X6 Air系列飞控Readme

ZeroOneX6 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.

Features:

• Separate flight control Inertial Measurement Unit design.
• MCU
  STM32H743IIK6 32-bit processor running at 400MHz
  2MB Flash
  1MB RAM
• IO MCU
  STM32F103
• Sensors of Air
  • 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
• Sensors of Air+
  • 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

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	USART1	DMA Enabled
SERIAL4	GPS2	UART8	DMA Enabled
SERIAL5	Telem3	USART2	DMA Enabled
SERIAL6	UART4	UART4	DMA Enabled
SERIAL7	OTG-SLCAN	USB

RC Input

The remote control signal should be connected to the SBUS RC IN port.It will support ALL unidirectional RC protocols.

PWM Output

The X6_Air flight controller supports up to 15 PWM outputs.
First 8 outputs (labelled 1 to 8) are controlled by a dedicated STM32F103 IO controller.
The remaining 7 outputs (labelled 9 to 15) are the "auxiliary" outputs. These are directly attached to the STM32H753 FMU controller .
All 15 outputs support normal PWM output formats. All 15 outputs support DShot, except 15.

The 8 IO PWM 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 8 FMU PWM outputs are in 4 groups:

• Outputs 1, 2, 3 and 4 in group1
• Outputs 5 and 6 in group2
• Outputs 7 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.
This is set by default in the firmware and shouldn't need to be adjusted.

Compass

The X6_Air flight controller built-in industrial-grade electronic compass chip IST8310.

Analog inputs

The X6_Air flight controller has 2 analog inputs.

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

Where to Buy

https://www.01aero.cn