ZeroOneX6

The 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.

Features:

  • MCU

    • STM32H753IIK6 32-bit processor running at 480MHz

    • STM32F103 IOMCU

    • 2MB Flash

    • 1MB RAM

  • Sensors
    • IMUs:

      • Internal Vibration Isolation for IMUs

      • IMU constant temperature heating(1 W heating power).

      • Triple Synced IMUs, BalancedGyro technology, low noise and more shock-resistant:

      • IMU1-ICM45686(With vibration isolation)

      • IMU2-BMI088(With vibration isolation)

      • IMU3-ICM45686(No vibration isolation)

    • Baros:

      • Two barometers:2 x ICP20100

      • Magnetometer: Built-in RM3100 magnetometer

  • Interfaces

    • Ethernet

    • Micro-C USB

    • 7 UARTs, 3 with hardware flow contrrol

    • Safety Switch

    • 2 CAN Power Monitor inputs

    • 2 CAN ports

    • SPI and I2C ports

    • 16 motor/servo outputs, 8 supporting BiDirDShot, 14 suporting DShot

Pinout

../_images/ZeroOneX6Pinout.jpg

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. All are DMA enabled.

  • SERIAL0 :USB OTG1

  • SERIAL1 :UART7 Telem1

  • SERIAL2 :UART5 Telem2

  • SERIAL3 :USART1 GPS1

  • SERIAL4 :UART8 GPS2

  • SERIAL5 :USART2 Telem3

  • SERIAL6 :UART4 USER

  • SERIAL7 :USART3 FMU DEBUG

  • SERIAL8 :USB OTG-SLCAN |

RC Input

The remote control signal should be connected to the SBUS RC IN port or DSM/PPM RC Port.It will support ALL unidirectional RC protocols. For FPort, CRSF/ELRS, SRXL, etc. any UART can be used, see Radio Control Systems for more information.

PWM Output

The X6 flight controller supports up to 16 PWM outputs. First 8 outputs (labeled 1 to 8) are controlled by a dedicated STM32F103 IO controller. The remaining 8 outputs (labeled 9 to 16) are the “auxiliary” outputs. These are directly attached to the STM32H753 FMU controller.

All 16 outputs support normal PWM output formats. All 16 outputs support DShot, except 15 and 16. Outputs 1-8 supoort BiDirectional DShot.

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 9-12 in group1

  • Outputs 13 and 14 in group2

  • Outputs 15 and 16 in group3 (PWM only)

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 M9 50 AuxOut1
M2 102 MainOut2 M10 51 AuxOut2
M3 103 MainOut3 M11 52 AuxOut3
M4 104 MainOut4 M12 53 AuxOut4
M5 105 MainOut5 M13 54 AuxOut5
M6 106 MainOut6 M14 55 AuxOut6
M7 107 MainOut7 M15 56
M8 108 MainOut8 M16 57 BB Blue GPo pin 3
FCU CAP 58

Battery Monitoring

The X6 flight controller has two six-pin power connectors, supporting CAN power modules. These are set by default in the firmware and shouldn’t need to be adjusted.

Compass

The X6 flight controller built-in industrial-grade electronic compass chip RM3100. Users may want to disable this and use an external compass in case of motor noise interference.

Analog inputs

The X6 flight controller has 3 analog inputs.

  • ADC Pin12 -> ADC 6.6V Sense

  • ADC Pin13 -> ADC 3.3V Sense

  • RSSI input pin = 103

5V PWM Voltage

The X6 flight controller supports switching between 5V and 3.3V motro/servo output levels. Switch the output pulse level by configuring parameter BRD_PWM_VOLT_SEL. Set 0 for 3.3V and 1 for 5V output.

Where to Buy

ZeroOne