mirror of
https://github.com/ArduPilot/ardupilot
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69 lines
1.9 KiB
Markdown
69 lines
1.9 KiB
Markdown
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# ModalAI Flight Core v1 Controller
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The ModalAI FlightCore is a flight controller produced by [ModalAI](http://www.modalai.com/).
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## Features
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- STM32F765 microcontroller
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- ICM42688 and ICM20602 IMUs
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- BMP388 barometer
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- microSD card slot
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- 7 UARTs plus USB
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- 8 PWM outputs
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## Pinout
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For detailed pinout descriptions see [FlightCore Pinout](https://docs.modalai.com/flight-core-datasheets-connectors/)
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## UART Mapping
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The UARTs are marked Rn and Tn in the above pinouts. The Rn pin is the
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receive pin for UARTn. The Tn pin is the transmit pin for UARTn.
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- SERIAL0 -> USB
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- SERIAL1 -> UART7 (Telem1)
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- SERIAL2 -> UART5 (Telem2)
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- SERIAL3 -> USART1 (GPS)
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- SERIAL4 -> UART4 (GPS2)
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- SERIAL5 -> USART2
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- SERIAL6 -> USART6 (spektrum RCIN)
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- SERIAL7 -> USART3
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- SERIAL8 -> USB2
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## RC Input
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RC input is configured on both the PPM input pin and the "spektrum"
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USART6 UART. The PPM pin supports all one-way RC protocols. For
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protocols requiring half-duplex serial to transmit telemetry (such as
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FPort) you should use the spektrum port, mapped to SERIAL6. Both PPM
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and spektrum ports are enabled for RCIN by default.
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## PWM Output
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The ModalAI_v1 supports up to 8 PWM outputs on the PWM output connector
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The PWM is in 2 groups:
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- PWM 1, 2, 3, 4 in group1
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- PWM 5, 6, 7, 8 in group2
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Channels within the same group need to use the same output rate. If
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any channel in a group uses DShot then all channels in the group need
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to use DShot.
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## Power Monitoring
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In addition to the normal range of ArduPilot power monitoring options,
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the modalAI build supports two I2C power monitors, the INA231 and the
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LTC2946. The FlightCore board comes with the INA231 and you should set
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BATTERY_MONITOR to 21. For the LTC2946 based power brick you should
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set BATTERY_MONITOR to 22.
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## Compass
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The ModalAI_v1 does not have a built-in compass, but you can attach an
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external compass
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