mirror of https://github.com/ArduPilot/ardupilot
131 lines
3.7 KiB
Markdown
131 lines
3.7 KiB
Markdown
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# 3DR (mRo) Control Zero H7 OEM Flight Controller revision G
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The Control Zero H7 OEM revision G is a flight controller produced by [3DR (mRo)](https://store.3dr.com/control-zero-h7-oem-g/).
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## Features
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Processor
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STM32H743IIK6 32-bit Processor
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Sensors
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BMI088 6DOF
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ICM20602 6DOF
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ICM20948 9DOF
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DPS368 Baro
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Power
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External Power Supply
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Logic level at 3.3V
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Interfaces
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Bottom Connectors: 36pin front and 40pin back Samtec FTM-118-02-x and FTM-120-02-x
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8x PWM / IO - DMA capable
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1x RC Input
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5x UARTs (2x with hardware flow control)
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2x CAN
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1x SPI
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3x I2C
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SWD via TC2030 header
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SDCARD Socket
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Memory
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FRAM (256KB)
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Miscellaneous
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Onboard 3 color LED
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Buzzer
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Safety Button
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### Uncased Weight and Dimensions
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Weight: 3.66g (13.oz)
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Width: 20mm (.79in)
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Length: 34mm (1.34in)
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*Case sold separately*
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## Changelog
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- M10059C - Initial Release
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- M10059G adds external power supply and TCXO.
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## Pinout
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## UART Mapping
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- SERIAL0 -> USB1, for GCS connection
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- SERIAL1 -> USART2 (TELEM 1) DMA Enabled
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- SERIAL2 -> USART3 (TELEM 2) DMA Enabled
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- SERIAL3 -> UART4 (GPS) DMA Enabled
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- SERIAL4 -> UART8 (GPS 2) DMA Enabled
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- SERIAL5 -> UART7 (DEBUG) DMA Enabled
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- SERIAL6 -> USART6 (Additional USART) DMA Enabled
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- SERIAL7 -> USB2, MAVLink interface
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## RC Input
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RC input is configured on the RC_IN pin. These are the supported RC input protocols:
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Spektrum DSM / DSM2 / DSM-X® Satellite compatible input and binding.
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Futaba S.BUS® & S.BUS2® compatible input.
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Graupner SUMD. Yuneec ST24.
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## Analog Inputs
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The Control Zero H7 OEM revision G has 4 ADC inputs:
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- ADC1 Pin11 -> RSSI IN
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- ADC1 Pin14 -> Battery Voltage
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- ADC1 Pin15 -> Battery Current
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- ADC1 Pin18 -> 5V Sensor
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## PWM Output
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The Control Zero H7 OEM revision G supports up to 8 PWM outputs. All DShot and BiDirDShot capable.
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The PWM outputs are distributed in 3 groups:
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- PWM 1-4 in group 1
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- PWM 5-6 in group 4
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- PWM 7-8 in group 8
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Channels within the same group must use only one output rate. If any channel is using DShot or BiDirDShot the rest of the group will use the said output type.
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## Power Supply
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This board requires a 5V, 1 Amps power supply.
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## Battery Monitoring
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This board has a built-in voltage and current sensors. The following settings need to be present already on the board to work with a Power Zero Module (M10077):
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- BATT_MONITOR 4
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- BATT_VOLT_PIN 14
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- BATT_CURR_PIN 15
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- BATT_VOLT_SCALE 15.3
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- BATT_CURR_SCALE 50.0
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*Other Power Module needs to be adjusted accordingly*
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## Build
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`./waf configure --board=3DRControlZeroG`
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`./waf copter` (check ArduPilot's docs for more info about the available targets)
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The compiled binary will be located in `build/3DRControlZeroG/bin/arducopter.apj`.
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## Uploading Firmware
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Any Control Zero H7 OEM revision G has a preloaded Ardupilot bootloader, which allows the user to use a compatible Ground Station software to upload the `.apj` file.
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