Engineered for industrial and commercial small unmanned vehicles, YARI V6X is an FMUv6X flight controller and autopilot module for copters, multirotors, fixed-wing aircraft, VTOLs, rovers, and robotics platforms. Superior vibration isolation preserves IMU accuracy on high-vibration airframes for stable state estimation and control.
Key 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 IMUs with revision-specific sensor sets: Rev 0x10 uses ICM-45686; Rev 0x11 combines IIM-42653 and ICM-45686; Rev 0x12 uses IIM-42653 SmartIndustrial sensors.
- 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.
- Indigenously designed and built in India 🇮🇳
Hardware Sensor Revisions
YARI V6X uses EEPROM-based board identification so PX4/Ardupilot can start the correct onboard drivers for the fitted hardware revision.
| Revision | PX4 hardware type | IMU set | Barometer set | Magnetometer set |
|---|---|---|---|---|
| Rev 0x10 | YARIV6X010 | 3x ICM-45686 | 2x ICP-20100 | 1x Bosch BMM350 |
| Rev 0x11 | YARIV6X011 | 2x IIM-42653 + 1x ICM-45686 | 2x ICP-20100 | 1x Bosch BMM350 |
| Rev 0x12 (latest) | YARIV6X012 | 3x IIM-42653 | 1x BMP581 + 1x LPS22HB | 1x IIS2MDC |
Documentation: https://docs.yarirobotics.com/flight-controller/yari-v6x/overview/
Package Includes
- YARI V6X Flight Controller Module
- 32GB Microsd card
Specifications
| Firmware Compatibility | |
|---|---|
| Supported firmware | ArduPilot ships by default PX4 can be flashed using Mission Planner or QGroundControl |
| Sensors | |
| IMUs | Rev 0x10: 3x ICM-45686 Rev 0x11: 2x IIM-42653 + 1x ICM-45686 Rev 0x12 (latest): 3x IIM-42653 |
| Barometer | Rev 0x10: 2x ICP-20100 Rev 0x11: 2x ICP-20100 Rev 0x12 (latest): 1x BMP581 + 1x LPS22HB |
| Magnetometer | Rev 0x10: 1x Bosch BMM350 Rev 0x11: 1x Bosch BMM350 Rev 0x12 (latest): 1x IIS2MDC |
| IMU heater | 1 W active heater |
| Processing and Storage | |
| Processor | STM32H743IIK6 MCU, up to 480 MHz |
| Flash | 2 MB |
| RAM | 1 MB |
| FRAM | 256 KB |
| Storage | microSD slot includes 32 GB microSD card |
| Architecture | Pixhawk Autopilot Bus (PAB) form factor with discrete IMU, FMU, and base-board domains |
| Electrical and Environmental | |
| Voltage rating | 5 V |
| Current rating | 500 mA total: 300 mA system, 200 mA heater |
| Operating temperature | -25 C to +85 C |
| Mechanical | |
| Dimensions | 93.7 (L) x 54 (W) x 26.9 (H) mm |
| Weight | 81 g |
| Enclosure | CNC-machined aluminum enclosure |
| Vibration isolation | Custom formulated foam vibration isolation |
| Other | |
| Country of origin | India |
