# RadiolinkPIX6 Flight Controller

<Badge type="tip" text="main (planned for: PX4 v1.17)" />

:::warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://radiolink.com.cn/) for hardware support or compliance issues.
:::

자동조종장치는 상용시스템 통합에 권장되지만, 학술 연구와 기타 용도에도 적합합니다.

![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).
:::

## 요약

- 프로세서
  - 32-bit ARM Cortex M7 core with DPFPU - STM32F765VIT6
  - 216 MHz/512 KB RAM/2 MB 플래시
  - 32-bit IOMCU co-processor - STM32F100
  - 32KB FRAM - FM25V02A
  - AT7456E OSD
- 센서
  - Bosh BMI088 IMU (accel, gyro)
  - InvenSense ICM-42688 IMU (accel, gyro)
  - SPA06 barometer
  - IST8310 magnetometer
- 전원
  - SMBUS/I2C Power Module Inputs (I2C)
  - voltage and current monitor inputs (Analog)
- 인터페이스
  - 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
  - RSSI(PWM 또는 전압) 입력
  - I2C, SPI, 2x CAN, USB
  - 3.3V and 6.6V ADC inputs
  - 부저와 안전 스위치
  - microSD card
- 중량과 크기
  - Weight 80g
  - Size 94mm x 51.5mm x 14.5mm

## 구매처

[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）

## 커넥터 할당

### 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)

## 핀배열

Unless noted otherwise all connectors are JST GH.

### TELEM1, TELEM2 포트

| 핀 | 신호                         | 전압                    |
| - | -------------------------- | --------------------- |
| 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

| 핀 | 신호   | 전압                    |
| - | ---- | --------------------- |
| 1 | GND  | GND                   |
| 2 | VOUT | +3.3V |
| 3 | VCC  | +5V                   |
| 4 | GND  | GND                   |
| 5 | VCC  | +5V                   |
| 6 | VIN  | +3.3V |

### I2C port

| 핀 | 신호  | 전압                                                 |
| - | --- | -------------------------------------------------- |
| 1 | VCC | +5V                                                |
| 2 | SCL | +3.3V (pullups) |
| 3 | SDA | +3.3V (pullups) |
| 4 | GND | GND                                                |

### CAN1, CAN2 ports

| 핀 | 신호                         | 전압   |
| - | -------------------------- | ---- |
| 1 | VCC                        | +5V  |
| 2 | CAN_H | +12V |
| 3 | CAN_L | +12V |
| 4 | GND                        | GND  |

### GPS1 port

| 핀 | 신호                         | 전압                    |
| - | -------------------------- | --------------------- |
| 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

| 핀 | 신호                         | 전압                    |
| - | -------------------------- | --------------------- |
| 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

| 핀 | 신호                             | 전압                    |
| - | ------------------------------ | --------------------- |
| 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.

| 핀 | 신호      | 전압                       |
| - | ------- | ------------------------ |
| 1 | VCC     | +5V                      |
| 2 | VCC     | +5V                      |
| 3 | CURRENT | 최대 +3.3V |
| 4 | VOLTAGE | 최대 +3.3V |
| 5 | GND     | GND                      |
| 6 | GND     | GND                      |

### POWER2 (HY2.0-6P)

Port for digital (I2C) power monitor.

| 핀 | 신호  | 전압                    |
| - | --- | --------------------- |
| 1 | VCC | +5V                   |
| 2 | VCC | +5V                   |
| 3 | SCL | +3.3V |
| 4 | SDA | +3.3V |
| 5 | GND | GND                   |
| 6 | GND | GND                   |

### ADC 3.3V

| 핀 | 신호      | 전압                          |
| - | ------- | --------------------------- |
| 1 | VCC     | +5V                         |
| 2 | ADC IN1 | 최대 +3.3V    |
| 3 | GND     | GND                         |
| 4 | ADC IN2 | up to +3.3v |
| 5 | GND     | GND                         |

### ADC 6.6V

| 핀 | 신호     | 전압                         |
| - | ------ | -------------------------- |
| 1 | VCC    | +5V                        |
| 2 | ADC 입력 | up to 6.6V |
| 3 | GND    | GND                        |

### USB remote port

| 핀 | 신호      | 전압                    |
| - | ------- | --------------------- |
| 1 | USB VDD | +5V                   |
| 2 | DM      | +3.3V |
| 3 | DP      | +3.3V |
| 4 | GND     | GND                   |

### 스위치

| 핀 | 신호                                                       | 전압                    |
| - | -------------------------------------------------------- | --------------------- |
| 1 | VCC                                                      | +3.3V |
| 2 | !IO_LED_SAFETY | GND                   |
| 3 | SAFETY                                                   | GND                   |

### Buzzer port

| 핀 | 신호      | 전압  |
| - | ------- | --- |
| 1 | VCC     | +5V |
| 2 | BUZZER- | +5V |

### Spektrum/DSM Port (PH1.25-3P)

| 핀 | 신호  | 전압                    |
| - | --- | --------------------- |
| 1 | VCC | +3.3V |
| 2 | GND | GND                   |
| 3 | 신호  | +3.3V |

### Debug port (SH1.0-8P)

| 핀 | 신호                             | 전압                    |
| - | ------------------------------ | --------------------- |
| 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                   |

## 펌웨어 빌드

To [build PX4](../dev_setup/building_px4.md) for this target:

```sh
make radiolink_PIX6_default
```

## 펌웨어 설치

펌웨어는 일반적인 방법으로 설치할 수 있습니다.

- 소스 빌드 및 업로드

  ```sh
  make radiolink_PIX6_default upload
  ```

- [Load the firmware](../config/firmware.md) using _QGroundControl_.
  미리 빌드된 펌웨어나 사용자 지정 펌웨어를 사용할 수 있습니다.

  ::: 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.

:::

## PX4 설정

In addition to the [basic configuration](../config/index.md), the following parameters are important:

| 매개변수                                                                                                           | 설정                                                                                         |
| -------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------ |
| [SYS_HAS_MAG](../advanced_config/parameter_reference.md#SYS_HAS_MAG) | 보드에 내부 자력계가 없기 때문에 비활성화하여야 합니다. 외부 자력계를 연결하여 활성화 할 수 있습니다. |

### 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)

## 시리얼 포트 매핑

| UART   | 장치         | 포트                                |
| ------ | ---------- | --------------------------------- |
| UART1  | /dev/ttyS0 | GPS1                              |
| USART2 | /dev/ttyS1 | TELEM1 (흐름 제어) |
| USART3 | /dev/ttyS2 | TELEM2 (흐름 제어) |
| UART4  | /dev/ttyS3 | GPS2                              |
| UART7  | /dev/ttyS4 | 디버그 콘솔                            |
| 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

## 무선 조종

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).

You will need to [select a compatible transmitter/receiver](../getting_started/rc_transmitter_receiver.md) and then _bind_ them so that they communicate (read the instructions that come with your specific transmitter/receiver).

- 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.

   포트 전송속도는 드라이버에 의해 설정되므로, 추가로 설정하지 않아도 됩니다.

2. Enable [RC_CRSF_TEL_EN](../advanced_config/parameter_reference.md#RC_CRSF_TEL_EN) to activate Crossfire telemetry.

For more information about selecting a radio system, receiver compatibility, and binding your transmitter/receiver pair, see: [Remote Control Transmitters & Receivers](../getting_started/rc_transmitter_receiver.md).