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	Connect to OnePMU or other DroneCAN bus current meters
GPS1＆Safety	Integrated Serial Port 3, Integrated Safety Switch, and LED Light, compatible with standard GPS types
GPS2	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 it can also be connected to other serial communication devices
CAN1~2	Connect to DroneCAN/UAVCAN devices, such as OneGNSS, OneASP, OneRTK, etc
SBUS IN	Connect to SBUS remote control receiver
SBUS OUT	SBUS signal output for external devices that support SBUS control, such as gimbal control
I2C	Connect to I2C devices, such as I2C airspeed indicators
M1-A15	M1-A15: Supports PWM output, can be connected to PWM electronic speed controllers (ESCs) or servos, camera shutters/hot shoes, etc. A14-A15 can be expanded through the provided cable. A9-A15: Supports Dshot protocol.
Type C	Connect to a computer for flight controller configuration, firmware flashing, etc
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&SBUS OUT	Integrated digital-to-analog converter, allowing connection to analog amperemeters, with integrated SBUS OUT, and IO interface A14-A15

Hardware connection

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 interface definitions for the functions of each interface.

Specification and Parameter Table for X6 Air+ AutoPilot

Item	X6 Air AutoPilot	X6 Air+ AutoPilot
Hardware standard	-	FMU v6C
MCU	STM32H743	STM32H743
IO MCU	STM32F103	STM32F103
Acce＆Gyro	TDK ICM45686	TDK ICM45686×2
Compass	IST8310	IST8310
Barometer	ICP-20100	ICP-20100×2
Receiver protocol input	SBUS	SBUS
PWM output	15(13 DuPont connectors and 2 GH1.25 connectors)	15(13 DuPont connectors and 2 GH1.25 connectors)
Power interface	1	1
Servo Voltage Detection	9.9V	9.9V
Built-in shock absorption	No	Yes
IMU temperature compensation	No	Yes
Interface details	CAN×2 Telem ×3 GPS&Safety ×1 GPS2×1 ETH ×1 UART 4×1 SBUS IN×1 SBUS OUT×1 AD&IO ×1 I2C ×1	CAN×2 Telem ×3 GPS&Safety ×1 GPS2×1 ETH ×1 UART 4×1 SBUS IN×1 SBUS OUT×1 AD&IO ×1 I2C ×1
Operating temperature	-20℃ ~ 85℃	-20℃ ~ 85℃
Weight	36g	38g
Dimension	55mm×38.8mm×14mm	55mm×38.8mm×14mm
Firmware support	ArduPilot、PX4	ArduPilot、PX4
Model support	Helicopter、UAV、Plane、VTOL Plane、UGV、USV...	Helicopter、UAV、Plane、VTOL Plane、UGV、USV...
Operating voltage	4.5V-5.4V	4.5V-5.4V

Diagram of X6 Air+ AutoPilot's Dimensions and Mounting Hole Locations

Safety Instructions

This product is not suitable for individuals under the age of 18. Those under 18 should use it under adult supervision.
This product is an open-source flight controller, and users must have professional knowledge of open-source drones to correctly configure and operate them.
Do not fly in strong winds.
The flight controller itself is not waterproof, so do not fly in the rain.
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.
Before takeoff, carefully inspect to ensure all connections are secure, all equipment is functioning properly, and all control responses are correct to prevent accidents.
Perform routine maintenance before and after each flight, checking for loose hardware connections, damaged motor blades, and the tightness of screws.
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.

X6 Air AutoPilot Series