# ARK Pi6X Flow :::warning PX4 не розробляє цей (або будь-який інший) автопілот. Contact the [manufacturer](https://arkelectron.com/contact-us/) for hardware support or compliance issues. ::: The [ARK Pi6X Flow](https://arkelectron.gitbook.io/ark-documentation/flight-controllers/ark-pi6x-flow) integrates a Raspberry Pi Compute Module 4 (CM4) Carrier, [ARKV6X Flight Controller](../flight_controller/ark_v6x.md), [ARK Flow sensors](../dronecan/ark_flow.md) , [ARK PAB Power Module](../power_module/ark_pab_power_module.md), and a 4-in-1 ESC, all mounted onto one compact board. ![ARK Pi6X Flow Flight Controller](../../assets/flight_controller/ark_pi6x_flow/ark_pi6xflow.jpg) :::info This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md). ::: ## Where to Buy {#store} Замовте цей модуль з: - [ARK Electronics](https://arkelectron.com/product/ark-pi6x-flow/) (US) ## Key Components ### Raspberry Pi Compute Module 4 Carrier - Autopilot Firmware: PX4 - Features: - MicroSD slot (for CM4 Lite) - Micro HDMI - Ethernet - USB C Host - 2x USB JST GH - 2x MIPI CSI (22-pin FFC) - Programming micro USB - I2C, UART - LED Strip GPIO - General Purpose GPIO - Консоль - CPU Fan ### Автопілот - Communication: - TELEM (UART) - RC Input (UART) - GPS (UART, I2C) - CAN - Control and Monitoring: - 8 PWM виводів - Зумер - Debug (SWD, UART Console) - MicroSD slot for data storage ### Датчики - 2x ICM-42688-P Accelerometer/Gyroscope (includes Heater) - PAW3902 Optical Flow Sensor - AFBR-S50LV85D 30-Meter Distance Sensor - ST IIS2MDC Magnetometer - BMP390 Barometer - INA226 Voltage/Current Monitor ### USA-Built and NDAA Compliant ## Вимоги до живлення - Battery Input: Up to 6s/25.2V (actual requirement depends on usage and peripherals) ## Dimensions & Weight - Dimensions: 91.5mm x 56mm (without Pi CM4 and ESC) - Weight: - 41g (without Pi CM4, Pi SD, and ESC) - 53g (bundle with Pi CM4 and Pi SD, without ESC) ## Додаткова інформація - Included: Flight Controller MicroSD - Bundle Option Includes: - Raspberry Pi Compute Module 4 with WiFi, 4GB RAM Lite – CM4104000 - SanDisk 128GB High Endurance Video MicroSDXC with [ARK-OS](https://github.com/ARK-Electronics/ARK-OS) Pre-Installed ## Flashing Guide [ARK Pi6X Flashing Guide](https://arkelectron.gitbook.io/ark-documentation/flight-controllers/ark-pi6x-flow/flashing-guide) ## Схема розташування виводів ![ARK Pi6X Flow Pinout](../../assets/flight_controller/ark_pi6x_flow/ark_pi6xflow_pinout.png) ### PWM UART4 - 11 Pin JST-GH | Pin Number | Signal Name | Напруга | | :--------- | :----------------------------------------------------- | :------------------- | | 1 | FMU_CH1_EXT | 3.3V | | 2 | FMU_CH2_EXT | 3.3V | | 3 | FMU_CH3_EXT | 3.3V | | 4 | FMU_CH4_EXT | 3.3V | | 5 | FMU_CH5_EXT | 3.3V | | 6 | FMU_CH6_EXT | 3.3V | | 7 | FMU_CH7_EXT | 3.3V | | 8 | FMU_CH8_EXT | 3.3V | | 9 | UART4_TX_EXT | 3.3V | | 10 | UART4_RX_EXT | 3.3V | | 11 | GND | GND | ### RC - 4 Pin JST-GH | Pin Number | Signal Name | Напруга | | :--------- | :---------------------------------------------------------------------------------- | :------------------- | | 1 | VDD_5V_SBUS_RC | 5.0V | | 2 | USART6_RX_IN_EXT | 3.3V | | 3 | USART6_TX_OUTPUT_EXT | 3.3V | | 4 | GND | GND | ### CAN - 4 Pin JST-GH | Pin Number | Signal Name | Напруга | | :--------- | :------------------------------------------------------- | :------------------- | | 1 | VDD_5V_HIPOWER | 5.0V | | 2 | CAN1_P | 5.0V | | 3 | CAN1_N | 5.0V | | 4 | GND | GND | ### GPS - 6 Pin JST-GH | Pin Number | Signal Name | Напруга | | :--------- | :-------------------------------------------------------------------------------- | :------------------- | | 1 | VDD_5V_HIPOWER | 5.0V | | 2 | USART1_TX_GPS1_EXT | 3.3V | | 3 | USART1_RX_GPS1_EXT | 3.3V | | 4 | I2C1_SCL_GPS1_EXT | 3.3V | | 5 | I2C1_SDA_GPS1_EXT | 3.3V | | 6 | GND | GND | ### Telem1 - 6 Pin JST-GH | Pin Number | Signal Name | Напруга | | :--------- | :---------------------------------------------------------------------------------- | :------------------- | | 1 | VDD_5V_HIPOWER | 5.0V | | 2 | UART7_TX_TELEM1_EXT | 3.3V | | 3 | UART7_RX_TELEM1_EXT | 3.3V | | 4 | UART7_CTS_TELEM1_EXT | 3.3V | | 5 | UART7_RTS_TELEM1_EXT | 3.3V | | 6 | GND | GND | ### Flight Controller Debug - 10 Pin JST-SH | Pin Number | Signal Name | Напруга | | :--------- | :----------------------------------------------------------- | :------------------- | | 1 | 3V3_FMU | 3.3V | | 2 | USART4_TX_DEBUG | 3.3V | | 3 | USART4_RX_DEBUG | 3.3V | | 4 | FMU_SWDIO | 3.3V | | 5 | FMU_SWCLK | 3.3V | | 6 | SPI6_SCK_EXTERNAL1 | 3.3V | | 7 | NFC_GPIO | 3.3V | | 8 | PD15 | 3.3V | | 9 | FMU_NRST | 3.3V | | 10 | GND | GND | ### Pi I2C1 - 4 Pin JST-GH | Pin Number | Signal Name | Напруга | | :--------- | :----------------------------------------------------- | :------------------- | | 1 | 5.0V | 5.0V | | 2 | I2C1_SCL_EXT | 3.3V | | 3 | I2C1_SDA_EXT | 3.3V | | 4 | GND | GND | ### Pi UART3 - 6 Pin JST-GH | Pin Number | Signal Name | Напруга | | :--------- | :------------------------------------------------------ | :------------------- | | 1 | 5.0V | 5.0V | | 2 | UART3_TX_EXT | 3.3V | | 3 | UART3_RX_EXT | 3.3V | | 4 | UART3_CTS_EXT | 3.3V | | 5 | UART3_RTS_EXT | 3.3V | | 6 | GND | GND | ### Pi ETH - 4 Pin JST-GH | Pin Number | Signal Name | Напруга | | :--------- | :------------------------------------------------- | :------------------- | | 1 | ETH_RD_N | 3.3V | | 2 | ETH_RD_P | 3.3V | | 3 | ETH_TD_N | 3.3V | | 4 | ETH_TD_P | 3.3V | ### Pi LED Strip - 8 Pin JST-GH | Pin Number | Signal Name | Напруга | | :--------- | :------------------------------ | :------------------- | | 1 | 5.0V | 5.0V | | 2 | 5.0V | 5.0V | | 3 | GPIO12_EXT | 3.3V | | 4 | GPIO16_EXT | 3.3V | | 5 | GPIO17_EXT | 3.3V | | 6 | GPIO20_EXT | 3.3V | | 7 | GND | GND | | 8 | GND | GND | ### Pi GPIO - 6 Pin JST-GH | Pin Number | Signal Name | Напруга | | :--------- | :------------------------------ | :------------------- | | 1 | 5.0V | 5.0V | | 2 | GPIO21_EXT | 3.3V | | 3 | GPIO22_EXT | 3.3V | | 4 | GPIO23_EXT | 3.3V | | 5 | GPIO24_EXT | 3.3V | | 6 | GND | GND | ### Pi Fan - 4 Pin JST-GH | Pin Number | Signal Name | Напруга | | :--------- | :----------------------------------------------------- | :------------------- | | 1 | GND | GND | | 2 | 5.0V | 5.0V | | 3 | FAN_TACH_CON | 5.0V | | 4 | FAN_PWM_Q\* | 5.0V | ### Pi Console - 6 Pin JST-SH | Pin Number | Signal Name | Напруга | | :--------- | :-------------------------------------------- | :------------------- | | 1 | 3.3V_RPI | 3.3V | | 2 | CONSOLE_TXD0 | 3.3V | | 3 | CONSOLE_RXD0 | 3.3V | | 4 | NC | NC | | 5 | NC | NC | | 6 | GND | GND | ### Pi USB - 4 Pin JST-GH (VBUS2_FLT) | Pin Number | Signal Name | Напруга | | :--------- | :--------------------------------------------------- | :------------------- | | 1 | VBUS2_FLT | 5.0V | | 2 | USB2_EXT_N | 3.3V | | 3 | USB2_EXT_P | 3.3V | | 4 | GND | GND | ### Pi USB - 4 Pin JST-GH (VBUS4_FLT) | Pin Number | Signal Name | Напруга | | :--------- | :--------------------------------------------------- | :------------------- | | 1 | VBUS4_FLT | 5.0V | | 2 | USB4_EXT_N | 3.3V | | 3 | USB4_EXT_P | 3.3V | | 4 | GND | GND | ### CAM0 - 22 Pin 0.5mm FFC 0545482271 | Pin Number | Signal Name | Напруга | | :--------- | :-------------------------------------------------- | :------------------- | | 1 | GND | GND | | 2 | CAM0_D0_N | 1.2V | | 3 | CAM0_D0_P | 1.2V | | 4 | GND | GND | | 5 | CAM0_D1_N | 1.2V | | 6 | CAM0_D1_P | 1.2V | | 7 | GND | GND | | 8 | CAM0_C_N | 1.2V | | 9 | CAM0_C_P | 1.2V | | 10 | GND | GND | | 11 | NC | NC | | 12 | NC | NC | | 13 | GND | GND | | 14 | NC | NC | | 15 | NC | NC | | 16 | GND | GND | | 17 | CAM_GPIO | 3.3V | | 18 | NC | NC | | 19 | GND | GND | | 20 | ID_SC | 3.3V | | 21 | ID_SD | 3.3V | | 22 | 3.3V_RPI | 3.3V | ### CAM1 - 22 Pin 0.5mm FFC 0545482271 | Pin Number | Signal Name | Напруга | | :--------- | :-------------------------------------------------- | :------------------- | | 1 | GND | GND | | 2 | CAM1_D0_N | 1.2V | | 3 | CAM1_D0_P | 1.2V | | 4 | GND | GND | | 5 | CAM1_D1_N | 1.2V | | 6 | CAM1_D1_P | 1.2V | | 7 | GND | GND | | 8 | CAM1_C_N | 1.2V | | 9 | CAM1_C_P | 1.2V | | 10 | GND | GND | | 11 | CAM1_D2_N | 1.2V | | 12 | CAM1_D2_P | 1.2V | | 13 | GND | GND | | 14 | CAM1_D3_N | 1.2V | | 15 | CAM1_D3_P | 1.2V | | 16 | GND | GND | | 17 | CAM_GPIO | 3.3V | | 18 | NC | NC | | 19 | GND | GND | | 20 | SCL0 | 3.3V | | 21 | SDA0 | 3.3V | | 22 | 3.3V_RPI | 3.3V | ## Дивіться також - [ARK Pi6X Flow Documentation](https://arkelectron.gitbook.io/ark-documentation/flight-controllers/ark-pi6x-flow) (ARK Docs)