# Controller Comparison

<table data-full-width="true"><thead><tr><th></th><th></th><th width="205"></th><th></th></tr></thead><tbody><tr><td></td><td><strong>Pixhawk 6X and 6X Pro</strong></td><td><strong>Pixhawk 6C/Mini</strong></td><td><strong>Pix32 v6</strong> </td></tr><tr><td><strong>Key Design Point</strong></td><td><ul><li>Additional Redundancy </li><li>Modular design, allowing customized baseboard</li></ul></td><td><ul><li>Low profile</li><li>Cost effective</li></ul></td><td><ul><li>Cost effective</li><li>Modular design, allowing customized baseboard</li></ul></td></tr><tr><td><strong>PWM Output</strong></td><td>8 Main 8 FMU</td><td>8 Main, 8/6 FMU</td><td>8 Main, 8 FMU</td></tr><tr><td><strong>PWM Breakout Board</strong></td><td>Depending on baseboard</td><td>External/Internal</td><td>Depending on baseboard</td></tr><tr><td><strong>Controller Module Connector Type</strong></td><td><a href="https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-010%20Pixhawk%20Autopilot%20Bus%20Standard.pdf">Pixhawk Bus</a></td><td>N/A</td><td><a href="http://www.holybro.com/manual/PIX32-V5_Connect_100pin(Panasonic-AXK5S-6S)data_sheet.pdf">Panasonic P5K, P5KS</a></td></tr><tr><td><strong>Baseboard/Carrier Board Option</strong></td><td><ul><li><a href="https://docs.holybro.com/autopilot/pixhawk-baseboards/pixhawk-baseboard-ports">Standard Baseboard</a></li><li><a href="https://docs.holybro.com/autopilot/pixhawk-baseboards/pixhawk-mini-base-ports">Mini Baseboard</a></li><li><a href="https://docs.holybro.com/autopilot/pixhawk-baseboards/pixhawk-rpi-cm4-baseboard">Raspberry Pi CM4 Baseboard</a></li><li><a href="https://docs.holybro.com/autopilot/pixhawk-baseboards/pixhawk-jetson-baseboard">Jetson Baseboard</a></li></ul></td><td>N/A</td><td>Pix32v5/Pix32v6 Baseboard</td></tr><tr><td><strong>Processor</strong></td><td>STM32H753</td><td>STM32H743</td><td>STM32H743</td></tr><tr><td><strong>Clock Speed</strong></td><td>480 MHz</td><td>480 MHz</td><td>480 MHz</td></tr><tr><td><strong>IO Processor</strong></td><td>STM32F103</td><td>STM32F103</td><td>STM32F103</td></tr><tr><td><strong>IMU Redundancy</strong></td><td><p>Triple Redundancy</p><ul><li><p><strong>Rev8 (Current)</strong></p><ul><li>3x ICM-45686</li></ul></li><li><p><strong>Rev3 &#x26; 4</strong></p><ul><li>BMI088 or ICM-20649</li><li>ICM-42688-P</li><li>ICM-42670-P</li></ul></li><li><p>Pixhawk 6X Pro</p><ul><li>ADIS16470 ±40g (Industrial Grade)</li><li>IIM-42652 ±16g<br>(Industrial Grade)</li><li>ICM-45686 ±32g with BalancedGyro™ Technology</li></ul></li></ul></td><td><p>Double Redundancy</p><ul><li>ICM-42688-P</li><li>BMI055</li></ul></td><td><p></p><p>Double Redundancy</p><ul><li>ICM-42688-P</li><li>BMI055</li></ul></td></tr><tr><td>I<strong>MU Temperature Control</strong></td><td>Yes</td><td>Yes</td><td>Yes</td></tr><tr><td><strong>Barometer Redundancy</strong></td><td><p></p><p>Double Redundancy</p><ul><li><p><strong>Rev8 (Current)</strong></p><ul><li>ICP20100</li><li>BMP388</li></ul></li><li><p><strong>Rev3 &#x26; 4</strong></p><ul><li>2x BMP388</li></ul></li></ul></td><td><p>No Redundancy</p><ul><li>MS5611</li></ul></td><td><p>No Redundancy</p><ul><li>MS5611</li></ul></td></tr><tr><td><strong>Power Port</strong></td><td>2</td><td>2/1</td><td>2</td></tr><tr><td><strong>Power Supply</strong></td><td>Digital</td><td>Analog</td><td>Analog</td></tr><tr><td><strong>UART</strong></td><td>8</td><td>7/4</td><td>7</td></tr><tr><td><strong>UART Flow Control</strong></td><td>3 Ports</td><td>2/1 Ports</td><td>2 Ports</td></tr><tr><td><strong>CAN Bus</strong></td><td>2</td><td>2</td><td>2</td></tr><tr><td><strong>GPS Port</strong></td><td>2</td><td>2</td><td>2</td></tr><tr><td><strong>Hardware Handshaking</strong></td><td>3 Ports</td><td>2 Ports</td><td>2 Ports</td></tr><tr><td><strong>I2C Port</strong></td><td>Yes</td><td>Yes</td><td>Yes</td></tr><tr><td><strong>Ethernet Support</strong></td><td>Yes</td><td>N/A</td><td>N/A</td></tr><tr><td><strong>SPI Port</strong></td><td>Yes (N/A in Mini Baseboard)</td><td>N/A</td><td>N/A</td></tr><tr><td><strong>AD &#x26; IO Port</strong></td><td>Yes (N/A in Mini Baseboard)</td><td>N/A</td><td>N/A</td></tr><tr><td></td><td></td><td></td><td></td></tr></tbody></table>