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# ARK Pi6X Flow
The [ARK Pi6X Flow](https://arkelectron.gitbook.io/ark-documentation/flight-controllers/ark-pi6x-flow) integrates a Raspberry Pi Compute Module 4 (CM4) Carrier, [ARKV6X Flight Controller](../flight_controller/ark_v6x.md), [ARK Flow sensors](../dronecan/ark_flow.md) , [ARK PAB Power Module](../power_module/ark_pab_power_module.md), and a 4-in-1 ESC, all mounted onto one compact board.
![ARK Pi6X Flow Flight Controller](../../assets/flight_controller/ark_pi6x_flow/ark_pi6xflow.jpg)
## 购买渠道
Order this module from:
- [ARK Electronics](https://arkelectron.com/product/ark-pi6x-flow/) (US)
## Key Components
### Raspberry Pi Compute Module 4 Carrier
- Autopilot Firmware: PX4
- Features:
- MicroSD slot (for CM4 Lite)
- Micro HDMI
- Ethernet
- USB C Host
- 2x USB JST GH
- 2x MIPI CSI (22-pin FFC)
- Programming micro USB
- I2C, UART
- LED Strip GPIO
- General Purpose GPIO
- Console
- CPU Fan
### 飞控
- Communication:
- TELEM (UART)
- RC Input (UART)
- GPS (UART, I2C)
- CAN
- Control and Monitoring:
- 8 PWM Outputs
- 蜂鸣器
- Debug (SWD, UART Console)
- MicroSD slot for data storage
### 传感器
- 2x ICM-42688-P Accelerometer/Gyroscope (includes Heater)
- PAW3902 Optical Flow Sensor
- AFBR-S50LV85D 30-Meter Distance Sensor
- ST IIS2MDC Magnetometer
- BMP390 Barometer
- INA226 Voltage/Current Monitor
### USA-Built and NDAA Compliant
## Power Requirements
- Battery Input: Up to 6s/25.2V (actual requirement depends on usage and peripherals)
## Dimensions & Weight
- Dimensions: 91.5mm x 56mm (without Pi CM4 and ESC)
- Weight:
- 41g (without Pi CM4, Pi SD, and ESC)
- 53g (bundle with Pi CM4 and Pi SD, without ESC)
## 附加信息
- Included: Flight Controller MicroSD
- Bundle Option Includes:
- Raspberry Pi Compute Module 4 with WiFi, 4GB RAM Lite – CM4104000
- SanDisk 128GB High Endurance Video MicroSDXC with [ARK-OS](https://github.com/ARK-Electronics/ARK-OS) Pre-Installed
## Flashing Guide
[ARK Pi6X Flashing Guide](https://arkelectron.gitbook.io/ark-documentation/flight-controllers/ark-pi6x-flow/flashing-guide)
## 针脚定义
![ARK Pi6X Flow Pinout](../../assets/flight_controller/ark_pi6x_flow/ark_pi6xflow_pinout.png)
### PWM UART4 - 11 Pin JST-GH
| Pin Number | Signal Name | Voltage |
| :--------- | :----------------------------------------------------- | :------------------- |
| 1 | FMU_CH1_EXT | 3.3V |
| 2 | FMU_CH2_EXT | 3.3V |
| 3 | FMU_CH3_EXT | 3.3V |
| 4 | FMU_CH4_EXT | 3.3V |
| 5 | FMU_CH5_EXT | 3.3V |
| 6 | FMU_CH6_EXT | 3.3V |
| 7 | FMU_CH7_EXT | 3.3V |
| 8 | FMU_CH8_EXT | 3.3V |
| 9 | UART4_TX_EXT | 3.3V |
| 10 | UART4_RX_EXT | 3.3V |
| 11 | GND | GND |
### RC - 4 Pin JST-GH
| Pin Number | Signal Name | Voltage |
| :--------- | :---------------------------------------------------------------------------------- | :------------------- |
| 1 | VDD_5V_SBUS_RC | 5.0V |
| 2 | USART6_RX_IN_EXT | 3.3V |
| 3 | USART6_TX_OUTPUT_EXT | 3.3V |
| 4 | GND | GND |
### CAN - 4 Pin JST-GH
| Pin Number | Signal Name | Voltage |
| :--------- | :------------------------------------------------------- | :------------------- |
| 1 | VDD_5V_HIPOWER | 5.0V |
| 2 | CAN1_P | 5.0V |
| 3 | CAN1_N | 5.0V |
| 4 | GND | GND |
### GPS - 6 Pin JST-GH
| Pin Number | Signal Name | Voltage |
| :--------- | :-------------------------------------------------------------------------------- | :------------------- |
| 1 | VDD_5V_HIPOWER | 5.0V |
| 2 | USART1_TX_GPS1_EXT | 3.3V |
| 3 | USART1_RX_GPS1_EXT | 3.3V |
| 4 | I2C1_SCL_GPS1_EXT | 3.3V |
| 5 | I2C1_SDA_GPS1_EXT | 3.3V |
| 6 | GND | GND |
### Telem1 - 6 Pin JST-GH
| Pin Number | Signal Name | Voltage |
| :--------- | :---------------------------------------------------------------------------------- | :------------------- |
| 1 | VDD_5V_HIPOWER | 5.0V |
| 2 | UART7_TX_TELEM1_EXT | 3.3V |
| 3 | UART7_RX_TELEM1_EXT | 3.3V |
| 4 | UART7_CTS_TELEM1_EXT | 3.3V |
| 5 | UART7_RTS_TELEM1_EXT | 3.3V |
| 6 | GND | GND |
### Flight Controller Debug - 10 Pin JST-SH
| Pin Number | Signal Name | Voltage |
| :--------- | :----------------------------------------------------------- | :------------------- |
| 1 | 3V3_FMU | 3.3V |
| 2 | USART4_TX_DEBUG | 3.3V |
| 3 | USART4_RX_DEBUG | 3.3V |
| 4 | FMU_SWDIO | 3.3V |
| 5 | FMU_SWCLK | 3.3V |
| 6 | SPI6_SCK_EXTERNAL1 | 3.3V |
| 7 | NFC_GPIO | 3.3V |
| 8 | PD15 | 3.3V |
| 9 | FMU_NRST | 3.3V |
| 10 | GND | GND |
### Pi I2C1 - 4 Pin JST-GH
| Pin Number | Signal Name | Voltage |
| :--------- | :----------------------------------------------------- | :------------------- |
| 1 | 5.0V | 5.0V |
| 2 | I2C1_SCL_EXT | 3.3V |
| 3 | I2C1_SDA_EXT | 3.3V |
| 4 | GND | GND |
### Pi UART3 - 6 Pin JST-GH
| Pin Number | Signal Name | Voltage |
| :--------- | :------------------------------------------------------ | :------------------- |
| 1 | 5.0V | 5.0V |
| 2 | UART3_TX_EXT | 3.3V |
| 3 | UART3_RX_EXT | 3.3V |
| 4 | UART3_CTS_EXT | 3.3V |
| 5 | UART3_RTS_EXT | 3.3V |
| 6 | GND | GND |
### Pi ETH - 4 Pin JST-GH
| Pin Number | Signal Name | Voltage |
| :--------- | :------------------------------------------------- | :------------------- |
| 1 | ETH_RD_N | 3.3V |
| 2 | ETH_RD_P | 3.3V |
| 3 | ETH_TD_N | 3.3V |
| 4 | ETH_TD_P | 3.3V |
### Pi LED Strip - 8 Pin JST-GH
| Pin Number | Signal Name | Voltage |
| :--------- | :------------------------------ | :------------------- |
| 1 | 5.0V | 5.0V |
| 2 | 5.0V | 5.0V |
| 3 | GPIO12_EXT | 3.3V |
| 4 | GPIO16_EXT | 3.3V |
| 5 | GPIO17_EXT | 3.3V |
| 6 | GPIO20_EXT | 3.3V |
| 7 | GND | GND |
| 8 | GND | GND |
### Pi GPIO - 6 Pin JST-GH
| Pin Number | Signal Name | Voltage |
| :--------- | :------------------------------ | :------------------- |
| 1 | 5.0V | 5.0V |
| 2 | GPIO21_EXT | 3.3V |
| 3 | GPIO22_EXT | 3.3V |
| 4 | GPIO23_EXT | 3.3V |
| 5 | GPIO24_EXT | 3.3V |
| 6 | GND | GND |
### Pi Fan - 4 Pin JST-GH
| Pin Number | Signal Name | Voltage |
| :--------- | :----------------------------------------------------- | :------------------- |
| 1 | GND | GND |
| 2 | 5.0V | 5.0V |
| 3 | FAN_TACH_CON | 5.0V |
| 4 | FAN_PWM_Q\* | 5.0V |
### Pi Console - 6 Pin JST-SH
| Pin Number | Signal Name | Voltage |
| :--------- | :-------------------------------------------- | :------------------- |
| 1 | 3.3V_RPI | 3.3V |
| 2 | CONSOLE_TXD0 | 3.3V |
| 3 | CONSOLE_RXD0 | 3.3V |
| 4 | NC | NC |
| 5 | NC | NC |
| 6 | GND | GND |
### Pi USB - 4 Pin JST-GH (VBUS2_FLT)
| Pin Number | Signal Name | Voltage |
| :--------- | :--------------------------------------------------- | :------------------- |
| 1 | VBUS2_FLT | 5.0V |
| 2 | USB2_EXT_N | 3.3V |
| 3 | USB2_EXT_P | 3.3V |
| 4 | GND | GND |
### Pi USB - 4 Pin JST-GH (VBUS4_FLT)
| Pin Number | Signal Name | Voltage |
| :--------- | :--------------------------------------------------- | :------------------- |
| 1 | VBUS4_FLT | 5.0V |
| 2 | USB4_EXT_N | 3.3V |
| 3 | USB4_EXT_P | 3.3V |
| 4 | GND | GND |
### CAM0 - 22 Pin
0.5mm FFC 0545482271
| Pin Number | Signal Name | Voltage |
| :--------- | :-------------------------------------------------- | :------------------- |
| 1 | GND | GND |
| 2 | CAM0_D0_N | 1.2V |
| 3 | CAM0_D0_P | 1.2V |
| 4 | GND | GND |
| 5 | CAM0_D1_N | 1.2V |
| 6 | CAM0_D1_P | 1.2V |
| 7 | GND | GND |
| 8 | CAM0_C_N | 1.2V |
| 9 | CAM0_C_P | 1.2V |
| 10 | GND | GND |
| 11 | NC | NC |
| 12 | NC | NC |
| 13 | GND | GND |
| 14 | NC | NC |
| 15 | NC | NC |
| 16 | GND | GND |
| 17 | CAM_GPIO | 3.3V |
| 18 | NC | NC |
| 19 | GND | GND |
| 20 | ID_SC | 3.3V |
| 21 | ID_SD | 3.3V |
| 22 | 3.3V_RPI | 3.3V |
### CAM1 - 22 Pin 0.5mm FFC 0545482271
| Pin Number | Signal Name | Voltage |
| :--------- | :-------------------------------------------------- | :------------------- |
| 1 | GND | GND |
| 2 | CAM1_D0_N | 1.2V |
| 3 | CAM1_D0_P | 1.2V |
| 4 | GND | GND |
| 5 | CAM1_D1_N | 1.2V |
| 6 | CAM1_D1_P | 1.2V |
| 7 | GND | GND |
| 8 | CAM1_C_N | 1.2V |
| 9 | CAM1_C_P | 1.2V |
| 10 | GND | GND |
| 11 | CAM1_D2_N | 1.2V |
| 12 | CAM1_D2_P | 1.2V |
| 13 | GND | GND |
| 14 | CAM1_D3_N | 1.2V |
| 15 | CAM1_D3_P | 1.2V |
| 16 | GND | GND |
| 17 | CAM_GPIO | 3.3V |
| 18 | NC | NC |
| 19 | GND | GND |
| 20 | SCL0 | 3.3V |
| 21 | SDA0 | 3.3V |
| 22 | 3.3V_RPI | 3.3V |
## 另见
- [ARK Pi6X Flow Documentation](https://arkelectron.gitbook.io/ark-documentation/flight-controllers/ark-pi6x-flow) (ARK Docs)
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