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CUAV Pixhawk v6X

by CUAV

Community
Open Hardware

Ships with a heat-dissipating aluminum enclosure and CAN power module in the box.

CUAV Pixhawk V6X autopilot in its black aluminum enclosure with labeled power and data ports.

Key Specifications

MCU
STM32H753
STM32H753xI/G data sheet
Mounting Pattern
Cube Carrier Board
Connectivity
8 UARTs ā€¢ 1 SPI ā€¢ 2 CAN
Power
4.9ā€“5.5 V ā€¢ Power Module
Onboard Sensors
3Ɨ IMU ā€¢ 2Ɨ Barometer ā€¢ 1Ɨ Magnetometer
Firmware Support
ArduPilot
PX4 Autopilot
Reference Docs
ArduPilot Autopilot Hardware OptionsArduPilot Autopilot Hardware Options
Image: ArduPilot Documentation ā†—

Detailed Specifications

Core Specifications

Quick reference for the primary hardware capabilities.

MCU
STM32H753
STM32H753xI/G data sheet
 Mounting Cube Carrier Board
Power 4.9ā€“5.5 V ā€¢ Power Module I/O Overview 8 UARTs ā€¢ 1 SPI ā€¢ 2 CAN
PWM & Storage 16 PWM outputs ā€¢ microSD logging Sensors 3Ɨ IMU ā€¢ 2Ɨ Barometer ā€¢ 1Ɨ Magnetometer

Hardware Overview

Core MCU, mounting, and mechanical data.

Base hardware specification
Default
MCU
STM32H753
STM32H753xI/G data sheet
 Mounting Cube Carrier Board

Power Supply

Input rails, regulators, and redundancy.

Voltage ā€”
Inputs 1
Redundancy Redundant

Power Inputs

POWER1 Power Module
Connector:  CAN/SMBus power modules
Voltage:  4.9ā€“5.5 V
Input Voltage ā€” Redundancy āœ“ Yes

Dual SMBus/I2C power module inputs with CAN power module included; servo rail tolerant to 36V.

Connectivity & I/O

Port availability, buses, and expansion options.

UARTs 8 CAN Bus 2
PWM Outputs 16 SD Card āœ“ Yes
Ethernet āœ“ Yes

Peripheral Ports

Port Type Default Function Voltage / Level Connector Notes
TELEM1 UART Primary MAVLink telemetry 3.3 V signal / 5 V @ 1.5 A peripheral power JST-GH 6-pin High-current regulator for telemetry radios or companion computers with hardware flow control.
TELEM2 UART Secondary telemetry link 3.3 V signal / 5 V supply JST-GH 6-pin Full RTS/CTS UART for redundant radios, RTK corrections, or payload links.
TELEM3 UART Configurable serial payload bus 3.3 V signal / 5 V supply JST-GH 6-pin Assignable UART commonly used for scripting engines or serial RC receivers.
GPS1 GPS Primary GPS/compass/safety harness 3.3 V signal / 5 V supply JST-GH 10-pin Includes safety switch, buzzer, and I2C compass wiring for the first GNSS unit.
GPS2 GPS Secondary GPS or telemetry 3.3 V signal / 5 V supply JST-GH 6-pin Provides redundant GNSS interface or alternate UART with shared I2C breakout.
CAN1 CAN DroneCAN peripheral bus Differential CAN / 5 V supply JST-GH 4-pin Powered CAN-FD connector for smart power modules, ESCs, or payload nodes.
CAN2 CAN Redundant DroneCAN bus Differential CAN / 5 V supply JST-GH 4-pin Supports second CAN segment or ESC daisy-chain with switchable 5 V feed.
SPI6 SPI External payload SPI 3.3 V JST-GH 6-pin Breaks out SPI6 with chip-selects for high-rate sensors or data loggers.
RCIN RC Serial RC input (SBUS/CRSF/FPort) 3.3 V signal / 5 V supply JST-GH 6-pin Timer-capable input supporting PWM/PPM and serial receiver protocols.
FMU PWM OUT (1-8) PWM Primary motor outputs Servo rail (0-36 V tolerant) Servo breakout bank A FMU-controlled outputs supporting DShot across grouped channels.
IO PWM OUT (9-16) PWM Auxiliary PWM outputs Servo rail (0-36 V tolerant) Servo breakout bank B IOMCU-managed outputs for secondary motors, retracts, or camera triggers.
POWER1 Power Primary power module input 4.9-5.5 V 6-pin SMBus power module SMBus-enabled power module supplying redundant 5 V and battery telemetry.
POWER2 Power Secondary power module input 4.9-5.5 V 6-pin SMBus power module Secondary SMBus connector for redundant power module or smart battery.
SERVO RAIL Power PWM servo supply 0-36 V tolerant Servo rail bus High-voltage tolerant rail powering PWM outputs separate from logic supply.
USB-C (remote) USB Console and firmware updates 5 V Remote-mounted USB Type-C Includes detachable harness for in-airframe access to SERIAL0 console.
Ethernet Ethernet 100 Mbps companion link 3.3 V logic RJ45 breakout Provides high-bandwidth link to companion computers via included breakout.
Buzzer/Safety Other External safety switch and buzzer 5 V supply JST harness Combined harness powering the safety button, RGB LED, and audible buzzer module.

Onboard Sensors

IMU, barometer, and magnetometer load-outs per revision.

IMU
Bosch Sensortec BMI088
Bosch Sensortec BMI088 datasheetCUAV Pixhawk V6X ā€” ArduPilot Hardware OverviewPixhawk 6X ā€” PX4 User GuideCUAV Pixhawk V6X ā€” ArduPilot Hardware Overview
TDK InvenSense ICM-20649
TDK InvenSense ICM-20649 datasheetCube Orange+ ā€” PX4 User Guide
TDK InvenSense ICM-42688-P
TDK InvenSense ICM-42688-P datasheetCube Orange+ ā€” PX4 User Guide
Barometer
TDK InvenSense ICP-20100 Ɨ2
TDK InvenSense ICP-20100 datasheetCUAV Pixhawk V6X ā€” ArduPilot Hardware OverviewCUAV Pixhawk V6X ā€” ArduPilot Hardware Overview
Magnetometer
PNI RM3100
PNI RM3100 datasheetCUAV Pixhawk V6X ā€” ArduPilot Hardware OverviewCUAV Pixhawk V6X ā€” ArduPilot Hardware Overview

Additional Features

Value-add capabilities bundled with the controller.

  • āœ“ CAN power module support
  • āœ“ Ethernet mission computer link
  • āœ“ Triple-redundant IMU domains

Known Issues & Advisories

BMI088 IĀ²C driver produces unstable gyro data

PX4's bmi088_i2c driver reports severe gyro jitter and unusable orientation on Crazyflie and other IĀ²C-based boards.

Medium
Reported
Source BMI088 connected via I2C does not work right
Affects Bosch Sensortec BMI088
Onboard IMU

Documentation & Vendor Resources

Edit on GitHub

Propose improvements to this controller entry.

ā†—
Contributors: Jairus
Last updated:
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