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216 lines
9.4 KiB
Markdown
216 lines
9.4 KiB
Markdown
# Holybro Pixhawk 6C Mini
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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 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.
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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.
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It complies with the Pixhawk [Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf).
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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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## 소개
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The Pixhawk® 6C Mini is the latest update to the successful family of Pixhawk® flight controllers.
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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.
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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.
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Thanks to the updated processing power, developers can be more productive and efficient with their development work, allowing for complex algorithms and models.
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The Pixhawk 6C Mini includes high-performance, low-noise IMUs on board, designed to be cost effective while having IMU redundancy.
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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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The Pixhawk® 6C Mini is perfect for developers at corporate research labs, startups, academics (research, professors, students), and commercial applications.
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**Key Design Points**
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- High performance STM32H743 Processor with more computing power & RAM
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- New cost-effective design with low-profile form factor
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- Newly designed integrated vibration isolation system to filter out high frequency vibration and reduce noise to ensure accurate readings
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- IMUs are temperature-controlled by onboard heating resistors, allowing optimum working temperature of IMUs 
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## Technical Specification
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### **Processors & Sensors**
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- FMU Processor: STM32H743 
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- 32 Bit Arm® Cortex®-M7, 480MHz, 2MB memory, 1MB SRAM 
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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: ICM-42688-P 
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- Accel/Gyro: BMI055 
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- Mag: IST8310 
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- 기압계: MS5611
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### **Electrical data**
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- Voltage Ratings:
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- 최대 입력 전압: 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` Max output current limiter: 1A
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- All other port combined output current limiter: 1A
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### **Mechanical data**
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- Dimensions: 53.3 x 39 x 16.2 mm
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- Weight: 39.2g
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### **Interfaces**
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- 14- PWM servo outputs (8 from IO, 6 from FMU)
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- 범용 시리얼 포트 3개
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- `TELEM1` - Full flow control, separate 1A current limit
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- `TELEM2` - Full flow control
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- 2 GPS ports
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- GPS1 - Full GPS port (GPS plus safety switch)
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- GPS2 - Basic GPS port
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- 1 I2C port
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- Supports dedicated I2C calibration EEPROM located on sensor module
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- 2개의 CAN 버스
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- CAN Bus has individual silent controls or ESC RX-MUX control
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- 1 Debug ports:
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- FMU Debug Mini
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- Dedicated R/C input for Spektrum/DSM and S.BUS, CPPM, analog / PWM RSSI
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- 1 Power input ports (Analog)
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- 기타 특성:
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- Operating & storage temperature: -40 ~ 85°c
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## Where to Buy {#store}
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Order from [Holybro](https://holybro.com/products/pixhawk-6c-mini).
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## 조립 및 설정
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The Pixhawk 6C Mini's ports are very similar to the Pixhawk 4 Mini's ports.
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Please refer to the [Pixhawk 4 Mini Wiring Quick Start](https://docs.px4.io/v1.16/en/assembly/quick_start_pixhawk4_mini) (Discontinued) as it provides instructions on how to assemble required/important peripherals including GPS, Power Module etc.
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## 핀배열
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- [Holybro Pixhawk 6C Mini Port Pinout](https://docs.holybro.com/autopilot/pixhawk-6c-mini/pixhawk-6c-mini-ports)
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## 시리얼 포트 매핑
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| UART | 장치 | QGC Parameter Description | Port Label on FC |
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| ------ | ---------- | ------------------------- | ---------------- |
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| USART1 | /dev/ttyS0 | GPS1 | GPS1 |
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| USART2 | /dev/ttyS1 | TELEM3 | 해당없음 |
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| USART3 | /dev/ttyS2 | 해당없음 | FMU Debug |
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| UART5 | /dev/ttyS3 | TELEM2 | TELEM2 |
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| USART6 | /dev/ttyS4 | PX4IO | I/O PWM Out |
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| UART7 | /dev/ttyS5 | TELEM1 | TELEM1 |
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| UART8 | /dev/ttyS6 | GPS2 | GPS2 |
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<!-- See https://docs.px4.io/main/en/hardware/serial_port_mapping.html#serial-port-mapping -->
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## 크기
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## 정격 전압
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_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**.
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**Normal Operation Maximum Ratings**
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이러한 조건에서 전원은 아래의 순서대로 시스템에 전원을 공급하여야 합니다.
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1. **POWER1** 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** 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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Pixhawk 6C Mini uses analog power modules.
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Holybro makes various analog [power modules](../power_module/index.md) for different needs:
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- [PM02 Power Module](../power_module/holybro_pm02.md)
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- [PM06 Power Module](../power_module/holybro_pm06_pixhawk4mini_power_module.md)
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- [PM07 Power Module](../power_module/holybro_pm07_pixhawk4_power_module.md)
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- [PM08 Power Module](https://holybro.com/products/pm08-power-module-14s-200a)
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## 펌웨어 빌드
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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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```sh
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make px4_fmu-v6c_default
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```
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## Debug Port {#debug_port}
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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 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).
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| 핀 | 신호 | 전압 |
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| ------------------------- | ----------------------------------- | --------------------- |
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| 1(red) | `Vtref` | +3.3V |
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| 2 (흑) | Console TX (OUT) | +3.3V |
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| 3 (흑) | Console RX (IN) | +3.3V |
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| 4 (흑) | `SWDIO` | +3.3V |
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| 5 (흑) | `SWCLK` | +3.3V |
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| 6 (흑) | `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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## 주변 장치
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- [Digital Airspeed Sensor](https://holybro.com/products/digital-air-speed-sensor-ms4525do)
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- [Telemetry Radio Modules](../telemetry/index.md):
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- [Holybro Telemetry Radio](../telemetry/holybro_sik_radio.md)
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- [Holybro Microhard P900 Radio](../telemetry/holybro_microhard_p900_radio.md)
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- [Holybro XBP9X Telemetry Radio](../telemetry/holybro_xbp9x_radio.md)
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- [Rangefinders/Distance sensors](../sensor/rangefinders.md)
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## 지원 플랫폼 및 기체
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일반 RC 서보 또는 Futaba S-Bus 서보로 제어 가능한 모든 멀티콥터/비행기/로버 또는 보트.
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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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## See Also
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- [Holybro Docs](https://docs.holybro.com/) (Holybro)
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- [Pixhawk 6C Wiring QuickStart](../assembly/quick_start_pixhawk6c.md)
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- [PM02 Power Module](../power_module/holybro_pm02.md)
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- [PM06 Power Module](../power_module/holybro_pm06_pixhawk4mini_power_module.md)
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- [PM07 Power Module](../power_module/holybro_pm07_pixhawk4_power_module.md)
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- [PM08 Power Module](https://holybro.com/products/pm08-power-module-14s-200a)
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- [FMUv6C reference design pinout](https://docs.google.com/spreadsheets/d/1FcmWRKd6zjdz3-cnjEDYEmANKZOFzNSc/edit?usp=sharing&ouid=113251442407318461574&rtpof=true&sd=true).
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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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