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# 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.
:::
The autopilot is recommended for commercial systems integration, but is also suitable for academic research and any other use.
![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).
:::
## 总览
- 处理器
- 32-bit ARM Cortex M7 core with DPFPU - STM32F765VIT6
- 216 MHz/512 KB RAM/2 MB Flash
- 32-bit IOMCU co-processor - STM32F100
- 32KB FRAM - FM25V02A
- AT7456E OSD
- 传感器
- Bosh BMI088 IMU (accel, gyro)
- InvenSense ICM-42688 IMU (accel, gyro)
- SPA06 barometer
- IST8310 magnetometer
- 电源
- SMBUS/I2C Power Module Inputs (I2C)
- voltage and current monitor inputs (Analog)
- 接口
- 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 or voltage) input
- I2C, SPI, 2x CAN, USB
- 3.3V and 6.6V ADC inputs
- 蜂鸣器与安全开关
- microSD card
- 重量和尺寸:
- Weight 80g
- Size 94mm x 51.5mm x 14.5mm
## 购买渠道
[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）
## Connector assignments
### 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)
## 针脚定义
Unless noted otherwise all connectors are JST GH.
### TELEM1，TELEM2 接口
| 针脚 | 信号 | 电压 |
| -- | -------------------------- | --------------------- |
| 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
| 针脚 | 信号 | 电压 |
| -- | ---- | --------------------- |
| 1 | GND | GND |
| 2 | VOUT | +3.3V |
| 3 | VCC | +5V |
| 4 | GND | GND |
| 5 | VCC | +5V |
| 6 | VIN | +3.3V |
### I2C port
| 针脚 | 信号 | 电压 |
| -- | --- | -------------------------------------------------- |
| 1 | VCC | +5V |
| 2 | SCL | +3.3V (pullups) |
| 3 | SDA | +3.3V (pullups) |
| 4 | GND | GND |
### CAN1, CAN2 ports
| 针脚 | 信号 | 电压 |
| -- | -------------------------- | ---- |
| 1 | VCC | +5V |
| 2 | CAN_H | +12V |
| 3 | CAN_L | +12V |
| 4 | GND | GND |
### GPS1 port
| 针脚 | 信号 | 电压 |
| -- | -------------------------- | --------------------- |
| 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
| 针脚 | 信号 | 电压 |
| -- | -------------------------- | --------------------- |
| 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
| 针脚 | 信号 | 电压 |
| -- | ------------------------------ | --------------------- |
| 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.
| 针脚 | 信号 | 电压 |
| -- | --- | --------------------------- |
| 1 | VCC | +5V |
| 2 | VCC | +5V |
| 3 | 电流 | up to +3.3V |
| 4 | 电压 | up to +3.3V |
| 5 | GND | GND |
| 6 | GND | GND |
### POWER2 (HY2.0-6P)
Port for digital (I2C) power monitor.
| 针脚 | 信号 | 电压 |
| -- | --- | --------------------- |
| 1 | VCC | +5V |
| 2 | VCC | +5V |
| 3 | SCL | +3.3V |
| 4 | SDA | +3.3V |
| 5 | GND | GND |
| 6 | GND | GND |
### ADC 3.3V
| 针脚 | 信号 | 电压 |
| -- | ------- | --------------------------- |
| 1 | VCC | +5V |
| 2 | ADC IN1 | up to +3.3V |
| 3 | GND | GND |
| 4 | ADC IN2 | up to +3.3v |
| 5 | GND | GND |
### ADC 6.6V
| 针脚 | 信号 | 电压 |
| -- | ------ | -------------------------- |
| 1 | VCC | +5V |
| 2 | ADC IN | up to 6.6V |
| 3 | GND | GND |
### USB remote port
| 针脚 | 信号 | 电压 |
| -- | ------- | --------------------- |
| 1 | USB VDD | +5V |
| 2 | DM | +3.3V |
| 3 | DP | +3.3V |
| 4 | GND | GND |
### SWITCH
| 针脚 | 信号 | 电压 |
| -- | -------------------------------------------------------- | --------------------- |
| 1 | VCC | +3.3V |
| 2 | !IO_LED_SAFETY | GND |
| 3 | SAFETY | GND |
### Buzzer port
| 针脚 | 信号 | 电压 |
| -- | ------- | --- |
| 1 | VCC | +5V |
| 2 | BUZZER- | +5V |
### Spektrum/DSM Port (PH1.25-3P)
| 针脚 | 信号 | 电压 |
| -- | --- | --------------------- |
| 1 | VCC | +3.3V |
| 2 | GND | GND |
| 3 | 信号 | +3.3V |
### Debug port (SH1.0-8P)
| 针脚 | 信号 | 电压 |
| -- | ------------------------------ | --------------------- |
| 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 |
## 编译固件
To [build PX4](../dev_setup/building_px4.md) for this target:
```sh
make radiolink_PIX6_default
```
## Installing PX4 Firmware
The firmware can be installed in any of the normal ways:
- Build and upload the source
```sh
make radiolink_PIX6_default upload
```
- [Load the firmware](../config/firmware.md) using _QGroundControl_.
You can use either pre-built firmware or your own custom firmware.
::: 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 配置
In addition to the [basic configuration](../config/index.md), the following parameters are important:
| 参数 | 设置 |
| -------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------- |
| [SYS_HAS_MAG](../advanced_config/parameter_reference.md#SYS_HAS_MAG) | This should be disabled since the board does not have an internal mag. You can enable it if you attach an external mag. |
### 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)
## 串口映射
| UART | 设备 | Port |
| ------ | ---------- | ------------------------------ |
| UART | UART | GPS1 |
| USART2 | /dev/ttyS1 | TELEM1 (流控) |
| USART3 | /dev/ttyS2 | TELEM2 (流控) |
| UART4 | /dev/ttyS3 | GPS2 |
| UART7 | /dev/ttyS4 | 调试控制台 |
| 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
## 遥控器
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.
There is no need to set the baud rate for the port, as this is configured by the driver.
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).
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