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YARI V6X

Introduction​

The YARI V6X autopilot is based on the FMUV6X and Pixhawk Autopilot Bus open source specifications. The Pixhawk Autopilot Bus (PAB) form factor enables the YARI V6X to be used on any PAB carrier board.

Where to Buy​

YARI V6X autopilots are produced and sold by YARI Robotics.

Features​

  • Modular architecture: Discrete IMU, FMU, and base boards linked by the Pixhawk Autopilot Bus (PAB) for clean routing, serviceability, and future upgrades.
  • High-performance MCU: STM32H743 running up to 480 MHz for fast control loops and advanced onboard applications.
  • True redundancy: Fully isolated sensor domains with dedicated buses and independent power control for fault containment.
  • Triple IMU array: Three synchronized, high-range ICM-45686 sensors (±32 g accelerometers, ±4000 dps gyros) with BalancedGyro™ technology for low drift and high resilience.
  • Thermally stabilized IMUs: Actively temperature controlled IMU board maintains the IMU sensors at their optimal operating temperature for consistent accuracy.
  • Vibration isolation: Durable custom formulated foam material to offer optimal vibration damping characteristics for better IMU stability and accuracy.
  • Rugged enclosure: Precision CNC-machined aluminum housing for durability, thermal performance, and EMI shielding.

Specifications​

Autopilot Module

  • Sensors
    • 3x Invensense ICM-45686 IMUs
    • 2x Invensense ICP-20100 Barometer
    • Bosch BMM350 Magnetometer
  • Processor: STM32H743IIK6 - 480MHz, 2MB Flash, 1MB RAM
  • FRAM (256KB)
  • MicroSD Slot (Includes 64GB MicroSD card)
  • USB C connector
  • Heater - 1W for warming sensors in extreme cold
  • Heat dissipating aluminum enclosure

Carrier Board

  • Processor: STM32F103 - 72MHz, 64KB SRAM
  • Connectors
    • PAB Board to Board Interface - 100 Pin Hirose DF40 and 50 Pin Hirose DF40
    • 2x Digital Power Module Inputs - 6 Pin Molex CLIK-Mate, 5V Input, I2C Power Monitor
    • Ethernet - 4 Pin JST-GH, 10Mbps with Built in Magnetics
    • Full GPS Plus Safety Switch Port - 10 Pin JST-GH
    • Basic GPS Port - 6 Pin JST-GH
    • 2x USB Port - USB C and 4 Pin JST-GH
    • 2x CAN Ports - 4 Pin JST-GH
    • 3x Telemetry Ports - 6 Pin JST-GH
    • 16 PWM Outputs - 16 Pin
    • I2C Port - 4 Pin JST-GH
    • RC Port - 3 Pin JST-GH
    • DSM Port - 3 Pin JST-ZH
    • ADC Port - 4 Pin JST-GH
    • 2x Debug Port - 10 Pin JST-SH
  • LED Indicators

Pinout​

UART Mapping​

Serial#PortUART
SERIAL0OTG1USB
SERIAL1Telem1UART7 (RTC/CTS)
SERIAL2Telem2UART5 (RTS/CTS)
SERIAL3GPS1USART1
SERIAL4GPS2UART8
SERIAL5Telem3USART2 (RTS/CTS)
SERIAL6UART4, I2CUART4
SERIAL7Debug ConsoleUSART3
SERIAL8IO/RCUSART6

All UARTs have DMA capability

PWM Output​

The YARI V6X supports up to 16 PWM outputs (M1-8 and A1-8). All 16 outputs support all normal PWM output formats. All outputs support DShot and BiDir DShot, except A7 and A8 which only support PWM.

The 8 FMU PWM outputs (A1-8) are in 4 groups:

  • Outputs 1, 2, 3 and 4 in group1
  • Outputs 5 and 6 in group2
  • Outputs 7 and 8 in group3

FMU outputs within the same group need to use the same output rate and protocol. If any output in a group uses DShot then all channels in that group need to use DShot.

RC Input​

The PPM pin, which by default is mapped to a timer input, can be used for all ArduPilot supported unidirectional receiver protocols,. Half-Duplex and bi-directional protocols, such as CRSF/ELRS, Fport, and SRXL2) require a true UART connection (see below). FPort when connected to PPM will only provide RC without telemetry.

To allow CRSF and embedded telemetry available in Fport, CRSF, and SRXL2 receivers, a full UART, such as SERIAL6 (UART4) would need to be used for receiver connections. Below are setups using SERIAL6.

  • :ref:SERIAL6_PROTOCOL<SERIAL6_PROTOCOL> should be set to “23”.
  • FPort would require :ref:SERIAL6_OPTIONS<SERIAL6_OPTIONS> be set to “15”.
  • CRSF/ELRS would require :ref:SERIAL6_OPTIONS<SERIAL6_OPTIONS> be set to “0”.
  • SRXL2 would require :ref:SERIAL6_OPTIONS<SERIAL6_OPTIONS> be set to “4” and connects only the TX pin.

Any UART can be used for RC system connections in ArduPilot also, and is compatible with all protocols except PPM. See Radio Control Systems for details.

Battery Monitor​

The default battery parameters for use with a digital power module (with INA2xx) connected to Power1 port:

  • :ref:BATT_I2C_BUS<BATT_I2C_BUS> = 1
  • :ref:BATT_I2C_ADDR<BATT_I2C_ADDR> = 0
  • :ref:BATT_MONITOR<BATT_MONITOR> = 21

For use with Power2 port update :ref:BATT_I2C_BUS<BATT_I2C_BUS> = 2

Compass​

The YARI V6X autopilot has a built-in compass. Due to potential interference, the autopilot is usually used with an external I2C compass as part of a GPS/Compass combination.

GPIOs​

The 8 FMU outputs can be used as GPIOs (relays, buttons, RPM etc). To use them you need to set the output’s SERVOx_FUNCTION to -1. See GPIOs page for more information.

The numbering of the GPIOs for PIN variables in ArduPilot is:

  • A1 50
  • A2 51
  • A3 52
  • A4 53
  • A5 54
  • A6 55
  • A7 56
  • A8 57

Additional GPIOs:

  • FMU_CAP1 58
  • NFC_GPIO 59

Analog Input​

The YARI V6X has 2 analog inputs, one 6V tolerant and one 3.3V tolerant

  • ADC Pin12 -> ADC 6.6V Sense
  • ADC Pin13 -> ADC 3.3V Sense
  • Analog 3.3V RSSI input pin = 103 . To use analog RSSI, set :ref:RSSI_TYPE<RSSI_TYPE> = 1 and :ref:RSSI_ANA_PIN<RSSI_ANA_PIN> = 103.

Loading Firmware​

The board comes pre-installed with an ArduPilot compatible bootloader, allowing the loading of xxxxxx.apj firmware files with any ArduPilot compatible ground station.

Firmware for YARI V6X can be found here in sub-folders labeled “YARIV6X”.

Subsequently, you can update firmware with Mission Planner or QGroundcontrol.