X6 AutoPilot Instruction

Download ground control station

Download MissionPlanner ground control station

https://firmware.ardupilot.org/Tools/MissionPlanner

 

Download QGroundControl ground station

https://github.com/mavlink/qgroundcontrol/releases

 

Firmware download

Download ArduPilot firmware

https://firmware.ardupilot.org/

 

Download PX4 firmware

https://github.com/PX4/PX4-Autopilot/releases

 

Interface definition

 

Interface description

Power 1~ 2	Connect to OnePMU or other DroneCAN bus current meters
GPS&Safety	It can connect to PX4 standard GPS types, integrating safety switches, compasses, buzzers, and LED lights
GPS 2	GPS interface, capable of connecting to GPS or RTK, with integrated I2C bus pins
TELEM1~3	Connect to OneDLink, OneVDLink communication links, or other MavLink devices, and can also connect to other serial communication devices. TELEM 1 is SERIAL1, TELEM 2 is SERIAL2, and TELEM 3 is SERIAL5
CAN1~2	Connect to DroneCAN/UAVCAN devices such as OneGNSS, OneASP, OneRTK, etc. GPS1 is SERIAL3, GPS2 is SERIAL4
SBUS IN	Connect to SBUS remote control receiver
SBUS OUT	SBUS signal output for external devices that support SBUS control, such as gimbal control
DSM PPM IN	This interface integrates DSM and PPM remote control receivers, as well as RSSI signal strength input
M1-M16	M1-M16: Support PWM output, can connect to PWM electronic speed controllers (ESCs) or servos, connect to camera shutters/hot shoes, etc.M15-M16 can be expanded through the provided cables M1-M14 support Dshot protocol, and M9-M14 support bidirectional Dshot
Type C	Connect to a computer for flight controller configuration, firmware flashing, etc
USB	GH1.25 USB expansion interface
I2C	Connect to I2C devices, such as I2C airspeed indicators
TF Memory card slot	Install a memory card for storing logs, supporting a maximum of 256GB, with FAT32 as the recommended file system format
ETHERNET	Ethernet port interface for connecting devices that support Ethernet communication, such as Ethernet gimbals, Raspberry Pi, NVIDIA Jetson series boards, etc
AD&IO	Integrated BootLoader interface and digital-to-analog converter, allowing connection to analog current meters
SPI	Connect to external SPI sensors
IO Debug	Connecting to this interface requires opening the lower cover, for use by professionals and developers
FMU Debug	Connecting to this interface requires opening the lower cover, for use by professionals and developers

 

PWM level switching

The flight controller outputs a default voltage level of 3.3V. When the signal cable for your device is excessively long, exceeding 75cm, it is recommended to change it to a 5.0V voltage level. However, please ensure that your external device supports this voltage (please consult with your hardware device manufacturer). The modification method is as follows:
After connecting to Mission Planner, search for the BRD_PWM_VOLT_SEL parameter in the complete parameter list. The default value is 0, representing a 3.3V level. Change it to 1, write the parameter, and restart the flight controller or re-power it for the change to take effect.

 

PWM Connector Recommendations

The PWM terminals on the X6 flight controller feature a custom 2.6mm pitch. It is recommended to use Futaba 3-pin Dupont right-angle headers, as shown in the figure below:

 

Wiring instructions

The following wiring diagram introduces the wiring method for a conventional vertical takeoff and landing (VTOL) drone. The wiring method is for reference only. Users need to add devices and adjust the interface methods according to their own drone models and requirements. Please refer to the previous interface descriptions for the functions of each interface.

 

Specification and Parameter Table for X6 AutoPilot

Hardware standard	FMU v6X
MCU	STM32H753
IO MCU	STM32F103
Built-in shock absorption	Yes
Acc ＆ Gyr	ICM45686+BMI088+ICM45686
Barometer	ICP-20100×2
Compass	RM3100
PWM relay	Yes
Receiver protocol input	SBUS+DSM+PPM
Number of PWM channels	16 (14 channels with Dupont connectors + 2 channels with GH1.25 expansion interfaces)
PWM level switching	Supports switching between 3.3V and 5V
Power interface	2 DroneCAN power supply interfaces
Servo voltage monitoring	9.9V
IO detail	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 PX4(In the process of adaptation, please stay tuned for updates on the official website)
Model support	Helicopter、UAV、Plane、VTOL Plane、UGV、USV...
Operating Voltage	4.5V-5.4V

 

Diagram of X6 AutoPilot's Dimensions and Mounting Hole Locations

 

Safety Instructions

1. This product is not suitable for individuals under the age of 18. Those under 18 should use it under adult supervision.
2. This product is an open-source flight controller, and users must have professional knowledge of open-source drones to correctly configure and operate them.
3. Do not fly in strong winds.
4. The flight controller itself is not waterproof, so do not fly in the rain.
5. Please comply with local laws and regulations. Without local permission, do not fly in crowded areas, near train stations, airports, or other sensitive areas to avoid endangering public safety.
6. Before takeoff, carefully inspect to ensure all connections are secure, all equipment is functioning properly, and all control responses are correct to prevent accidents.
7. Perform routine maintenance before and after each flight, checking for loose hardware connections, damaged motor blades, and the tightness of screws.
8. The rapidly spinning propellers are highly dangerous. Please be safe and keep away from crowds when flying. Never operate or fly while under the influence of alcohol, fatigued, or in any other impaired mental state.