X Wiring QuickStart](../assembly/quick_start_cuav_pixhawk_v6x.md) - [Pixhawk Autopilot FMUv6X Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-012%20Pixhawk%20Autopilot%20v6X%20Standard.pdf) - [Pixhawk Autopilot Bus Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-010%20Pixhawk%20Autopilot%20Bus%20Standard.pdf) - [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf)