mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-03-01 11:13:58 -04:00
133 lines
6.3 KiB
Markdown
133 lines
6.3 KiB
Markdown
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## ZeroOneX6 Air/Air+ Flight Controller
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The ZeroOneX6_Air is a series of flight controllers manufactured by ZeroOne, which is based on the open-source FMU v6C architecture and Pixhawk Autopilot Bus open source specifications.
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## Features:
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- Separate flight control Inertial Measurement Unit design.
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- MCU
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STM32H743IIK6 32-bit processor running at 400MHz
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2MB Flash
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1MB RAM
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microSD card interface
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Safety Switch /LED
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2x CAN
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6x UART, one with RTS/CTS
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2x I2C
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2x ADC inputs
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- IO MCU
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STM32F103
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- **Air's Sensors**
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- IMU:
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With Synced IMU, BalancedGyro technology, low noise and more shock-resistant:
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IMU- ICM45686 (No vibration isolation)
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- Baro:
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one barometer ：ICP20100
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- Magnetometer:
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Builtin IST8310 magnetometer
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- **Air+ Sensors**
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- IMU:
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Internal Vibration Isolation for IMU
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IMU constant temperature heating (1W heating power).
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With Double Synced IMUs, BalancedGyro technology, low noise and more shock-resistant:
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IMU1- ICM45686 (With vibration isolation)
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IMU2- ICM45686 (No vibration isolation)
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- Baro:
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Two barometers ：2 x ICP20100
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- Magnetometer:
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Builtin IST8310 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 | UART1 |DMA Enabled |
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| SERIAL4 | GPS2 | UART8 |DMA Enabled |
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| SERIAL5 | Telem3 | UART2 |DMA Enabled |
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| SERIAL6 | User | UART4 |DMA Enabled |
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| SERIAL7 | Debug | UART3 |DMA Enabled |
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| SERIAL8 | OTG-SLCAN| USB |
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## RC Input
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The SBUS pin, can be used for all ArduPilot supported receiver protocols, except CRSF/ELRS and SRXL2 which require a true UART connection. However, FPort, when connected in this manner, will only provide RC without telemetry.
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To allow CRSF and embedded telemetry available in Fport, CRSF, and SRXL2 receivers, a full UART, such as SERIAL6 (UART4) would need to be used for receiver connections. Below are setups using Serial6.
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- :ref:`SERIAL6_PROTOCOL<SERIAL6_PROTOCOL>` should be set to "23".
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- FPort would require :ref:`SERIAL6_OPTIONS<SERIAL6_OPTIONS>` be set to "15".
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- CRSF/ELRS would require :ref:`SERIAL6_OPTIONS<SERIAL6_OPTIONS>` be set to "0".
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- SRXL2 would require :ref:`SERIAL6_OPTIONS<SERIAL6_OPTIONS>` be set to "4" and connects only the TX pin.
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Any UART can be used for RC system connections in ArduPilot also, and is compatible with all protocols except PPM. See :ref:`common-rc-systems` for details.
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## PWM Output
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The X6_Air flight controller supports up to 15 PWM outputs.
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First 8 outputs (labelled M1 to M8) are controlled by a dedicated STM32F103 IO controller.
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The remaining 7 outputs (labelled A9 to A15) are the "auxiliary" outputs. These are directly attached to the STM32H753 FMU controller.
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All 15 outputs support normal PWM output formats. All outputs support DShot, except A15.
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The M1-8 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 A9-15 outputs are in 4 groups:
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- Outputs 9 - 12 in group1
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- Outputs 13 and 14 in group2
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- Outputs 15 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> A9 </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> A10 </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> A11 </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> A12 </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> A13 </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> A14 </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> A15 </td><td> 56 </td><td> </td></tr>
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<tr><td> M8 </td><td> 108 </td> <td> MainOut8 </td><td> </td><td> </td><td> </td><td> </td></tr>
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</table>
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## Battery Monitoring
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The X6_Air flight controller has one six-pin power connectors, supporting CAN interface power supply.
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The autopilot defaults are setup for CAN Power Module use (normally supplied with autopilot):
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- :ref:`BATT_MONITOR<BATT_MONITOR>` = 8
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- :ref:`CAN_P1_DRIVER<CAN_P1_DRIVER>` = 1
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- :ref:`CAN_P2_DRIVER<CAN_P2_DRIVER>` = 1
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- :ref:`CAN_D1_PROTOCOL<CAN_D1_PROTOCOL>` = 1
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- :ref:`CAN_D2_PROTOCOL<CAN_D2_PROTOCOL>` = 1
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## Compass
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The X6_Air flight controller built-in industrial-grade electronic compass chip IST8310. Due to potential
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interference, the autopilot is usually used with an external I2C compass as
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part of a GPS/Compass combination.
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## Analog inputs
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The X6_Air 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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Loading Firmware
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================
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The board comes pre-installed with an ArduPilot compatible bootloader,
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allowing the loading of xxxxxx.apj firmware files with any ArduPilot
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compatible ground station.
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Firmware for these boards can be found `here <https://firmware.ardupilot.org>`_ in sub-folders labeled "ZeroOne_Air".
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## Where to Buy
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https://www.01aero.cn
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