Inside the Pixhawk®​ 6X, you can find an STMicroelectronics​® based STM32H753, paired with sensor technology from Bosch®​​, InvenSense®​,​ giving you flexibility and reliability for controlling any autonomous vehicle, suitable for both academic and commercial applications.

The Pixhawk® 6X’s H7 microcontroller contains the Arm® Cortex®-M7 core running up to 480 MHz, has 2MB flash memory and 1MB RAM. The PX4 takes advantage of the increased power and RAM. Thanks to the updated processing power, developers can be more productive and efficient with their development work, allowing for complex algorithms and models.

The FMUv6X open standard includes high-performance, low-noise IMUs on board, designed for better stabilization. Triple redundant IMU & double redundant barometer on separate buses. When the PX4 detects a sensor failure, the system seamlessly switches to another to maintain flight control reliability.

An independent LDO powers every sensor set with independent power control. A vibration isolation System to filter out high-frequency vibration and reduce noise to ensure accurate readings, allowing vehicles to reach better overall flight performances.

External sensor bus (SPI5) has two chip select lines and data-ready signals for additional sensors and payload with SPI-interface, and with an integrated Microchip Ethernet PHY, high-speed communication with mission computers via ethernet is now possible.

The Pixhawk®​ 6X is perfect for developers at corporate research labs, startups, academics (research, professors, students), and commercial application.

Key Design Points

• High-performance STM32H753 Processor

• Modular flight controller: separated IMU, FMU, and Base system connected by a 100-pin & a 50-pin Pixhawk®​ Bus connector.

• Redundancy: 3x IMU sensors & 2x Barometer sensors on separate buses

• Triple redundancy domains: Completely isolated sensor domains with separate buses and separate power control

• Newly designed vibration isolation system to filter out high-frequency vibration and reduce noise to ensure accurate readings

• Ethernet interface for high-speed mission computer integration

• IMUs are temperature-controlled by onboard heating resistors, allowing optimum working temperature of IMUs

Pixhawk 6C Mini Model A CAD 3D File

Legacy:

Current:

Model B CAD 3D File

Betaflight Target: KAKUTEH7V2 (BF 4.3.1 or Newer)

INAV Target: KAKUTEH7V2 (INAV 5.1 or newer), INAV VTX+ & Bluetooth Setup Information

Ardupilot Target: KakuteH7v2 (Ardupilot 4.3 or newer)

PX4: KakuteH7V2 (PX4 1.14 or newer) Firmware can be built using make holybro_kakuteh7v2

PX4 Bootloader HEX file for KakuteH7 v2:

Flash EMMC

First, we need to have the CM4 up and running. We need to prepare the hardware for it first. Considering the fact that you have already mounted your CM4 onto the baseboard do the following to be able to flash any required image on RPi CM4:

1. Switch the Dip-Switch on Holybro Pixhawk 6X+CM4 base board (located on top of UART&I2C port) to RPi

2. Connect the baseboard to your desktop computer USB-C CM4 Slave port used power & flash the RPi CM4. There may be a prompt on some systems like macOS to allow the connection. Please allow it! Otherwise, where to connect? 😀

3. You need to use usbboot:

Clone this repository on your Pi or other Linux machine. Make sure that the system date is set correctly, otherwise, Git may produce an error.

This git repository uses symlinks. For Windows builds clone the repository under Cygwin:

Note: sudo isn't required if you have write permissions for the /dev/bus/usb device.

From a macOS machine, you can also run usbboot, just follow the same steps:

1. Clone the usbboot repository

2. Install libusb (brew install libusb)

3. Install pkg-config (brew install pkg-config)

If the build is unable to find the header file libusb.h then most likely the PKG_CONFIG_PATH is not set properly. This should be set via export PKG_CONFIG_PATH="$(brew --prefix libusb)/lib/pkgconfig".

If the build fails on an ARM-based Mac with a linker error such as ld: warning: ignoring file /usr/local/Cellar/libusb/1.0.26/lib/libusb-1.0.dylib, building for macOS-arm64 but attempting to link with file built for macOS-x86_64 then you may need to build and install libusb-1.0 yourself:

Running “make” again should now succeed!

After running rpiboot the below screen from your terminal should say that you are good to go for flashing a new image onto your CM4 board.

Note: if there are any pop-ups after this stage to eject an unknown disk, simply ignore them.

• You can now install your favorite Linux distro, e.g. Raspberry Pi OS 64bit, using The rpi-imager. Make sure to add wifi and ssh settings (hidden behind the gear/advanced symbol).

1. Once done, unmount the volumes, and power down the CM4 by unplugging the USB-C CM4 Slave.

2. Switch Dip-Switch back to EMMC.

3. Power on CM4 by providing power to the USB-C CM4 Slave port.

Pixhawk 6X talks to CM4 using Telem2 (/dev/ttyS4).

1. To enable this MAVLink instance, set the params: - MAV_1_CONFIG: TELEM2 - MAV_1_MODE: Onboard - SER_TEL2_BAUD: 921600 8N1

2. reboot the FMU

3. On the RPi side, you can connect it to Wifi using a router or a Wifi Dongle.

1. Make sure the CM4 is connected to the internet, e.g. using a wifi, or ethernet.

2. Install MAVSDK Python:

1. Copy an example from the .

2. Change the system_address="udp://:14540" to system_address="serial:///dev/serial0:921600"

3. Try out the example. Permission for the serial port should already be available through the dialout

You can also use your own power supply to power the RPi CM4 baseboard.

The newest batch (version RC09 and newer) of Pixhawk 6C now supports switchable PWM signal voltage (3.3V or 5V). The modification requires the user to open the casing of the Pixhawk flight controller and be familiar with soldering.

To switch the PWM signal voltage, bridge the 3V3 or 5V soldering pads on the PCB by applying solder on the pads. Make sure the unused pads are cleaned and not shorted.

For RC12 PCB design, the process is more straightforward. Locate the JP1 soldering pad at the bottom left of the PCB. Bridge the JP1 pads for 5V and unbridge to revert to 3.3V.

The Pixhawk® 6C Mini is the latest update to the successful family of Pixhawk® flight controllers, based on the Pixhawk® FMUv6C Open Standard and Connector Standard. It shares the same STMH743 microprocessor and sensors as the Pixhawk 6C. Compared to the standard Pixhawk 6C, this Mini version has a built-in PWM header, and some ports have been removed in order to fit this Mini form factor.

Inside the Pixhawk® 6C Mini, you can find an STMicroelectronics®-based STM32H743, paired with sensor technology from Bosch® & InvenSense®, giving you flexibility and reliability for controlling any autonomous vehicle, suitable for both academic and commercial applications.

The Pixhawk® 6C Mini's H7 microcontroller contains the Arm® Cortex®-M7 core running up to 480 MHz and has 2MB flash memory and 1MB RAM. Thanks to the updated processing power, developers can be more productive and efficient with their development work, allowing for complex algorithms and models.

The FMUv6C open standard includes high-performance, low-noise IMUs on board, designed to be cost-effective while having IMU redundancy. A vibration isolation system to filter out high-frequency vibration and reduce noise to ensure accurate readings, allowing vehicles to reach better overall flight performances.

The Pixhawk® 6C Mini is perfect for developers at corporate research labs, startups, academics (research, professors, students), and commercial applications.

Key Design Points

• High performance STM32H743 Processor with more computing power & RAM

• New cost-effective design in a small form factor

• IMU redundancy with sensor technology from Bosch® & InvenSense®

Below are the main difference between Pixhawk 6C and Pixhawk 6C Mini

Ports

These ports are not available in the Pixhawk 6C Mini (compared to the "standard" Pixhawk 6C):

• Power2 Port

• Telem3 Port

• SBUS Out Port

• IO Debug Port

• 4pin USB Port (JST-GH)

• FMU PWM CH7 & CH8

The Pixhawk 6C Mini has built in PWM Header while the "Standard" Pixhawk 6C has a separate PWM Breakout Board.

Processors & Sensors

• FMU Processor: STM32H743

  • 32 Bit Arm® Cortex®-M7, 480MHz, 2MB memory, 1MB SRAM

• IO Processor: STM32F103

  • 32 Bit Arm® Cortex®-M3, 72MHz, 64KB SRAM

• On-board sensors

  • Accel/Gyro: ICM-42688-P

  • Accel/Gyro: BMI088 (BMI055 discontinued due to the end of production of the sensor)

• Voltage Ratings:

  • Max input voltage: 6V

  • USB Power Input: 4.75~5.25V

• FC Module Connector Type:

• Dimensions: 44.8 * 44.8 * 13.5mm

• Weight: 36g

• 16- PWM servo outputs (8 from IO, 8 from FMU)

• 3 general purpose serial ports

  • Telem1 - Full flow control, separate 1.5A current limit

• Operating temperature: -40 ~ 85°c

Power

Telem 1 Port

Telem 2 Port

Telem 3 & I2CA Port

TEL4/GPS2 Port

GPS 1 Port

DSM Port (JST-ZH 1.5mm)

USB Port

CAN1 & CAN2 Port

ADC PAD

FMU PWM OUT Port (AUX OUT)

I/O PWM OUT Port (MAIN OUT)

RSSI Port

RC-IN Port

FMU Debug Port (JST SH 1mm Pitch)

Pix32v6 is supported on PX4 1.13.1 release and later. Pix32 v6 (with SN number higher than XXXX XXX 20221112) requires 1.13.2 Stable or later.

Pix32 v6 is supported in Ardupilot 4.2.3 stable release and later. It uses the "Pixhawk 6C" Firmware Target. Firmware can be flash via Mission Planner or QGroundControl. It can also be downloaded here: https://firmware.ardupilot.org/

Must use QGC v4.2.4 or later, or Daily QGC Build.

Durandal is a flight controller designed by Holybro utilizing the STM32H7 microcontroller series. As an increasing number of drone companies and developers need to run more powerful models and build on more embedded memory capabilities, Durandal is designed to offer the performance upgrade for development needs.

The advantage will come in handy with intensive calculation features are required. Harnessing our extensive controller building experience in the past years, we have implemented a new vibration absorption system into the mechanical design of the hardware and integrated an IMU heater for sensor temperature control.

Key Design Points:

• High performance H7 Processor with a clock speed up to 480 MHz

• Redundant inertial measurement unit (IMU) from Bosch® & InvenSense®

• Vibration isolation system to filter out high frequency vibration and reduce noise to ensure accurate readings

• IMUs are temperature-controlled by onboard heating resistors, allowing the optimum working temperature of IMUs

• 2 power ports & 5 general purpose serial ports

• Main FMU Processor: STM32H743

  • 32 Bit Arm ® Cortex®-M7, 480MHz, 2MB memory, 1MB RAM

• IO Processor: STM32F100/F103

Voltage Ratings:

• Max input voltage: 6V

• USB Power Input: 4.75~5.25V

• Servo Rail Input: 0~36V

Current Ratings:

• Telem1 Max output current limiter: 1.5A

• All other ports combined output current limiter: 1.5A

• Dimensions:80*45*20.5mm

• Weight: 68.8g

• 13 PWM outputs (8 from IO, 5 from FMU)

• 5 general purpose serial ports

Pinout

Pinout

Description:

The Holybro Kakute H7 Mini is a Flight Controller full of features including onboard VTX ON/OFF Pit Switch with battery voltage, HD System/VTX & 4in1 ESC plugs, barometer, OSD, 6x UARTs, easy soldering layout and much more. The Kakute H7 Mini builds upon the best features of its F7 predecessor and further improves on hardware components and layout. HD ready, it has an easy plug to power HD system like Caddx Vista while supporting analog system. It features an onboard “VTX ON/OFF Pit Switch” that allows you to completely power off the video transmitter using a switch on your RC transmitter. Great if you are working on your drone, waiting for the GPS to get a fix, getting ready for a race while preventing it from overheating or interfering with others flying.

It has 6x dedicated UART ports with built-in inversion for peripherals, 4in1 ESC plug, and x8 compatible with M5-M8 Signal Pads, allowing easy support for x8 Octocopter configuration. The integrated BetaFlight OSD makes it easy to display important information on your FPV display like battery voltage, flight time, warnings, RSSI, smart audio features and more. It is also ready for autonomous flight with the on-board barometer. There are LED & buzzer pad, I2C pad (SDA & SCL) for external GPS/Magnetometers.

Specification:

• MCU - STM32H743 32-bit processor running at 480 MHz

• IMU

  • ICM-42699-P (v1.5)

  • BMI270 (v1.3)

  • MPU6000 (v1.2 & before)

• Barometer - BMP280

• OSD - AT7456E

• Onboard Flash: 128Mbits (v1.3 & later)

• VTX ON/OFF Pit Switch – Switch can be enabled using USER1 in Betaflight Mode tab. Warning: Do not enable this pit switch if you are using the DJI FPV Remote Controller

• 6x UARTs (1,2,3,4,6,7)

• 9x PWM Outputs (8 Motor Outputs, 1 LED)

• Battery input voltage: 2S-6S

• BEC 5V 2A

• Mounting - 20 x 20mm, Φ3.6mm hole with M3 & M2 Grommets

• Dimension - 31x30x6mm

• Weight – 5.5g

FC Module is internally connected to RPi CM4 through TELEM2

• CM4 GPIO14 <-> FMU TXD TELEM2

• CM4 GPIO15 <-> FMU RXD TELEM2

Power 1 & 2

Welcome to Holybro Official Documentation.

This documentation will help you understand Holybro's official product introduction, technical specifications, pinout, tutorials, assembly, etc. If you have any comments or suggestions on our documentation, please send an email to Support@holybro.com

Thank you