mirror of https://github.com/ArduPilot/ardupilot
102 lines
4.6 KiB
Markdown
102 lines
4.6 KiB
Markdown
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## ZeroOneX6 Flight Controller
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The ZeroOne X6 is a flight controller manufactured by ZeroOne, which is based on the open-source FMU v6X architecture and Pixhawk Autopilot Bus open source specifications.
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## Features:
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- Separate flight control core design.
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- MCU
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STM32H753IIK6 32-bit processor running at 480MHz
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2MB Flash
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1MB RAM
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- IO MCU
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STM32F103
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- Sensors
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- IMU:
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Internal Vibration Isolation for IMUs
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IMU constant temperature heating(1 W heating power).
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With Triple Synced IMUs, BalancedGyro technology, low noise and more shock-resistant:
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IMU1-ICM45686(With vibration isolation)
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IMU2-BMI088(With vibration isolation)
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IMU3- ICM45686(No vibration isolation)
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- Baro:
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Two barometers:2 x ICP20100
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Magnetometer: Builtin RM3100 magnetometer
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## Pinout
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## UART Mapping
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The UARTs are marked Rn and Tn in the above pinouts. The Rn pin is the receive pin for UARTn. The Tn pin is the transmit pin for UARTn.
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| Name | Function | MCU PINS | DMA |
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| :-----: | :------: | :------: | :------:|
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| SERIAL0 | OTG1 | USB |
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| SERIAL1 | Telem1 | UART7 |DMA Enabled |
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| SERIAL2 | Telem2 | UART5 |DMA Enabled |
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| SERIAL3 | GPS1 | USART1 |DMA Enabled |
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| SERIAL4 | GPS2 | UART8 |DMA Enabled |
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| SERIAL5 | Telem3 | USART2 |DMA Enabled |
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| SERIAL6 | UART4 | UART4 |DMA Enabled |
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| SERIAL7 |FMU DEBUG | USART3 |DMA Enabled |
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| SERIAL8 | OTG-SLCAN| USB |
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## RC Input
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The remote control signal should be connected to the SBUS RC IN port or DSM/PPM RC Port.It will support ALL unidirectional RC protocols.
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## PWM Output
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The X6 flight controller supports up to 16 PWM outputs.
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First 8 outputs (labelled 1 to 8) are controlled by a dedicated STM32F103 IO controller.
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The remaining 8 outputs (labelled 9 to 16) are the "auxiliary" outputs. These are directly attached to the STM32H753 FMU controller .
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All 16 outputs support normal PWM output formats. All 16 outputs support DShot, except 15 and 16.
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The 8 IO PWM outputs are in 4 groups:
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- Outputs 1 and 2 in group1
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- Outputs 3 and 4 in group2
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- Outputs 5, 6, 7 and 8 in group3
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The 8 FMU PWM outputs are in 4 groups:
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- Outputs 1, 2, 3 and 4 in group1
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- Outputs 5 and 6 in group2
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- Outputs 7 and 8 in group3
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Channels within the same group need to use the same output rate. If any channel in a group uses DShot then all channels in the group need to use DShot.
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## GPIO
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All PWM outputs can be used as GPIOs (relays, camera, RPM etc). To use them you need to set the output’s SERVOx_FUNCTION to -1. The numbering of the GPIOs for PIN variables in ArduPilot is:
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<table>
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<tr>
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<th colspan="3">IO Pins</th>
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<th colspan="1"> </th>
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<th colspan="3">FMU Pins</th>
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</tr>
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<tr><td> Name </td><td> Value </td><td> Option </td><td> </td><td> Name </td><td> Value </td><td> Option </td></tr>
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<tr><td> M1 </td><td> 101 </td> <td> MainOut1 </td><td> </td><td> M9 </td><td> 50 </td><td> AuxOut1 </td></tr>
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<tr><td> M2 </td><td> 102 </td> <td> MainOut2 </td><td> </td><td> M10 </td><td> 51 </td><td> AuxOut2 </td></tr>
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<tr><td> M3 </td><td> 103 </td> <td> MainOut3 </td><td> </td><td> M11 </td><td> 52 </td><td> AuxOut3 </td></tr>
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<tr><td> M4 </td><td> 104 </td> <td> MainOut4 </td><td> </td><td> M12 </td><td> 53 </td><td> AuxOut4 </td></tr>
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<tr><td> M5 </td><td> 105 </td> <td> MainOut5 </td><td> </td><td> M13 </td><td> 54 </td><td> AuxOut5 </td></tr>
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<tr><td> M6 </td><td> 106 </td> <td> MainOut6 </td><td> </td><td> M14 </td><td> 55 </td><td> AuxOut6 </td></tr>
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<tr><td> M7 </td><td> 107 </td> <td> MainOut7 </td><td> </td><td> M15 </td><td> 56 </td><td> </td></tr>
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<tr><td> M8 </td><td> 108 </td> <td> MainOut8 </td><td> </td><td> M16 </td><td> 57 </td><td> BB Blue GPo pin 3 </td></tr>
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<tr><td> </td><td> </td> <td> </td><td> </td><td> FCU CAP </td><td> 58 </td><td> </td></tr>
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</table>
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## Battery Monitoring
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The X6 flight controller has two six-pin power connectors, supporting CAN interface power supply.
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These are set by default in the firmware and shouldn't need to be adjusted.
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## Compass
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The X6 flight controller built-in industrial-grade electronic compass chip RM3100.
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## Analog inputs
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The X6 flight controller has 2 analog inputs.
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- ADC Pin12 -> ADC 6.6V Sense
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- ADC Pin13 -> ADC 3.3V Sense
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- RSSI input pin = 103
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## 5V PWM Voltage
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The X6 flight controller supports switching between 5V and 3.3V PWM levels. Switch PWM output pulse level by configuring parameter BRD_PWM_VOL_SEL. 0 for 3.3V and 1 for 5V output.
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## Where to Buy
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https://www.01aero.cn
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