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261 lines
12 KiB
Markdown
261 lines
12 KiB
Markdown
# Holybro Pixhawk 6X-RT
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:::warning
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PX4 does not manufacture this (or any) autopilot.
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Contact the [manufacturer](https://holybro.com/) for hardware support or compliance issues.
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:::
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_Pixhawk 6X-RT_<sup>®</sup> is the latest update to the successful family of Pixhawk® flight controllers designed and made in collaboration with Holybro<sup>®</sup>, NXP's mobile robotics team and the PX4 team based on NXP's open source reference design.
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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).
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Equipped with a high performance NXP i.mx RT1176 dual core Processor, modular design, triple redundancy, temperature-controlled IMU board, isolated sensor domains, delivering incredible performance, reliability, and flexibility.
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<img src="../../assets/flight_controller/pixhawk6x-rt/pixhawk6x-rt.png" width="350px" title="Pixhawk6X-RT Upright Image" /> <img src="../../assets/flight_controller/pixhawk6x/pixhawk6x_exploded_diagram.png" width="300px" title="Pixhawk6X Exploded Image" />
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:::tip
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This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md) by the PX4 maintenance and test teams.
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:::
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## 简介
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Inside the Pixhawk® 6X-RT, you can find an NXP i.mx RT1176, paired with sensor technology from Bosch®, InvenSense®, giving you flexibility and reliability for controlling any autonomous vehicle, suitable for both academic and commercial applications.
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The Pixhawk® 6X-RT's i.mx RT1176 Crossover dual-core MCU contain an Arm® Cortex®-M7 core running up to 1GHz and Arm® Cortex®-M4 core running up to 400MHz, has 2MB SRAM and external XIP Flash with 64MB.
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The PX4 Autopilot takes advantage of the increased power and RAM.
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Thanks to the increased processing power, developers can be more productive and efficient with their development work, allowing for complex algorithms and models.
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The FMUv6X open standard includes high-performance, low-noise IMUs on board, designed for better stabilization.
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Triple redundant IMU & double redundant barometer on separate buses. When PX4 detects a sensor failure, the system seamlessly switches to another to maintain flight control reliability.
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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.
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External sensor bus (SPI5) has two chip select lines and data-ready signals for additional sensors and payload with SPI-interface, and with an integrated Microchip Ethernet PHY, high-speed communication with mission computers via ethernet is now possible.
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The Pixhawk® 6X-RT is perfect for developers at corporate research labs, startups, academics (research, professors, students), and commercial application.
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## Key Design Points
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- High performance [NXP i.MX RT1170 1GHz Crossover MCU](https://www.nxp.com/products/i.MX-RT1170) with Arm® Cortex® cores
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- Hardware secure element [NXP EdgeLock SE051](https://www.nxp.com/products/SE051) an extension to the widely trusted EdgeLock SE050 Plug & Trust secure element family, supports applet updates in the field and delivers proven security certified to CC EAL 6+, with AVA_VAN.5 up to the OS level, for strong protection against the most recent attack scenarios. E.g, to securely store operator ID or certificates.
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- Modular flight controller: separated IMU, FMU, and Base system connected by a 100-pin & a 50-pin Pixhawk® Autopilot Bus connector.
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- Redundancy: 3x IMU sensors & 2x Barometer sensors on separate buses
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- Triple redundancy domains: Completely isolated sensor domains with separate buses and separate power control
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- Newly designed vibration isolation system to filter out high frequency vibration and reduce noise to ensure accurate readings
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- Ethernet interface for high-speed mission computer integration
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- IMUs are temperature-controlled by onboard heating resistors, allowing optimum working temperature of IMUs 
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### Processors & Sensors
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- FMU Processor: NXP i.MX RT1176
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- 32 Bit Arm® Cortex®-M7, 1GHz
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- 32 Bit Arm® Cortex®-M4, 400MHz secondary core
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- 64MB external flash memory
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- 2MB RAM
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- NXP EdgeLock SE051 hardware secure element
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- IEC62443-4-2 certified for the applicable requirements
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- 46 kB user memory with personalization options to go up to 104 kB
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- Groundbreaking CC EAL6+ certified solution for IoT deployments
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- AES and 3DES encryption and decryption
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- IO 处理器：STM32F100
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- 32 位 Arm® Cortex®-M3，24MHz，8KB SRAM
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- On-board sensors
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- Accel/Gyro: ICM-20649 or BMI088
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- Accel/Gyro: ICM-42688-P
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- Accel/Gyro: ICM-42670-P
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- Mag: BMM150
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- Barometer: 2x BMP388
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### Electrical data
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- Voltage Ratings:
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- Max input voltage: 6V
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- USB Power Input: 4.75\~5.25V
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- Servo Rail Input: 0\~36V
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- Current Ratings:
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- `TELEM1` output current limiter: 1.5A
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- All other port combined output current limiter: 1.5A
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### Mechanical data
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- 尺寸
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- Flight Controller Module: 38.8 x 31.8 x 14.6mm
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- Standard Baseboard: 52.4 x 103.4 x 16.7mm
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- Mini Baseboard: 43.4 x 72.8 x 14.2 mm
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- 重量
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- Flight Controller Module: 23g
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- Standard Baseboard: 51g
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- Mini Baseboard: 26.5g
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### 接口
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- 16- PWM servo outputs
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- R/C input for Spektrum / DSM
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- Dedicated R/C input for PPM and S.Bus input
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- Dedicated analog / PWM RSSI input and S.Bus output
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- 4个通用串行口
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- 3 with full flow control
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- 1 with separate 1.5A current limit (Telem1)
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- 1 with I2C and additional GPIO line for external NFC reader
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- 2 GPS ports
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- 1 full GPS plus Safety Switch Port
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- 1 basic GPS port
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- 1 I2C port
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- 1 Ethernet port
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- Transformerless Applications
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- 100Mbps
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- 1 SPI bus
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- 2 chip select lines
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- 2 data-ready lines
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- 1 SPI SYNC line
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- 1 SPI reset line
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- 2 CAN Buses for CAN peripheral
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- CAN Bus has individual silent controls or ESC RX-MUX control
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- 2 Power input ports with SMBus
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- 1 AD & IO port
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- 2 个模拟输入接口
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- 1 PWM/Capture input
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- 2 Dedicated debug and GPIO lines
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- 其它特性:
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- Operating & storage temperature: -40 ~ 85°c
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## 购买渠道
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Order from [Holybro](https://holybro.com/products/fmuv6x-rt-developer-edition).
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## 组装 / 设置
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The [Pixhawk 6X Wiring Quick Start](../assembly/quick_start_pixhawk6x.md) provides instructions on how to assemble required/important peripherals including GPS, Power Module etc.
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## Connections
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Sample Wiring Diagram
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## 针脚定义
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- [Holybro Pixhawk Baseboard Pinout](https://docs.holybro.com/autopilot/pixhawk-6x/pixhawk-baseboard-pinout)
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- [Holybro Pixhawk Mini-Baseboard Pinout](https://docs.holybro.com/autopilot/pixhawk-6x/pixhawk-mini-baseboard-pinout)
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备注：
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- 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`.
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## 串口映射
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| UART | 设备 | Port |
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| ------ | ---------- | -------- |
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| UART | UART | Debug |
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| UART3 | /dev/ttyS1 | GPS |
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| UART4 | /dev/ttyS2 | TELEM1 |
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| UART5 | /dev/ttyS3 | GPS2 |
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| UART6 | /dev/ttyS4 | PX4IO |
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| UART8 | /dev/ttyS5 | TELEM2 |
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| UART10 | /dev/ttyS6 | TELEM3 |
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| UART11 | /dev/ttyS7 | External |
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## 尺寸
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[Pixhawk 6X Dimensions](https://docs.holybro.com/autopilot/pixhawk-6x/dimensions)
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## 额定电压
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_Pixhawk 6X-RT_ can be triple-redundant on the power supply if three power sources are supplied. The three power rails are: **POWER1**, **POWER2** and **USB**.
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The **POWER1** & **POWER2** ports on the Pixhawk 6X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/en-us/products/part-detail/5024430670).
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**Normal Operation Maximum Ratings**
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Under these conditions all power sources will be used in this order to power the system:
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1. **POWER1** and **POWER2** inputs (4.9V to 5.5V)
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2. **USB** input (4.75V to 5.25V)
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**Absolute Maximum Ratings**
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Under these conditions the system will not draw any power (will not be operational), but will remain intact.
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1. **POWER1** and **POWER2** inputs (operational range 4.1V to 5.7V, 0V to 10V undamaged)
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2. **USB** input (operational range 4.1V to 5.7V, 0V to 6V undamaged)
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3. Servo input: VDD_SERVO pin of **FMU PWM OUT** and **I/O PWM OUT** (0V to 42V undamaged)
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**Voltage monitoring**
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Digital I2C battery monitoring is enabled by default (see [Quickstart > Power](../assembly/quick_start_pixhawk6x.md#power)).
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:::info
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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.
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:::
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## 编译固件
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:::tip
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Most users will not need to build this firmware!
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It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected.
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:::
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To [build PX4](../dev_setup/building_px4.md) for this target:
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```
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make px4_fmu-v6xrt_default
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```
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<a id="debug_port"></a>
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## 调试接口
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The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) run on the **FMU Debug** port.
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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).
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| 针脚 | 信号 | 电压 |
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| --------------------------- | ----------------------------------- | --------------------- |
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| 1（红） | `Vtref` | +3.3V |
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| 2 | Console TX (OUT) | +3.3V |
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| 3 | Console RX (IN) | +3.3V |
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| 4（黑） | `SWDIO` | +3.3V |
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| 6 | `SWCLK` | +3.3V |
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| 6 | `SWO` | +3.3V |
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| 7 | NFC GPIO | +3.3V |
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| 8 (blk) | PH11 | +3.3V |
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| 9 (blk) | nRST | +3.3V |
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| 10 (blk) | `GND` | GND |
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For information about using this port see:
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- [SWD Debug Port](../debug/swd_debug.md)
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- [PX4 System Console](../debug/system_console.md) (Note, the FMU console maps to USART3).
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## 外部设备
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- [Digital Airspeed Sensor](https://holybro.com/products/digital-air-speed-sensor-ms4525do)
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- [Telemetry Radio Modules](https://holybro.com/collections/telemetry-radios?orderby=date)
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- [Rangefinders/Distance sensors](../sensor/rangefinders.md)
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## 支持的平台/机身
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Any multicopter / airplane / rover or boat that can be controlled with normal RC servos or Futaba S-Bus servos.
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The complete set of supported configurations can be seen in the [Airframes Reference](../airframes/airframe_reference.md).
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## 更多信息
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- [Update Pixhawk 6X-RT Bootloader](../advanced_config/bootloader_update_v6xrt.md)
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- [Holybro Docs](https://docs.holybro.com/) (Holybro)
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- [Pixhawk 6X Wiring QuickStart](../assembly/quick_start_pixhawk6x.md)
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- [PM02D Power Module](../power_module/holybro_pm02d.md)
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- [PM03D Power Module](../power_module/holybro_pm03d.md)
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- [Pixhawk Autopilot FMUv6X Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-012%20Pixhawk%20Autopilot%20v6X%20Standard.pdf).
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- [Pixhawk Autopilot Bus Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-010%20Pixhawk%20Autopilot%20Bus%20Standard.pdf).
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- [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf).
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