{"data":{"id":"267486","string_id":"SFME7OuD","status":"1","parent_id":"258801","slug":"SFME7OuD","order":"8","name":"X6 AutoPilot","type":"1","cover":"","cover_alt":"","desc":null,"website":"","contact":"","seo_title":"","seo_keyword":"","seo_desc":"","author":"","published_time":"1735788155","add_time":"1735778332","update_time":"1782876282","corp_auth_id":"0","verify_code_auth_id":"0","editor_type":"1","tags":[],"parent_name":"AutoPilot Series","parent_type":"1","parent_slug":"5qIeDltB","child":[{"id":"267487","string_id":"9FPpicb9","status":"1","parent_id":"267486","slug":"9FPpicb9","order":"3","name":"X6 AutoPilot Instruction","type":"2","cover":"","cover_alt":"","desc":null,"website":"","contact":"","seo_title":"","seo_keyword":"","seo_desc":"","share_switch":"0","share_code":"","author":"","published_time":"1735788186","add_time":"1735778339","update_time":"1770813331","corp_auth_id":"0","verify_code_auth_id":"0","editor_type":"3","file_type":"","auth_id":"[\"267487\", \"267486\", \"258801\"]","content":{"content_id":"267487","content":"

Download ground control station<\/h2>\n
Download MissionPlanner ground control station<\/span><\/p>\n
https:\/\/firmware.ardupilot.org\/Tools\/MissionPlanner<\/a><\/span><\/p>\n
<\/p>\n
Download QGroundControl ground station<\/span><\/p>\n
https:\/\/github.com\/mavlink\/qgroundcontrol\/releases<\/a><\/p>\n
<\/p>\n

Firmware download<\/h2>\n
Download ArduPilot firmware<\/p>\n
https:\/\/firmware.ardupilot.org\/<\/a><\/span><\/p>\n
<\/p>\n
Download PX4 firmware<\/span><\/p>\n
https:\/\/github.com\/PX4\/PX4-Autopilot\/releases<\/a><\/span><\/p>\n
<\/p>\n

Interface definition<\/span><\/h2>\n
$\"\"$ <\/span><\/p>\n
<\/p>\n
Interface description<\/span><\/h2>\n<\/colgroup>\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n
Power 1~ 2<\/td>\n Connect to OnePMU or other DroneCAN bus current meters<\/td>\n<\/tr>\n
GPS&Safety<\/td>\n It can connect to PX4 standard GPS types, integrating safety switches, compasses, buzzers, and LED lights<\/td>\n<\/tr>\n
GPS 2<\/td>\n GPS interface, capable of connecting to GPS or RTK, with integrated I2C bus pins<\/td>\n<\/tr>\n
TELEM1~3<\/td>\n Connect to OneDLink, OneVDLink communication links, or other MavLink devices, and can also connect to other serial communication devices. TELEM 1 is SERIAL1, TELEM 2 is SERIAL2, and TELEM 3 is SERIAL5 <\/td>\n<\/tr>\n
CAN1~2<\/td>\n Connect to DroneCAN\/UAVCAN devices such as OneGNSS, OneASP, OneRTK, etc. GPS1 is SERIAL3, GPS2 is SERIAL4<\/td>\n<\/tr>\n
SBUS IN<\/td>\n Connect to SBUS remote control receiver<\/td>\n<\/tr>\n
SBUS OUT<\/td>\n SBUS signal output for external devices that support SBUS control, such as gimbal control<\/td>\n<\/tr>\n
DSM PPM IN<\/td>\n This interface integrates DSM and PPM remote control receivers, as well as RSSI signal strength input<\/td>\n<\/tr>\n
M1-M16<\/td>\n \n
M1-M16: Support PWM output, can connect to PWM electronic speed controllers (ESCs) or servos, connect to camera shutters\/hot shoes, etc.M15-M16 can be expanded through the provided cables<\/p>\n
M1-M14 support Dshot protocol, and M9-M14 support bidirectional Dshot<\/p>\n<\/td>\n<\/tr>\n
Type C<\/td>\n Connect to a computer for flight controller configuration, firmware flashing, etc<\/td>\n<\/tr>\n
USB<\/td>\n GH1.25 USB expansion interface<\/td>\n<\/tr>\n
I2C<\/td>\n Connect to I2C devices, such as I2C airspeed indicators<\/td>\n<\/tr>\n
TF Memory card slot<\/td>\n Install a memory card for storing logs, supporting a maximum of 256GB, with FAT32 as the recommended file system format<\/td>\n<\/tr>\n
ETHERNET<\/td>\n Ethernet port interface for connecting devices that support Ethernet communication, such as Ethernet gimbals, Raspberry Pi, NVIDIA Jetson series boards, etc<\/td>\n<\/tr>\n
AD&IO<\/td>\n Integrated BootLoader interface and digital-to-analog converter, allowing connection to analog current meters<\/td>\n<\/tr>\n
SPI<\/td>\n Connect to external SPI sensors<\/td>\n<\/tr>\n
IO Debug<\/td>\n Connecting to this interface requires opening the lower cover, for use by professionals and developers<\/td>\n<\/tr>\n
FMU Debug<\/td>\n Connecting to this interface requires opening the lower cover, for use by professionals and developers<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
<\/p>\n
PWM level switching<\/h2>\n
The flight controller outputs a default voltage level of 3.3V. When the signal cable for your device is excessively long, exceeding 75cm, it is recommended to change it to a 5.0V voltage level. However, please ensure that your external device supports this voltage (please consult with your hardware device manufacturer). The modification method is as follows:
After connecting to Mission Planner, search for the BRD_PWM_VOLT_SEL parameter in the complete parameter list. The default value is 0, representing a 3.3V level. Change it to 1, write the parameter, and restart the flight controller or re-power it for the change to take effect.<\/p>\n
<\/h2>\n
PWM Connector Recommendations<\/strong><\/h2>\n
The PWM terminals on the X6 flight controller feature a custom 2.6mm pitch<\/strong>. It is recommended to use Futaba 3-pin Dupont right-angle headers<\/strong>, as shown in the figure below:<\/p>\n
<\/p>\n
<\/p>\n
Wiring instructions<\/span><\/h2>\n
The following wiring diagram introduces the wiring method for a conventional vertical takeoff and landing (VTOL) drone. The wiring method is for reference only. Users need to add devices and adjust the interface methods according to their own drone models and requirements. Please refer to the previous interface descriptions for the functions of each interface.<\/p>\n
<\/p>\n
<\/p>\n
Specification and Parameter Table for X6 AutoPilot<\/h2>\n<\/colgroup>\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n
\n
Hardware standard<\/div>\n<\/td>\n
\n
FMU v6X<\/div>\n<\/td>\n<\/tr>\n
MCU<\/td>\n STM32H753<\/td>\n<\/tr>\n
IO MCU<\/td>\n STM32F103<\/td>\n<\/tr>\n
\n
Built-in shock absorption<\/div>\n<\/td>\n
Yes<\/td>\n<\/tr>\n
\n
Acc \uff06 Gyr<\/div>\n<\/td>\n
ICM45686+BMI088+ICM45686<\/td>\n<\/tr>\n
\n
Barometer<\/div>\n<\/td>\n
ICP-20100×2<\/td>\n<\/tr>\n
\n
Compass<\/div>\n<\/td>\n
RM3100<\/td>\n<\/tr>\n
\n
PWM relay<\/div>\n<\/td>\n
Yes<\/td>\n<\/tr>\n
\n
Receiver protocol input<\/div>\n<\/td>\n
SBUS+DSM+PPM<\/td>\n<\/tr>\n
Number of PWM channels<\/td>\n 16 (14 channels with Dupont connectors + 2 channels with GH1.25 expansion interfaces)<\/td>\n<\/tr>\n
PWM level switching<\/td>\n Supports switching between 3.3V and 5V<\/td>\n<\/tr>\n
\n
Power interface<\/div>\n<\/td>\n
2 DroneCAN power supply interfaces<\/td>\n<\/tr>\n
Servo voltage monitoring<\/td>\n 9.9V<\/td>\n<\/tr>\n
\n
IO detail<\/div>\n<\/td>\n
CAN×2 GPS&Safety×1 GPS2 ×1 DSM PPM IN×1 ETH ×1 UART 4×1 SBUS IN×1 USB ×1 SPI ×1 AD&IO ×1 I2C ×1<\/td>\n<\/tr>\n
Operating temperature<\/td>\n -20\u2103~85\u2103<\/td>\n<\/tr>\n
Weight<\/td>\n 93g<\/td>\n<\/tr>\n
Firmware support<\/td>\n ArduPilot PX4(In the process of adaptation, please stay tuned for updates on the official website)<\/td>\n<\/tr>\n
Model support<\/td>\n Helicopter\u3001UAV\u3001Plane\u3001VTOL Plane\u3001UGV\u3001USV...<\/td>\n<\/tr>\n
Operating Voltage<\/td>\n 4.5V-5.4V<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
<\/p>\n
Diagram of X6 AutoPilot's Dimensions and Mounting Hole Locations<\/h2>\n
$\"\"$ <\/p>\n
<\/p>\n
<\/p>\n
Safety Instructions<\/h2>\n
\n
This product is not suitable for individuals under the age of 18. Those under 18 should use it under adult supervision.<\/li>\n
This product is an open-source flight controller, and users must have professional knowledge of open-source drones to correctly configure and operate them.<\/li>\n
Do not fly in strong winds.<\/li>\n
The flight controller itself is not waterproof, so do not fly in the rain.<\/li>\n
Please comply with local laws and regulations. Without local permission, do not fly in crowded areas, near train stations, airports, or other sensitive areas to avoid endangering public safety.<\/li>\n
Before takeoff, carefully inspect to ensure all connections are secure, all equipment is functioning properly, and all control responses are correct to prevent accidents.<\/li>\n
Perform routine maintenance before and after each flight, checking for loose hardware connections, damaged motor blades, and the tightness of screws.<\/li>\n
The rapidly spinning propellers are highly dangerous. Please be safe and keep away from crowds when flying. Never operate or fly while under the influence of alcohol, fatigued, or in any other impaired mental state.<\/li>\n<\/ol>","pure_content":"Download ground control station\nDownload MissionPlanner ground control station\nhttps:\/\/firmware.ardupilot.org\/Tools\/MissionPlanner\n\u00a0\nDownload QGroundControl ground station\nhttps:\/\/github.com\/mavlink\/qgroundcontrol\/releases\n\u00a0\nFirmware download\nDownload ArduPilot firmware\nhttps:\/\/firmware.ardupilot.org\/\n\u00a0\nDownload PX4 firmware\nhttps:\/\/github.com\/PX4\/PX4-Autopilot\/releases\n\u00a0\nInterface definition\n\n\u00a0\nInterface description\n\n\n\n Power 1~ 2\n Connect to OnePMU or other DroneCAN bus current meters\n\n\n GPS&Safety\n It can connect to PX4 standard GPS types, integrating safety switches, compasses, buzzers, and LED lights\n\n\n GPS 2\n GPS interface, capable of connecting to GPS or RTK, with integrated I2C bus pins\n\n\n TELEM1~3\n Connect to OneDLink, OneVDLink communication links, or other MavLink devices, and can also connect to other serial communication devices. TELEM 1 is SERIAL1, TELEM 2 is SERIAL2, and TELEM 3 is SERIAL5\u00a0\n\n\n CAN1~2\n Connect to DroneCAN\/UAVCAN devices such as OneGNSS, OneASP, OneRTK, etc. GPS1 is SERIAL3, GPS2 is SERIAL4\n\n\n SBUS IN\n Connect to SBUS remote control receiver\n\n\n SBUS OUT\n SBUS signal output for external devices that support SBUS control, such as gimbal control\n\n\n DSM PPM IN\n This interface integrates DSM and PPM remote control receivers, as well as RSSI signal strength input\n\n\n M1-M16\n M1-M16: Support PWM output, can connect to PWM electronic speed controllers (ESCs) or servos, connect to camera shutters\/hot shoes, etc.M15-M16 can be expanded through the provided cables\nM1-M14 support Dshot protocol, and M9-M14 support bidirectional Dshot\n\n\n Type C\n Connect to a computer for flight controller configuration, firmware flashing, etc\n\n\n USB\n GH1.25 USB expansion interface\n\n\n I2C\n Connect to I2C devices, such as I2C airspeed indicators\n\n\n TF Memory card slot\n Install a memory card for storing logs, supporting a maximum of 256GB, with FAT32 as the recommended file system format\n\n\n ETHERNET\n Ethernet port interface for connecting devices that support Ethernet communication, such as Ethernet gimbals, Raspberry Pi, NVIDIA Jetson series boards, etc\n\n\n AD&IO\n Integrated BootLoader interface and digital-to-analog converter, allowing connection to analog current meters\n\n\n SPI\n Connect to external SPI sensors\n\n\n IO Debug\n Connecting to this interface requires opening the lower cover, for use by professionals and developers\n\n\n FMU Debug\n Connecting to this interface requires opening the lower cover, for use by professionals and developers\n\n\n\n\u00a0\nPWM level switching\nThe flight controller outputs a default voltage level of 3.3V. When the signal cable for your device is excessively long, exceeding 75cm, it is recommended to change it to a 5.0V voltage level. However, please ensure that your external device supports this voltage (please consult with your hardware device manufacturer). The modification method is as follows:After connecting to Mission Planner, search for the BRD_PWM_VOLT_SEL parameter in the complete parameter list. The default value is 0, representing a 3.3V level. Change it to 1, write the parameter, and restart the flight controller or re-power it for the change to take effect.\n\u00a0\nPWM Connector Recommendations\nThe PWM terminals on the X6 flight controller feature a\u00a0custom 2.6mm pitch. It is recommended to use\u00a0Futaba 3-pin Dupont right-angle headers, as shown in the figure below:\n\n\u00a0\nWiring instructions\nThe following wiring diagram introduces the wiring method for a conventional vertical takeoff and landing (VTOL) drone. The wiring method is for reference only. Users need to add devices and adjust the interface methods according to their own drone models and requirements. Please refer to the previous interface descriptions for the functions of each interface.\n\n\u00a0\nSpecification and Parameter Table for X6 AutoPilot\n\n\n\n Hardware standard\n FMU v6X\n\n\n MCU\n STM32H753\n\n\n IO MCU\n STM32F103\n\n\n Built-in shock absorption\n Yes\n\n\n Acc \uff06 Gyr\n ICM45686+BMI088+ICM45686\n\n\n Barometer\n ICP-20100\u00d72\n\n\n Compass\n RM3100\n\n\n PWM relay\n Yes\n\n\n Receiver protocol input\n SBUS+DSM+PPM\n\n\n Number of PWM channels\n 16 (14 channels with Dupont connectors + 2 channels with GH1.25 expansion interfaces)\n\n\n PWM level switching\n Supports switching between 3.3V and 5V\n\n\n Power interface\n 2 DroneCAN power supply interfaces\n\n\n Servo voltage monitoring\n 9.9V\n\n\n IO detail\n CAN\u00d72 GPS&Safety\u00d71 GPS2 \u00d71 DSM PPM IN\u00d71 ETH \u00d71 UART 4\u00d71 SBUS IN\u00d71 USB \u00d71 SPI \u00d71 AD&IO \u00d71 I2C \u00d71\n\n\n Operating temperature\n -20\u2103~85\u2103\n\n\n Weight\n 93g\n\n\n Firmware support\n ArduPilot PX4(In the process of adaptation, please stay tuned for updates on the official website)\n\n\n Model support\n Helicopter\u3001UAV\u3001Plane\u3001VTOL Plane\u3001UGV\u3001USV...\n\n\n Operating Voltage\n 4.5V-5.4V\n\n\n\n\u00a0\nDiagram of X6 AutoPilot's Dimensions and Mounting Hole Locations\n\n\n\u00a0\nSafety Instructions\n\nThis product is not suitable for individuals under the age of 18. Those under 18 should use it under adult supervision.\nThis product is an open-source flight controller, and users must have professional knowledge of open-source drones to correctly configure and operate them.\nDo not fly in strong winds.\nThe flight controller itself is not waterproof, so do not fly in the rain.\nPlease comply with local laws and regulations. Without local permission, do not fly in crowded areas, near train stations, airports, or other sensitive areas to avoid endangering public safety.\nBefore takeoff, carefully inspect to ensure all connections are secure, all equipment is functioning properly, and all control responses are correct to prevent accidents.\nPerform routine maintenance before and after each flight, checking for loose hardware connections, damaged motor blades, and the tightness of screws.\nThe rapidly spinning propellers are highly dangerous. Please be safe and keep away from crowds when flying. Never operate or fly while under the influence of alcohol, fatigued, or in any other impaired mental state.","is_draft":"0","editor_type":"3","file_path":"","add_time":"1735778339","update_time":"1754290681"},"pure_content":"Download ground control station\nDownload MissionPlanner ground control station\nhttps:\/\/firmware.ardupilot.org\/Tools\/MissionPlanner\n\u00a0\nDownload QGroundControl ground station\nhttps:\/\/github.com\/mavlink\/q"},{"id":"267778","string_id":"zDvSVJLq","status":"1","parent_id":"267486","slug":"zDvSVJLq","order":"1","name":"X6 AutoPilot Readme","type":"2","cover":"","cover_alt":"","desc":null,"website":"","contact":"","seo_title":"","seo_keyword":"","seo_desc":"","share_switch":"0","share_code":"","author":"","published_time":"1735788500","add_time":"1735788455","update_time":"1754290578","corp_auth_id":"0","verify_code_auth_id":"0","editor_type":"2","file_type":"","auth_id":"[\"267778\", \"267486\", \"258801\"]","content":{"content_id":"267778","content":"## ZeroOneX6 Flight Controller\nThe ZeroOne X6 is a flight controller manufactured by ZeroOne, which is based on the open-source FMU v6X architecture and Pixhawk Autopilot Bus open source specifications.\n\n## Features:\n- Separate flight control core design.\n- MCU \n STM32H753IIK6 32-bit processor running at 480MHz\n 2MB Flash\n 1MB RAM\n- Sensors\n- IMU: \n Internal Vibration Isolation for IMUs\n IMU constant temperature heating(1 W heating power).\n With Triple Synced IMUs, BalancedGyro technology, low noise and more shock-resistant:\n IMU1-ICM45686(With vibration isolation) \n IMU2-BMI088(With vibration isolation) \n IMU3- ICM45686(No vibration isolation)\n- Baro:\n Two barometers:2 x ICP20100\n Magnetometer: Builtin RM3100 magnetometer\n\n## UART Mapping\nThe 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.\n| Name | Function | MCU PINS | DMA |\n| ------- | -------- |--------- | -----------|\n| SERIAL0 | OTG1 | USB | \n| SERIAL1 | Telem1 | UART7 |DMA Enabled |\n| SERIAL2 | Telem2 | UART5 |DMA Enabled |\n| SERIAL3 | GPS1 | USART1 |DMA Enabled |\n| SERIAL4 | GPS1 | UART8 |DMA Enabled |\n| SERIAL5 | Telem3 | USART2 |DMA Enabled |\n| SERIAL6 | UART4 | UART4 |DMA Enabled |\n| SERIAL7 | DEBUG | USART3 |DMA Enabled |\n| SERIAL8 | OTG-SLCAN| USB |\n\n## RC Input\nThe remote control signal should be connected to the SBUS RC IN port or DSM\/PPM RC Port.It will support ALL unidirectional RC protocols.\n\n## PWM Output\nThe X6 flight controller supports up to 16 PWM outputs. \nFirst first 8 outputs (labelled 1 to 8) are controlled by a dedicated STM32F103 IO controller. These 8 outputs support all PWM output formats, but not DShot.\nThe remaining 8 outputs (labelled 9 to 16) are the \"auxiliary\" outputs. These are directly attached to the STM32H753 FMU controller .\nAll 16 outputs support normal PWM output formats. All FMU outputs, except 15 and 16, also support DShot.\n\nThe 8 IO PWM outputs are in 4 groups:\n- Outputs 1 and 2 in group1\n- Outputs 3 and 4 in group2\n- Outputs 5, 6, 7 and 8 in group3\n \nThe 8 FMU PWM outputs are in 4 groups:\n- Outputs 1, 2, 3 and 4 in group1\n- Outputs 5 and 6 in group2\n- Outputs 7 and 8 in group3\n\nChannels 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.\n\n\n## GPIO\nAll PWM outputs can be used as GPIOs (relays, camera, RPM etc). To use them you need to set the output\u2019s SERVOx_FUNCTION to -1. The numbering of the GPIOs for PIN variables in ArduPilot is:\nIo pins\nM1 Mainout1:101\nM2 Mainout2:102\nM3 Mainout3:103\nM4 Mainout4:104\nM5 Mainout5:105\nM6 Mainout6:106\nM7 Mainout7:107\nM8 Mainout8:108\n\nFMU pins:\nM9 AUXOUT1:50\nM10 AUXOUT2:51\nM11 AUXOUT3:52\nM12 AUXOUT4:53\nM13 AUXOUT5:54\nM14 AUXOUT6:55\nM15 56\nM16 BB Blue GPO pin 3:57\nFMU CAP1 58\n\n\n## Battery Monitoring\nThe X6 flight controller has two six-pin power connectors, supporting CAN interface power supply.\nThese are set by default in the firmware and shouldn't need to be adjusted.\n\n## Compass\nThe X6 flight controller built-in industrial-grade electronic compass chip RM3100.\n\n## Analog inputs\nThe X6 flight controller has 2 analog inputs.\n- ADC Pin12 -> ADC 6.6V Sense\n- ADC Pin13 -> ADC 3.3V Sense\n- RSSI input pin = 103","pure_content":"ZeroOneX6 Flight Controller\nThe ZeroOne X6 is a flight controller manufactured by ZeroOne, which is based on the open-source FMU v6X architecture and Pixhawk Autopilot Bus open source specifications.\nFeatures:\n\nSeparate flight control core design.\nMCU\nSTM32H753IIK6 32-bit processor running at 480MHz\n2MB Flash\n1MB RAM\nSensors\nIMU:\nInternal Vibration Isolation for IMUs\nIMU constant temperature heating(1 W heating power).\nWith Triple Synced IMUs, BalancedGyro technology, low noise and more shock-resistant:\nIMU1-ICM45686(With vibration isolation)\nIMU2-BMI088(With vibration isolation)\nIMU3- ICM45686(No vibration isolation)\nBaro:\nTwo barometers:2 x ICP20100\nMagnetometer: Builtin RM3100 magnetometer\n\nUART Mapping\nThe 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.\n\n\n\n Name\n Function\n MCU PINS\n DMA\n\n\n\n\n SERIAL0\n OTG1\n USB\n \n\n\n SERIAL1\n Telem1\n UART7\n DMA Enabled\n\n\n SERIAL2\n Telem2\n UART5\n DMA Enabled\n\n\n SERIAL3\n GPS1\n USART1\n DMA Enabled\n\n\n SERIAL4\n GPS1\n UART8\n DMA Enabled\n\n\n SERIAL5\n Telem3\n USART2\n DMA Enabled\n\n\n SERIAL6\n UART4\n UART4\n DMA Enabled\n\n\n SERIAL7\n DEBUG\n USART3\n DMA Enabled\n\n\n SERIAL8\n OTG-SLCAN\n USB\n \n\n\n\nRC Input\nThe remote control signal should be connected to the SBUS RC IN port or DSM\/PPM RC Port.It will support ALL unidirectional RC protocols.\nPWM Output\nThe X6 flight controller supports up to 16 PWM outputs.\nFirst first 8 outputs (labelled 1 to 8) are controlled by a dedicated STM32F103 IO controller. These 8 outputs support all PWM output formats, but not DShot.\nThe remaining 8 outputs (labelled 9 to 16) are the \"auxiliary\" outputs. These are directly attached to the STM32H753 FMU controller .\nAll 16 outputs support normal PWM output formats. All FMU outputs, except 15 and 16, also support DShot.\nThe 8 IO PWM outputs are in 4 groups:\n\nOutputs 1 and 2 in group1\nOutputs 3 and 4 in group2\nOutputs 5, 6, 7 and 8 in group3\n\nThe 8 FMU PWM outputs are in 4 groups:\n\nOutputs 1, 2, 3 and 4 in group1\nOutputs 5 and 6 in group2\nOutputs 7 and 8 in group3\n\nChannels 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.\nGPIO\nAll PWM outputs can be used as GPIOs (relays, camera, RPM etc). To use them you need to set the output\u2019s SERVOx_FUNCTION to -1. The numbering of the GPIOs for PIN variables in ArduPilot is:\nIo pins\nM1 Mainout1:101\nM2 Mainout2:102\nM3 Mainout3:103\nM4 Mainout4:104\nM5 Mainout5:105\nM6 Mainout6:106\nM7 Mainout7:107\nM8 Mainout8:108\nFMU pins:\nM9 AUXOUT1:50\nM10 AUXOUT2:51\nM11 AUXOUT3:52\nM12 AUXOUT4:53\nM13 AUXOUT5:54\nM14 AUXOUT6:55\nM15 56\nM16 BB Blue GPO pin 3:57\nFMU CAP1 58\nBattery Monitoring\nThe X6 flight controller has two six-pin power connectors, supporting CAN interface power supply.\nThese are set by default in the firmware and shouldn't need to be adjusted.\nCompass\nThe X6 flight controller built-in industrial-grade electronic compass chip RM3100.\nAnalog inputs\nThe X6 flight controller has 2 analog inputs.\n\nADC Pin12 -> ADC 6.6V Sense\nADC Pin13 -> ADC 3.3V Sense\nRSSI input pin = 103","is_draft":"0","editor_type":"2","file_path":"","add_time":"1735788455","update_time":"1735788515"},"pure_content":"ZeroOneX6 Flight Controller\nThe ZeroOne X6 is a flight controller manufactured by ZeroOne, which is based on the open-source FMU v6X architecture and Pixhawk Autopilot Bus open source specifications."}],"content":{"icon":"","desc":"","content_id":"267486","add_time":"1735778332","update_time":"1735778332","content":"","is_traffic_less":"0","file_type":""},"hot_list":[],"user_read_num":"0","is_auth":"0"},"msg":"Success","code":200}

Firmware download<\/h2>\nDownload ArduPilot firmware<\/p>\nhttps:\/\/firmware.ardupilot.org\/<\/a><\/span><\/p>\n <\/p>\nDownload PX4 firmware<\/span><\/p>\nhttps:\/\/github.com\/PX4\/PX4-Autopilot\/releases<\/a><\/span><\/p>\n <\/p>\n

<\/h2>\n

Diagram of X6 AutoPilot's Dimensions and Mounting Hole Locations<\/h2>\n<\/p>\n<\/p>\n <\/p>\n

Firmware download<\/h2>\n
Download ArduPilot firmware<\/p>\n
https:\/\/firmware.ardupilot.org\/<\/a><\/span><\/p>\n
<\/p>\n
Download PX4 firmware<\/span><\/p>\n
https:\/\/github.com\/PX4\/PX4-Autopilot\/releases<\/a><\/span><\/p>\n
<\/p>\n

Diagram of X6 AutoPilot's Dimensions and Mounting Hole Locations<\/h2>\n
$\"\"$ <\/p>\n
<\/p>\n
<\/p>\n