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254 lines
10 KiB
Markdown
254 lines
10 KiB
Markdown
# Holybro Pixhawk 6X Pro
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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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## Key Design Points
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- High-performance ADIS16470 Industrial IMU with high accelerometer dynamic range (±40 g), perfect for accurate motion sensing in demanding UAV applications
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- All new advanced durable vibration isolation material with resonance frequency in the higher spectrum, ideal for industrial and commercial drone applications
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- High performance STM32H753 Processor
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- Ethernet interface for high-speed mission computer integration
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## Baseboards
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The Pixhawk 6X Pro can be purchased with a number of baseboards (or no baseboard) to suit different use cases and vehicle types, including [Standard v2A](https://docs.holybro.com/autopilot/pixhawk-baseboards/pixhawk-baseboard-v2-ports), [Standard v2B](https://docs.holybro.com/autopilot/pixhawk-baseboards/pixhawk-baseboard-v2-ports), and [Mini](https://docs.holybro.com/autopilot/pixhawk-baseboards/pixhawk-mini-baseboard-ports), which are shown below.
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It can also be used with any other Pixhawk Autopilot Bus (PAB) specification-compliant baseboard, such as the [Holybro Pixhawk Jetson Baseboard](../companion_computer/holybro_pixhawk_jetson_baseboard.md) and [Holybro Pixhawk RPi CM4 Baseboard](../companion_computer/holybro_pixhawk_rpi_cm4_baseboard.md).
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:::: tabs
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:::tab Pixhawk 6X Pro Standard v2A
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:::
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:::tab Pixhawk 6X Pro Standard v2B
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:::
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:::tab Pixhawk 6X Pro Mini
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:::
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::::
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## 特性
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- Triple redundant IMU & double redundant barometer on separate buses
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- Modular flight controller: separated IMU, FMU, and Base system
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- Safety-driven design incorporates sensors from different manufacturers and model lineups
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- Independent LDO powers every sensor set with independent power control.
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- Temperature-controlled IMU board, allowing optimum working temperature of IMUs
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:::details
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Processors & Sensors
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- FMU Processor: STM32H753
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- 32 Bit Arm® Cortex®-M7, 480MHz, 2MB flash memory, 1MB RAM
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- IO Processor: STM32F103
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- 32 Bit Arm® Cortex®-M3, 72MHz, 64KB SRAM
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- On-board sensors
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- Accel/Gyro: ADIS16470 (±40g, Vibration Isolated, Industrial IMU)
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- Accel/Gyro: IIM-42652 (±16g, Vibration Isolated, Industrial IMU)
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- Accel/Gyro: ICM-45686 with BalancedGyro™ Technology (±32g, Hard Mounted)
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- Barometer: ICP20100
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- Barometer: BMP388
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- Mag: BMM150
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:::
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:::details
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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 电源输入：4.75~5.25V
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- 伺服导轨输入电压：0~36V
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- Current Ratings: - Telem1 output current limiter: 1.5A - All other port combined output current limiter: 1.5A
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:::
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:::details
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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 30.1mm
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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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- Weight - Flight Controller Module: 50g - Standard Baseboard: 51g - Mini Baseboard: 26.5g
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:::
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:::details
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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 - 1 AD & IO port - 2 additional analog input - 1 PWM/Capture input - 2 Dedicated debug and GPIO lines
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:::
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## 购买渠道
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Order from [Holybro](https://holybro.com/products/pixhawk-6x-pro).
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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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### Multicopter Wiring Example
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### VTOL Wiring Example
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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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- [Holybro Pixhawk Jetson Baseboard](https://docs.holybro.com/autopilot/pixhawk-baseboards/pixhawk-jetson-baseboard)
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- [Holybro Pixhawk RPi CM4 Baseboard](https://docs.holybro.com/autopilot/pixhawk-baseboards/pixhawk-rpi-cm4-baseboard)
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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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| USART1 | UART | GPS |
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| USART2 | /dev/ttyS1 | TELEM3 |
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| USART3 | /dev/ttyS2 | 调试控制台 |
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| UART4 | /dev/ttyS3 | UART4 & I2C |
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| UART5 | /dev/ttyS4 | TELEM2 |
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| USART6 | /dev/ttyS5 | PX4IO/RC |
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| UART7 | /dev/ttyS6 | TELEM1 |
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| UART8 | /dev/ttyS7 | GPS2 |
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## 尺寸
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[Pixhawk 6X Pro Dimensions](https://docs.holybro.com/autopilot/pixhawk-6x-pro/dimensions)
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## 额定电压
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_Pixhawk 6X Pro_ can be triple-redundant on the power supply if three power sources are supplied.
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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-v6x_default
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```
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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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- [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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- [Holybro Sensors](https://holybro.com/collections/sensors)
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- [Holybro GPS & RTK Systems](https://holybro.com/collections/gps-rtk-systems)
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- [Power Modules & PDBs](https://holybro.com/collections/power-modules-pdbs)
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## Supported Platforms/Airframes
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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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## CAD File
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Download [here](https://docs.holybro.com/autopilot/pixhawk-6x-pro/download).
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## 另见
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- [Holybro Docs](https://docs.holybro.com/autopilot/pixhawk-6x-pro) (Holybro)
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- [Pixhawk 6X Wiring QuickStart](../assembly/quick_start_pixhawk6x.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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