Table of contents

Table of contents 1

Document Revisions 3

Contact and Public Developer Call 4

Trademark Guideline 4

License and Disclaimer 4

Related Standards 5

FMUv6C Summary 5
Overview 5
Detailed Block Diagram Reference 6
FMUv6C Sensors Locations 7

Sensor Sets 8
Sensor Set 8
Sensor Set (Rev 0 & 1) 8
Full FMUv6C Pinout 9
Table of Contents

Table of contents 1

Document Revisions 3

Contact and Public Developer Call 4

Trademark Guideline 4

License and Disclaimer 4

Related Standards 5

FMUv6C Summary 5
Overview 5
Detailed Block Diagram Reference 6
FMUv6C Sensors Locations 7

Sensor Sets 8
Sensor Set 8
Sensor Set (Rev 0 & 1) 8
Full FMUv6C Pinout 9

Pixhawk Autopilot v6C Standard 2

Document Revisions

Revision Date Editor Reviewer Comments

0.1.0 12/13/22 Vince Poon Ramón Roche Initial specification

0.1.1 12/15/202 Vince Poon Ramón Roche Fix Error & Update Diagram

Pixhawk Autopilot v6C Standard 3

Contact and Public Developer Call
This standard is being developed on a public developer call.
For further questions, please contact the maintainer of the standard, [email protected].

Trademark Guideline
Pixhawk is a registered trademark and is used to mark and protect the consistent use of this
standard. The requirements for this are covered in this document: Trademark Guideline

License and Disclaimer

Copyright (c) 2020, Pixhawk Special Interests Group (SIG) of Dronecode Foundation. All
rights reserved.

Redistribution and use in products, without modification, are permitted provided that the
following conditions are met:

● The trademark shall only be used for compliant products and in combination with a
signed adopter agreement.
● Implementations of the standard must be compliant with the full specification.
● A royalty-free, non-exclusive license is provided to adopters with a valid adopter
agreement for schematics and drawings based on the standard documentation.

THIS SPECIFICATION IS PROVIDED BY THE COPYRIGHT HOLDERS AND

CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING,
BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE

Pixhawk Autopilot v6C Standard 4

Related Standards
● DS-009 Pixhawk Connector Standard

FMUv6C Summary

Overview

NOTE: Connectors as shown are optional

Pixhawk Autopilot v6C Standard 5

Detailed Block Diagram Reference

● Redundant IMU sensors

○ TDK Invensense ICM-42688-P (Vibration Isolated)
○ Bosch BMI055 (Vibration Isolated)
○ iSentek IST8310 compass (Vibration Isolated)
○ TE Connectivity MS5611
○ On-IMU calibration EEPROM memory for high-accuracy sensors
● Automated sensor calibration eliminating varying signals and temperature
● Operating temperature -40 to +85°C
● FRAM memory for configuration data (SPI2)
● Extensive power monitoring
○ Two analog battery monitors
○ 5V rail monitoring
● Redundant power supply: The autopilot can be powered from up to three power
sources

Pixhawk Autopilot v6C Standard 6

 ● Battery-backed real time clock for running security applications without GPS
coverage

FMUv6C Sensors Locations

Pixhawk Autopilot v6C Standard 7

Sensor Sets
Sensor sets comprised an Main Board set of sensors and an IMU set of sensors. These are
revisioned in pairs. (Rev 1, Rev 2, Rev 3, etc)

Sensor Set

Sensor Set (Rev 0 & 1)

Main Board
Chip Select/
Name Sensor Type Bus 7 Bit Addr DRDY
U1 (FRAM) FM25V02A-G SPI2 CS1 -NONE
U7 (BARO) Ms5611 I2C4 0x77 -NONE

IMU Board
Chip Select/ 7
Name Sensor Type Bus Bit Addr DRDY

U1 (IMU1) BMI055 ACCEL SPI1 CS1 DRDY1

U1 (IMU1) BMI055 GYRO SPI1 CS2 DRDY2

U3 (IMU2) ICM-42688-P SPI1 CS3 DRDY3
U2 (MAG) IST8310 I2C4 0x0C -NONE
U5 EEPROM I2C4 0x51 -NONE

Pixhawk Autopilot v6C Standard 8

Full FMUv6C Pinout
The official Pinout for FMUv6C is covered in this pinout sheet.

STM32H743 Signal Usage

PA 0 TIM5_CH1 FMU_CH7
PA 1 TIM5_CH2 FMU_CH8
PA 2 ADC1_INP14 FMU_BAT2_I
PA 3 USART2_RX FMU_USART2_RX_TEL3
PA 4 ADC1_INP18 FMU_SCALED_V5
PA 5 SPI1_SCK FMU_SPI1_SCK_SENSOR
PA 6 SPI1_MISO FMU_SPI1_MISO_SENSOR
PA 7 SPI1_MOSI FMU_SPI1_MOSI_SENSOR
PA 8 TIM1_CH1 FMU_CH1
PA 9 USB_OTG_FS_VBUS FMU_VBUS_SENSE
PA 10 USART1_RX FMU_UART1_RX_GPS1
PA 11 USB_OTG_FS_DM FMU_USB_DM
PA 12 USB_OTG_FS_DP FMU_USB_DP
PA 13 SWDIO FMU_SWDIO
PA 14 SWCLK FMU_SWCLK
PA 15 PA15 N_BRICK1_VALID
PB 0 TIM3_CH3 FMU_BUZZER
PB 1 ADC1_INP5 FMU_BAT2_V
PB 2 PB2 VDD_3V3_SENSORS_EN
PB 3 SDMMC2_D2 FMU_SDMMC2_D2
PB 4 SDMMC2_D3 FMU_SDMMC2_D3
PB 5 CAN2_RX FMU_CAN2_RX
PB 6 USART1_TX FMU_USART1_TX_GPS1
PB 7 I2C1_SDA FMU_I2C1_SDA_GPS1_MAG_LED
PB 8 I2C1_SCL FMU_I2C1_SCL_GPS1_MAG_LED
PB 9 TIM17_CH1 FMU_HEATER
PB 10 I2C2_SCL FMU_I2C2_SCL_GPS2_MAG_LED
PB 11 I2C2_SDA FMU_I2C2_SDA_GPS2_MAG_LED
PB 12 PB12 N_BRICK2_VALID
PB 13 CAN2_TX FMU_CAN2_TX
PB 14 SDMMC2_D0 FMU_SDMMC2_D0
PB 15 SDMMC2_D1 FMU_SDMMC2_D1
PC 0 ADC3_INP10 HW_REV_SENSE
PC 1 ADC3_INP11 HW_VER_SENSE
PC 2 SPI2_MISO FMU_SPI2_MISO_FRAM
PC 3 SPI2_MOSI FMU_SPI2_MOSI_FRAM
PC 4 ADC1_INP4 FMU_BAT1_I
PC 5 ADC1_INP8 FMU_BAT1_V

Pixhawk Autopilot v6C Standard 9

PC 6 USART6_TX FMU_USART6_TX_TO_IO
PC 7 USART6_RX FMU_USART6_RX_FROM_IO
PC 8 UART5_RTS FMU_UART5_RTS_TEL2
PC 9 UART5_CTS FMU_UART5_CTS_TEL2
PC 10 PC10 N_VDD_5V_HIPOWER_EN
PC 11 PC11 N_VDD_5V_HIPOWER_OC
PC 12 UART5_TX FMU_UART5_TX_TEL2
PC 13 PC13 FMU_SPI1_CS3_ICM42688
PC 14 PC14 FMU_SPI1_CS2_BMI055_GYRO
PC 15 PC15 FMU_SPI1_CS1_BMI055_ACC
PD 0 CAN1_RX FMU_CAN1_RX
PD 1 CAN1_TX FMU_CAN1_TX
PD 2 UART5_RX FMU_UART5_RX_TEL2
PD 3 SPI2_SCK FMU_SPI2_SCK_FRAM
PD 4 PD4 FMU_SPI2_CS_FRAM
PD 5 USART2_TX FMU_USART2_TX_TEL3
PD 6 SDMMC2_CK FMU_SDMMC2_CK
PD 7 SDMMC2_CMD FMU_SDMMC2_CMD
PD 8 USART3_TX FMU_USART3_TX_DEBUG
PD 9 USART3_RX FMU_USART3_RX_TEBUG
PD 10 PD10 N_FMU_LED_RED
PD 11 PD11 N_FMU_LED_BLUE
PD 12 I2C4_SCL FMU_I2C4_SCL
PD 13 I2C4_SDA FMU_I2C4_SDA
PD 14 TIM4_CH3 FMU_CH5
PD 15 TIM4_CH4 FMU_CH6
PE 0 UART8_RX FMU_UART8_RX_GPS2
PE 1 UART8_TX FMU_UART8_TX_GPS2
PE 2 PE2 N_VDD_5V_PERIPH_EN
PE 3 PE3 N_VDD_5V_PERIPH_OC
PE 4 PE4 FMU_SPI1_DRDY1_BMI055_ACC
PE 5 PE5 FMU_SPI1_DRDY2_BMI055_GYRO
PE 6 PE6 FMU_SPI1_DRDY3_ICM42688
PE 7 UART7_RX FMU_UART7_RX_TEL1
PE 8 UART7_TX FMU_UART7_TX_TEL1
PE 9 UART7_RTS FMU_UART7_RTS_TEL1
PE 10 UART7_CTS FMU_UART7_CTS_TEL1
PE 11 TIM1_CH2 FMU_CH2
PE 12 PE12 HW_VER_REV_DRIVE
PE 13 TIM1_CH3 FMU_CH3
PE 14 TIM1_CH4 FMU_CH4
PE 15 PE15 N_USB_VBUS_VALID

Pixhawk Autopilot v6C Standard 10