Ground Station Download
MissionPlanner Ground Station Download
https://firmware.ardupilot.org/Tools/MissionPlanner
QGC Ground Station Download:
https://github.com/mavlink/qgroundcontrol/releases
Firmware Support
APM： X6 Pro currently supports online firmware downloading. Customers are required to download the latest firmware. Currently, it does not support the 4.6.0stable version.
ArduPilot Firmware Download:
https://firmware.ardupilot.org/
PX4 Firmware Download:
https://github.com/PX4/PX4-Autopilot/releases
Interface Definition
Interface Description
| Power 1~ 2 | Connect OnePMU or other DroneCAN bus current meter |
| GPS&Safety | Can be connected to PX4 standard type GPS, integrated safety switch, compass with buzzer, LED light |
| GPS 2 | GPS interface, can be connected to GPS or RTK, integrated I2C bus pin |
| TELEM1~3 |
Connects OneDLink, OneVDLink communication links or other MavLink devices, and can also connect other serial communication devices. TELEM 1 is SERIAL1, TELEM2 is SERIAL2, TELEM3 is SERIAL5 |
| CAN1~2 |
Connect to DroneCAN/UAVCAN devices, such as OneGNSS, OneASP, OneRTK, etc. GPS1 is SERIAL3, GPS2 is SERIAL4 |
| SBUS IN | Connecting to SBUS remote control receiver |
| SBUS OUT | SBUS signal output for pod control and other peripherals that support SBUS control |
| DSM PPM IN | The interface integrates DSM and PPM remote control receivers, and RSSI signal strength input. |
| M1-M16 |
M1-M16: supports PWM output, can connect to PWM ESC or servo, camera shutter/hot shoe, etc. M15-M16 can be expanded through the provided cables M1-M14 supports Dshot protocol M9-M14 supports bidirectional Dshot |
| Type C | Connect to the computer to configure the flight control, flash the firmware, etc. |
| USB | GH1.25 USB expansion interface |
| I2C | Connecting I2C devices, such as an I2C airspeed meter |
| TF memory card slot | Install a memory card for storing logs. The maximum supported size is 256G. The recommended format is FAT32. |
| ETHERNET | Ethernet port interface, connect to devices that support Ethernet communication, such as Ethernet pods, Raspberry Pi, NVIDIA Jetson series boards, etc. |
| AD&IO | Integrated BootLoader interface, digital-to-analog converter, can be connected to analog ammeter |
| SPI | Connecting external SPI sensors |
| IO Debug | To connect this port, you need to open the lower cover. It is used by professionals and developers. |
| FMU Debug | To connect this port, you need to open the lower cover. It is used by professionals and developers. |
PWM level switching
The flight controller outputs 3.3V voltage by default. If the signal cable of your device is too long, more than 75cm, it is recommended to change it to 5.0V voltage, but make sure your peripherals support this voltage (please contact your hardware device manufacturer for consultation). The modification method is as follows:
After connecting to Mission Planner, search for the BRD_PWM_VOLT_SEL parameter in the All Parameters table. The default value is 0, which represents a 3.3V level. Change it to 1, write the parameter, and restart the flight controller/power it on again for it to take effect.
PWM Connector Recommendations
The PWM terminals on the X6 flight controller are customized with a 2.6mm pitch. It is recommended that users use the Futaba 3-pin DuPont right-angle plug, as shown in the following figure:
Wiring Instructions
The following wiring diagram introduces the wiring method of conventional vertical take-off and landing drones. The connection method is for reference only. Users need to add devices and adjust the interface method according to their own models and needs. Please refer to the interface description in the previous article for the function of each interface.
X6 Pro Flight Controller Specifications
| Hardware Standards |
FMU v6X
|
| MCU | STM32H753 |
| IO MCU | STM32F103 |
| Built-in shock absorption | Yes |
| Accelerometer and gyroscope | IIM42653+BMI088+IIM42653 |
| Barometer | ICP-20100×2 |
| Magnetic compass | RM3100 SPL06 |
| PWM Relay | Yes |
| Remote control protocol input | SBUS+DSM+PPM |
| PWM quantity | 16(14-way DuPont interface + 2-way GH1.25 expansion interface) |
| PWM level switching | Support switching between 3.3V and 5V |
| Power interface | 2-way DroneCAN power interface |
| Servo voltage monitoring | 9.9V |
| Interface Details | CAN×2 GPS&Safety×1 GPS2 ×1 DSM PPM IN×1 ETH ×1 UART 4×1 SBUS IN×1 USB ×1 SPI ×1 AD&IO ×1 I2C ×1 |
| Operating temperature | -20℃~85℃ |
| weight | 93g |
| Firmware Support | ArduPilot 4.5.6 and above PX4 1.16.1beta and above |
| Model support | Helicopters, multi-rotor, fixed-wing, vertical take-off and landing fixed-wing, unmanned vehicles, unmanned ships |
| Operating voltage | 4.5V-5.4V |
X6 Pro flight controller dimensions and mounting holes
Safety Tips
- The product is not suitable for people under the age of 18. People under the age of 18 should use it under the supervision of an adult.
- This product is an open source flight control. Users must have professional open source drone knowledge and be able to correctly configure and operate the drone.
- Do not fly in strong winds.
- The flight controller itself is not rainproof, please do not fly in the rain.
- Please comply with local laws and regulations. Do not fly over crowded areas, train stations, airports or other sensitive areas without local permission to avoid endangering public safety.
- Before taking off, you must carefully check to ensure that all connections are secure, all equipment is working properly, and all control actions respond correctly to prevent accidents.
- Routine maintenance should be performed before and after each flight to check whether the hardware connections are loose, whether the motor blades are damaged, and the tightness of the screws, etc.
- The high-speed rotating propellers are very lethal. Please pay attention to safety and stay away from crowds when flying. Do not operate or fly when you are drunk, tired or in other poor mental states.
;}.cls-2{fill:%230868f7;}.cls-3{fill:url(%23未命名的渐变_44);}.cls-4{fill:%23333;}%3c/style%3e%3clinearGradient%20id='未命名的渐变_8'%20x1='33.73'%20y1='100.61'%20x2='-0.03'%20y2='-1.06'%20gradientUnits='userSpaceOnUse'%3e%3cstop%20offset='0'%20stop-color='%237ae9fb'/%3e%3cstop%20offset='0.67'%20stop-color='%232b90f8'/%3e%3cstop%20offset='1'%20stop-color='%230868f7'/%3e%3c/linearGradient%3e%3clinearGradient%20id='未命名的渐变_44'%20x1='27.86'%20y1='18.67'%20x2='68.36'%20y2='22.22'%20gradientUnits='userSpaceOnUse'%3e%3cstop%20offset='0'%20stop-color='%235ac7f2'/%3e%3cstop%20offset='1'%20stop-color='%230868f7'/%3e%3c/linearGradient%3e%3c/defs%3e%3cpath%20class='cls-1'%20d='M29,28.74V81.91l-9.51-3.68v0L8.52,74A7.17,7.17,0,0,1,4,67.32V24.54A3.76,3.76,0,0,1,9.08,21Z'/%3e%3cpath%20class='cls-2'%20d='M68.09,78.07a13.15,13.15,0,0,1-17.9,12.06L29,81.91h0V28.74L50.19,37A13.17,13.17,0,0,0,68.08,25.3h0Z'/%3e%3cpath%20class='cls-3'%20d='M68.08,25.3a13.19,13.19,0,0,1-6.73,10.87A13.09,13.09,0,0,1,50.19,37L29,28.74V6A3.76,3.76,0,0,1,34.1,2.52l25.59,9.91A13.22,13.22,0,0,1,68.08,25.3Z'/%3e%3cpath%20class='cls-4'%20d='M129.06,81.76a4.33,4.33,0,0,1-3.19-1.31,4.4,4.4,0,0,1-1.31-3.24V56.86H97.65V77.21a4.36,4.36,0,0,1-1.35,3.2A4.68,4.68,0,0,1,93,81.76a4.32,4.32,0,0,1-3.19-1.31,4.37,4.37,0,0,1-1.32-3.24V27.27A4.58,4.58,0,0,1,89.83,24a4.59,4.59,0,0,1,7.82,3.27V48.15h26.91V27.27A4.58,4.58,0,0,1,125.91,24a4.59,4.59,0,0,1,7.82,3.27V77.21a4.37,4.37,0,0,1-1.36,3.2A4.65,4.65,0,0,1,129.06,81.76Z'/%3e%3cpath%20class='cls-4'%20d='M163.77,81.66c-6.57,0-11.76-1.92-15.44-5.7s-5.54-9.07-5.54-15.74a26.76,26.76,0,0,1,2.09-10.43,17.72,17.72,0,0,1,6.67-8.06,19.15,19.15,0,0,1,10.68-2.95,19,19,0,0,1,10.46,2.8,18.7,18.7,0,0,1,6.55,7.36,22.53,22.53,0,0,1,2.36,10.28A4.51,4.51,0,0,1,177,63.77H152.23a10.8,10.8,0,0,0,3.49,6.65c2,1.68,4.88,2.52,8.66,2.52a22.25,22.25,0,0,0,7.54-1.21c.74-.3,1.55-.67,2.37-1.07a3.75,3.75,0,0,1,1.84-.4,4.09,4.09,0,0,1,3,1.15,4,4,0,0,1,1.12,3,4.38,4.38,0,0,1-2.58,3.82,32.34,32.34,0,0,1-6.36,2.61A28.67,28.67,0,0,1,163.77,81.66ZM172.4,55.9a9.72,9.72,0,0,0-1.63-4.56A9.9,9.9,0,0,0,167,48a10.38,10.38,0,0,0-4.64-1.14,12,12,0,0,0-4.77,1.06,9.54,9.54,0,0,0-4.89,5.66,11.78,11.78,0,0,0-.51,2.3Z'/%3e%3cpath%20class='cls-4'%20d='M193,81.64a4.49,4.49,0,0,1-4.51-4.55V27.28A4.58,4.58,0,0,1,189.84,24a4.48,4.48,0,0,1,3.28-1.36A4.36,4.36,0,0,1,196.35,24a4.46,4.46,0,0,1,1.31,3.31V77.09a4.34,4.34,0,0,1-1.35,3.2A4.67,4.67,0,0,1,193,81.64Z'/%3e%3cpath%20class='cls-4'%20d='M263.79,81.71a5.7,5.7,0,0,1-4.2-1.74,5.76,5.76,0,0,1-1.73-4.19V27.37a4.58,4.58,0,0,1,1.35-3.27A4.59,4.59,0,0,1,267,27.37V72.53h24a4.58,4.58,0,0,1,3.27,7.82A4.66,4.66,0,0,1,291,81.71Z'/%3e%3cpath%20class='cls-4'%20d='M424.48,81.74a4.71,4.71,0,0,1-2.71-.88,5.43,5.43,0,0,1-1-1l-.07-.09-12.41-17-5.41,5v9.44a4.31,4.31,0,0,1-1.36,3.19,4.66,4.66,0,0,1-3.3,1.36A4.29,4.29,0,0,1,395,80.42a4.36,4.36,0,0,1-1.32-3.23V27.37A4.58,4.58,0,0,1,395,24.1a4.52,4.52,0,0,1,6.58.12,4.54,4.54,0,0,1,1.24,3.15V56.31l17.72-16.38.05,0a4.8,4.8,0,0,1,2.94-1.11,4.4,4.4,0,0,1,3.27,1.2,4.57,4.57,0,0,1,1.2,3.27,4.44,4.44,0,0,1-.77,2.33,7.45,7.45,0,0,1-1.43,1.65l-11,9.64,13.34,17.68a5,5,0,0,1,1,2.71,4.12,4.12,0,0,1-1.36,3.24A4.64,4.64,0,0,1,424.48,81.74Z'/%3e%3cpath%20class='cls-4'%20d='M317.93,81.76a21.5,21.5,0,1,1,21.17-21.5A21.37,21.37,0,0,1,317.93,81.76Zm0-34.1a12.61,12.61,0,1,0,12.42,12.6A12.52,12.52,0,0,0,317.93,47.66Z'/%3e%3cpath%20class='cls-4'%20d='M212.18,101.22a4.12,4.12,0,0,1-3.05-1.26,4.17,4.17,0,0,1-1.26-3.1V43.34a4.37,4.37,0,0,1,1.3-3.14,4.26,4.26,0,0,1,3.13-1.3,4.19,4.19,0,0,1,3.1,1.26,4.32,4.32,0,0,1,1.26,3.16,20.77,20.77,0,0,1,13-4.54,21.51,21.51,0,0,1,0,43,20.51,20.51,0,0,1-13-4.57V96.86a4.15,4.15,0,0,1-1.3,3.06A4.5,4.5,0,0,1,212.18,101.22Zm17.43-53.63c-6.23,0-12.93,4.11-12.93,12.72a12.73,12.73,0,0,0,25.46,0A12.71,12.71,0,0,0,229.61,47.59Z'/%3e%3cpath%20class='cls-4'%20d='M365.76,81.76a21.5,21.5,0,1,1,21.18-21.5A21.37,21.37,0,0,1,365.76,81.76Zm0-34.1a12.61,12.61,0,1,0,12.42,12.6A12.52,12.52,0,0,0,365.76,47.66Z'/%3e%3c/svg%3e)