ArduPilot · ZeroOne-Aero · Jan 8, 2025 · Jan 8, 2025
diff --git a/Tools/bootloaders/ZeroOneX6_bl.bin b/Tools/bootloaders/ZeroOneX6_bl.bin
diff --git a/Tools/bootloaders/ZeroOneX6_bl.hex b/Tools/bootloaders/ZeroOneX6_bl.hex
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/README.md b/libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/README.md
@@ -1,6 +1,6 @@
 ## ZeroOneX6 Flight Controller
 The ZeroOne X6 is a flight controller manufactured by ZeroOne, which is based on the open-source FMU v6X architecture and Pixhawk Autopilot Bus open source specifications.
-![Uploading ZeroOneX6.jpg…]()
+![Uploading ZeroOneX6.jpg…](https://github.com/ZeroOne-Aero/ardupilot/blob/pr-ZeroOneX6-250103/libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/ZeroOneX6.jpg?raw=true)
 
 
 ## Features:
@@ -13,18 +13,18 @@ The ZeroOne X6 is a flight controller manufactured by ZeroOne, which is based on
    STM32F103
 - Sensors
 - IMU: 
-   Internal Vibration Isolation for IMUs
-   IMU constant temperature heating(1 W heating power).
-   With Triple Synced IMUs, BalancedGyro technology, low noise and more shock-resistant:
-   IMU1-ICM45686(With vibration isolation) 
-   IMU2-BMI088(With vibration isolation) 
-   IMU3- ICM45686(No vibration isolation)
+   Internal Vibration Isolation for IMUs  
+   IMU constant temperature heating(1 W heating power).  
+   With Triple Synced IMUs, BalancedGyro technology, low noise and more shock-resistant:  
+   IMU1-ICM45686(With vibration isolation)  
+   IMU2-BMI088(With vibration isolation)  
+   IMU3- ICM45686(No vibration isolation) 
 - Baro:
-   Two barometers:2 x ICP20100
-  Magnetometer:   Builtin RM3100 magnetometer
+   Two barometers:2 x ICP20100  
+   Magnetometer:   Builtin RM3100 magnetometer
 
 ## Pinout
-![ZeroOneX6 Pinout](https://github.com/ZeroOne-Aero/ardupilot/blob/zeroOneBootLoader/libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/ZeroOneX6Pinout.jpg "ZeroOneX6")
+![ZeroOneX6 Pinout](https://github.com/ZeroOne-Aero/ardupilot/blob/pr-ZeroOneX6-250103/libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/ZeroOneX6Pinout.jpg "ZeroOneX6")
 
 
 ## UART Mapping

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/ZeroOneX6.jpg b/libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/ZeroOneX6.jpg
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/ZeroOneX6.png b/libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/ZeroOneX6.png
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/ZeroOneX6Pinout.jpg b/libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/ZeroOneX6Pinout.jpg
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/defaults.parm
@@ -2,4 +2,3 @@ CAN_P1_DRIVER 1
 CAN_P2_DRIVER 1
 
 BATT_MONITOR 8
-GPS1_TYPE 9
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/hwdef-bl.dat
@@ -38,7 +38,7 @@ PA14 JTCK-SWCLK SWD
 
 # CS pins
 PI9 IMU1_CS CS
-PH5 ICM42688_CS CS
+PH5 ICM45686_CS CS
 PI4 BMI088_A_CS CS
 PI8 BMI088_G_CS CS
 PH15 BMM150_CS CS

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/hwdef.dat
@@ -335,9 +335,6 @@ ENABLE_DFU_BOOT 1
 env BUILD_ABIN True
 
 # enable support for dshot on iomcu
-#github suggestion
-ROMFS io_firmware_dshot.bin Tools/IO_Firmware/iofirmware_dshot_highpolh.bin
-define HAL_WITH_IO_MCU_DSHOT 1
-#V6X
-#ROMFS io_firmware_dshot.bin Tools/IO_Firmware/iofirmware_f103_dshot_lowpolh.bin
-#define HAL_WITH_IO_MCU_BIDIR_DSHOT 1
+# V6X
+ROMFS io_firmware_dshot.bin Tools/IO_Firmware/iofirmware_f103_dshot_lowpolh.bin
+define HAL_WITH_IO_MCU_BIDIR_DSHOT 1
Original file line number	Diff line number	Diff line change
Expand Up		@@ -2,4 +2,3 @@ CAN_P1_DRIVER 1
		CAN_P2_DRIVER 1

		BATT_MONITOR 8
		GPS1_TYPE 9