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ardupilot/libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6_Air/README.md

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ZeroOneX6 Air/Air+ Flight Controller

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.

Uploading ZeroOneX6_Air.jpg…

Features:

  • Separate flight control Inertial Measurement Unit design.
  • MCU STM32H743IIK6 32-bit processor running at 400MHz 2MB Flash 1MB RAM microSD card interface Safety Switch /LED 2x CAN 6x UART, one with RTS/CTS 2x I2C 2x ADC inputs
  • IO MCU STM32F103
  • Air's Sensors
    • IMU:
      With Synced IMU, BalancedGyro technology, low noise and more shock-resistant:
      IMU- ICM45686 (No vibration isolation)
    • Baro:
      one barometer ：ICP20100
    • Magnetometer:
      Builtin IST8310 magnetometer
  • Air+ Sensors
    • IMU:
      Internal Vibration Isolation for IMU
      IMU constant temperature heating (1W heating power).
      With Double Synced IMUs, BalancedGyro technology, low noise and more shock-resistant:
      IMU1- ICM45686 (With vibration isolation)
      IMU2- ICM45686 (No vibration isolation)
    • Baro:
      Two barometers ：2 x ICP20100
    • Magnetometer:
      Builtin IST8310 magnetometer

Pinout

ZeroOneX6_Air Pinout

UART Mapping

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.

Name Function MCU PINS DMA
SERIAL0 OTG1 USB
SERIAL1 Telem1 UART7 DMA Enabled
SERIAL2 Telem2 UART5 DMA Enabled
SERIAL3 GPS1 UART1 DMA Enabled
SERIAL4 GPS2 UART8 DMA Enabled
SERIAL5 Telem3 UART2 DMA Enabled
SERIAL6 User UART4 DMA Enabled
SERIAL7 Debug UART3 DMA Enabled
SERIAL8 OTG-SLCAN USB

RC Input

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. 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.

  • :ref:SERIAL6_PROTOCOL<SERIAL6_PROTOCOL> should be set to "23".
  • FPort would require :ref:SERIAL6_OPTIONS<SERIAL6_OPTIONS> be set to "15".
  • CRSF/ELRS would require :ref:SERIAL6_OPTIONS<SERIAL6_OPTIONS> be set to "0".
  • SRXL2 would require :ref:SERIAL6_OPTIONS<SERIAL6_OPTIONS> be set to "4" and connects only the TX pin. 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.

PWM Output

The X6_Air flight controller supports up to 15 PWM outputs.
First 8 outputs (labelled M1 to M8) are controlled by a dedicated STM32F103 IO controller.
The remaining 7 outputs (labelled A9 to A15) are the "auxiliary" outputs. These are directly attached to the STM32H753 FMU controller.
All 15 outputs support normal PWM output formats. All outputs support DShot, except A15.

The M1-8 outputs are in 4 groups:

  • Outputs 1 and 2 in group1
  • Outputs 3 and 4 in group2
  • Outputs 5, 6, 7 and 8 in group3

The A9-15 outputs are in 4 groups:

  • Outputs 9 - 12 in group1
  • Outputs 13 and 14 in group2
  • Outputs 15 in group3

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.

GPIO

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:

IO Pins FMU Pins
Name Value Option Name Value Option
M1 101 MainOut1 A9 50 AuxOut1
M2 102 MainOut2 A10 51 AuxOut2
M3 103 MainOut3 A11 52 AuxOut3
M4 104 MainOut4 A12 53 AuxOut4
M5 105 MainOut5 A13 54 AuxOut5
M6 106 MainOut6 A14 55 AuxOut6
M7 107 MainOut7 A15 56
M8 108 MainOut8

Battery Monitoring

The X6_Air flight controller has one six-pin power connectors, supporting CAN interface power supply. The autopilot defaults are setup for CAN Power Module use (normally supplied with autopilot):

  • :ref:BATT_MONITOR<BATT_MONITOR> = 8
  • :ref:CAN_P1_DRIVER<CAN_P1_DRIVER> = 1
  • :ref:CAN_P2_DRIVER<CAN_P2_DRIVER> = 1
  • :ref:CAN_D1_PROTOCOL<CAN_D1_PROTOCOL> = 1
  • :ref:CAN_D2_PROTOCOL<CAN_D2_PROTOCOL> = 1

Compass

The X6_Air flight controller built-in industrial-grade electronic compass chip IST8310. Due to potential interference, the autopilot is usually used with an external I2C compass as part of a GPS/Compass combination.

Analog inputs

The X6_Air flight controller has 2 analog inputs.

  • ADC Pin12 -> ADC 6.6V Sense
  • ADC Pin13 -> ADC 3.3V Sense

Loading Firmware

The board comes pre-installed with an ArduPilot compatible bootloader, allowing the loading of xxxxxx.apj firmware files with any ArduPilot compatible ground station. Firmware for these boards can be found here <https://firmware.ardupilot.org>_ in sub-folders labeled "ZeroOne_Air".

Where to Buy

https://www.01aero.cn