X9 AutoPilot Instructions
Product Introduction
The X9 series flight controller is a modular flight controller designed by ZeroOne Flight specifically for drone integration. All interfaces and definitions are integrated into board-to-board connectors, allowing users to complete the integration of a drone mainboard simply by connecting peripheral devices through straightforward PCB wiring — greatly simplifying the integration process. It also features built-in multi-sensor redundancy and a vibration damping system, meeting the needs of most drone manufacturers.
Product Features
1.True separated design, zero-barrier customization
2.±16 g overload tolerance; 2000°/s angular rate measurement
3.Triple-redundant industrial-grade sensors
4.Omnidirectional vibration damping design
Download Resources
GCS Download
MissionPlanner GCS：https://firmware.ardupilot.org/Tools/MissionPlanner
QGC GCS：https://github.com/mavlink/qgroundcontrol/releases
Firmware Download
ArduPilot Firmware Download
https://pan.01aero.cn/s/mYhv
ZeroOne Flight Resource Library / X9 Series Flight Controller / ArduPilot Firmware
Product Specification
| X9 Cube Autopilot | X9 Core Autopilot | |
|---|---|---|
| MCU | STM32H753 | STM32H753 |
| IO MCU | STM32F103 | STM32F103 |
| Built-in Vibration Damping | Yes | Yes |
| Accelerometer and gyroscope | IIM42652 ×3, ±16 g overload tolerance, 2000°/s angular rate measurement | IIM42652 ×3, ±16 g overload tolerance, 2000°/s angular rate measurement |
| IMU Vibration Damping | Omnidirectional Vibration Damping | Omnidirectional Vibration Damping |
| IMU Temperature Compensation | 10W | 10W |
| Barometer | ICP-20100 × 2 or BMP581+SPL07 | ICP-20100 × 2 or BMP581+SPL07 |
| Compass | RM3100 | RM3100 |
| Interface base plate | CAN×2 GPS1×1 GPS2 ×1 DSM PPM IN×1 ETH ×1 UART 4×1 SBUS IN×1 USB ×1 SPI ×1 AD&IO ×1 I2C ×1 PWM×14 | No-Interface Baseboard |
| Operating Temperature | -20℃~85℃ | -20℃~85℃ |
| Weight | 72g | 57.5g |
| Size | 38.8×38.8×38.8mm | 38.8×38.8×26.5mm |
| Model support | Helicopters, multicopters, fixed-wing, VTOL fixed-wing, UGVs, USVs | Helicopters, multicopters, fixed-wing, VTOL fixed-wing, UGVs, USVs |
| Working voltage | 4.5V-5.4V | 4.5V-5.4V |
Connector Type
X9 CUBE Interface Board Connector Models:
| Connector | Connector model |
|---|---|
| TELEM1 | JST-GH 1.25 mm (4-pin) |
| TELEM2 | JST-GH 1.25 mm (4-pin) |
| GPS2 | JST-GH 1.25 mm (4-pin) |
| SBUS | JST-GH 1.25 mm (4-pin) |
| AUX3-AUX6 | JST-GH 1.25 mm (4-pin) |
| ETH | JST-GH 1.25 mm (4-pin) |
| CAN1 | JST-GH 1.25 mm (4-pin) |
| CAN2 | JST-GH 1.25 mm (4-pin) |
| I2C1 | JST-GH 1.25 mm (4-pin) |
| GPS1 | JST-GH 1.25 mm (4-pin) |
| Power1 | Molex 5055650601 (6-pin) |
| Power2 | Molex 5055650601 (6-pin) |
Interface Definition
UART Mapping
In the pinout diagram, UARTs are labeled as Rn and Tn. Rn is the receive pin for UARTn, and Tn is the transmit pin for UARTn.
| Name | Function | MCU pins | DMA |
|---|---|---|---|
| SERIAL0 | OTG1 | USB | - |
| SERIAL1 | Telem1 | UART7 | Enabled |
| SERIAL2 | Telem2 | UART5 | Enabled |
| SERIAL3 | GPS1 | USART1 | Enabled |
| SERIAL4 | GPS2 | UART8 | Enabled |
| SERIAL5 | Telem3 | USART2 | Enabled |
| SERIAL6 | UART4 | UART4 | Enabled |
| SERIAL7 | DEBUG | USART3 | Enabled |
| SERIAL8 | OTG-SLCAN | USB | - |
X9 CUBE Interface Definition
X9 Core Baseboard Design Resources
Users can design a baseboard based on the bottom interface of the X9 Core.
X9 Core DF17 Connector Interface Definition
The following illustration shows the bottom view of the flight controller. When designing a baseboard, users must reverse (mirror) the interface and pin definitions themselves.
X9 Core DF17 Connector Dimension Drawing
Power Switching Module Documentation
Schematic
Design Reference
| Interface number | Power Switching Module Signals | Connection Target |
|---|---|---|
| 1 | nPOWER_IN_A | 【X9 CORE】nPOWER_IN_A |
| 2 | nPOWER_IN_B | 【X9 CORE】nPOWER_IN_B |
| 3 | nPOWER_IN_C | 【X9 CORE】nPOWER_IN_C |
| 4 | VBUS | 【External Input】USB |
| 5 | VBUS | 【External Input】USB |
| 6 | VDD_5V_BRICK2 | 【External Input】POWER2 |
| 7 | VDD_5V_BRICK2 | 【External Input】POWER2 |
| 8 | VDD_5V_BRICK1 | 【External Input】POWER1 |
| 9 | VDD_5V_BRICK1 | 【External Input】POWER1 |
| 10 | VDD_5V_IN | 【X9 CORE】VDD_5V_IN |
| 11 | VDD_5V_HIPOWER | 【External Input】High-Power Device Interface |
| 12 | VDD_5V_PERIPH | 【External Input】General Peripheral Interface |
| 13 | FMU_VDD_3V3 | 【Flight Controller Input】Pull-Up Voltage |
| 14 | GND | GND |
| 15 | GND | GND |
| 16 | VDD_5V_PERIPH_nEN | 【X9 CORE】VDD_5V_PERIPH_nEN |
| 17 | VDD_5V_PERIPH_nOC | 【X9 CORE】VDD_5V_PERIPH_nOC |
| 18 | VDD_5V_HIPOWER_nEN | 【X9 CORE】VDD_5V_HIPOWER_nEN |
| 19 | VDD_5V_HIPOWER_nOC | 【X9 CORE】VDD_5V_HIPOWER_nOC |
Power switching module PCB library, schematic library, and bottom board design constraints
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