mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
218 lines
9.3 KiB
Markdown
218 lines
9.3 KiB
Markdown
# Holybro Pixhawk 6C Mini
|
||
|
||
:::warning
|
||
PX4 does not manufacture this (or any) autopilot.
|
||
Contact the [manufacturer](https://holybro.com/) for hardware support or compliance issues.
|
||
:::
|
||
|
||
_Pixhawk 6C Mini_<sup>®</sup> is the latest update to the successful family of Pixhawk® flight controllers designed and made in collaboration with Holybro<sup>®</sup> 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 complies with the Pixhawk [Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf).
|
||
|
||
|
||
|
||
:::tip
|
||
This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md) by the PX4 maintenance and test teams.
|
||
:::
|
||
|
||
## 简介
|
||
|
||
The Pixhawk® 6C Mini is the latest update to the successful family of Pixhawk® flight controllers.
|
||
|
||
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, 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 applications.
|
||
|
||
**Key Design Points**
|
||
|
||
- High performance STM32H743 Processor with more computing power & RAM
|
||
- New cost-effective design with low-profile form factor
|
||
- Newly designed integrated 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 
|
||
|
||
## Technical Specification
|
||
|
||
### **Processors & Sensors**
|
||
|
||
- FMU Processor: STM32H743 
|
||
- 32 Bit Arm® Cortex®-M7, 480MHz, 2MB memory, 1MB SRAM 
|
||
- IO Processor: STM32F103
|
||
-  32 Bit Arm® Cortex®-M3, 72MHz, 64KB SRAM 
|
||
- On-board sensors 
|
||
-  Accel/Gyro: ICM-42688-P 
|
||
- Accel/Gyro: BMI055 
|
||
- Mag: IST8310 
|
||
- 气压计：MS5611
|
||
|
||
### **Electrical data**
|
||
|
||
- Voltage Ratings:
|
||
- Max input voltage: 6V
|
||
- USB Power Input: 4.75\~5.25V
|
||
- Servo Rail Input: 0\~36V
|
||
- Current Ratings:
|
||
- \`TELEM1\`\` Max output current limiter: 1A
|
||
- All other port combined output current limiter: 1A
|
||
|
||
### **Mechanical data**
|
||
|
||
- Dimensions: 53.3 x 39 x 16.2 mm
|
||
- Weight: 39.2g
|
||
|
||
### **Interfaces**
|
||
|
||
- 14- PWM servo outputs (8 from IO, 6 from FMU)
|
||
|
||
- 3个通用串行口
|
||
- `TELEM1` - Full flow control, separate 1A current limit
|
||
- `TELEM2` - Full flow control
|
||
|
||
- 2 GPS ports
|
||
- GPS1 - Full GPS port (GPS plus safety switch)
|
||
- GPS2 - Basic GPS port
|
||
|
||
- 1 I2C port
|
||
- Supports dedicated I2C calibration EEPROM located on sensor module
|
||
|
||
- 2 CAN Buses
|
||
- CAN Bus has individual silent controls or ESC RX-MUX control
|
||
|
||
- 1 Debug ports:
|
||
- FMU Debug Mini
|
||
|
||
- Dedicated R/C input for Spektrum/DSM and S.BUS, CPPM, analog / PWM RSSI
|
||
|
||
- 1 Power input ports (Analog)
|
||
|
||
- 其它特性:
|
||
- Operating & storage temperature: -40 ~ 85°c
|
||
|
||
## 购买渠道
|
||
|
||
Order from [Holybro](https://holybro.com/products/pixhawk-6c-mini).
|
||
|
||
## 组装 / 设置
|
||
|
||
The Pixhawk 4 Mini's port is very similar to the Pixhawk 6C Mini's port.
|
||
Please refer to the [Pixhawk 4 Mini Wiring Quick Start](../assembly/quick_start_pixhawk4_mini.md) as it provides instructions on how to assemble required/important peripherals including GPS, Power Module etc.
|
||
|
||
## 针脚定义
|
||
|
||
- [Holybro Pixhawk 6C Mini Port Pinout](https://docs.holybro.com/autopilot/pixhawk-6c-mini/pixhawk-6c-mini-ports)
|
||
|
||
## 串口映射
|
||
|
||
| UART | 设备 | QGC Parameter Description | Port Label on FC |
|
||
| ------ | ---------- | ------------------------- | ---------------- |
|
||
| USART1 | UART | GPS1 | GPS1 |
|
||
| USART2 | /dev/ttyS1 | TELEM3 | N/A |
|
||
| USART3 | /dev/ttyS2 | N/A | FMU Debug |
|
||
| UART5 | /dev/ttyS3 | TELEM2 | TELEM2 |
|
||
| USART6 | /dev/ttyS4 | PX4IO | I/O PWM Out |
|
||
| UART7 | /dev/ttyS5 | TELEM1 | TELEM1 |
|
||
| UART8 | /dev/ttyS6 | GPS2 | GPS2 |
|
||
|
||
<!-- See https://docs.px4.io/main/en/hardware/serial_port_mapping.html#serial-port-mapping -->
|
||
|
||
## 尺寸
|
||
|
||
|
||
|
||
|
||
## 额定电压
|
||
|
||
_Pixhawk 6C Mini_ can be double-redundant on the power supply if two power sources are supplied. The two power rails are: **POWER1** and **USB**.
|
||
|
||
**Normal Operation Maximum Ratings**
|
||
|
||
Under these conditions, all power sources will be used in this order to power the system:
|
||
|
||
1. **POWER1** inputs (4.9V to 5.5V)
|
||
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** inputs (operational range 4.1V to 5.7V, 0V to 10V undamaged)
|
||
2. **USB** input (operational range 4.1V to 5.7V, 0V to 6V undamaged)
|
||
3. Servo input: VDD_SERVO pin of **FMU PWM OUT** and **I/O PWM OUT** (0V to 42V undamaged)
|
||
|
||
**Voltage monitoring**
|
||
|
||
Pixhawk 6C Mini uses analog power modules.
|
||
|
||
Holybro makes various analog [power modules](../power_module/index.md) for different needs:
|
||
|
||
- [PM02 Power Module](../power_module/holybro_pm02.md)
|
||
- [PM06 Power Module](../power_module/holybro_pm06_pixhawk4mini_power_module.md)
|
||
- [PM07 Power Module](../power_module/holybro_pm07_pixhawk4_power_module.md)
|
||
- [PM08 Power Module](https://holybro.com/products/pm08-power-module-14s-200a)
|
||
|
||
## 编译固件
|
||
|
||
:::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-v6c_default
|
||
```
|
||
|
||
<a id="debug_port"></a>
|
||
|
||
## 调试接口
|
||
|
||
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 Mini](../debug/swd_debug.md#pixhawk-debug-mini) interface defined in the [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf) interface (JST SH connector).
|
||
|
||
| 针脚 | 信号 | 电压 |
|
||
| ---- | ----------------------------------- | --------------------- |
|
||
| 1（红） | `Vtref` | +3.3V |
|
||
| 2 | Console TX (OUT) | +3.3V |
|
||
| 3 | Console RX (IN) | +3.3V |
|
||
| 4（黑） | `SWDIO` | +3.3V |
|
||
| 6 | `SWCLK` | +3.3V |
|
||
| 6 | `GND` | GND |
|
||
|
||
For information about using this port see:
|
||
|
||
- [SWD Debug Port](../debug/swd_debug.md)
|
||
- [PX4 System Console](../debug/system_console.md) (Note, the FMU console maps to USART3).
|
||
|
||
## 外部设备
|
||
|
||
- [Digital Airspeed Sensor](https://holybro.com/products/digital-air-speed-sensor-ms4525do)
|
||
- [Telemetry Radio Modules](../telemetry/index.md):
|
||
- [Holybro Telemetry Radio](../telemetry/holybro_sik_radio.md)
|
||
- [Holybro Microhard P900 Radio](../telemetry/holybro_microhard_p900_radio.md)
|
||
- [Holybro XBP9X Telemetry Radio](../telemetry/holybro_xbp9x_radio.md)
|
||
- [Rangefinders/Distance sensors](../sensor/rangefinders.md)
|
||
|
||
## 支持的平台/机身
|
||
|
||
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).
|
||
|
||
## 另见
|
||
|
||
- [Holybro Docs](https://docs.holybro.com/) (Holybro)
|
||
- [Pixhawk 4 Mini Wiring Quick Start](../assembly/quick_start_pixhawk4_mini.md) (and [Pixhawk 6C Wiring QuickStart](../assembly/quick_start_pixhawk6c.md))
|
||
- [PM02 Power Module](../power_module/holybro_pm02.md)
|
||
- [PM06 Power Module](../power_module/holybro_pm06_pixhawk4mini_power_module.md)
|
||
- [PM07 Power Module](../power_module/holybro_pm07_pixhawk4_power_module.md)
|
||
- [PM08 Power Module](https://holybro.com/products/pm08-power-module-14s-200a)
|
||
- [FMUv6C reference design pinout](https://docs.google.com/spreadsheets/d/1FcmWRKd6zjdz3-cnjEDYEmANKZOFzNSc/edit?usp=sharing&ouid=113251442407318461574&rtpof=true&sd=true).
|
||
- [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf).
|