mirror of https://github.com/ArduPilot/ardupilot
96 lines
3.0 KiB
Markdown
96 lines
3.0 KiB
Markdown
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# Serious Pro Racing H6 Extreme Flight Controller
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The SPRacingH7 Extreme is a flight controller produced by [Seriously Pro Racing](http://www.seriouslypro.com/).
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## Features
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- MCU - STM32H750 32-bit processor running at 400 MHz
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- 16MByte Serial NOR flash via QuadSPI
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- IMUs - 2x ICM20602
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- Barometer - BMP388
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- OSD - AT7456E
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- Onboard Flash: 128Mbits
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- 7x UARTs (1,2,3,4,5,6,8)
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- 11x PWM Outputs (10 Motor Output, 1 LED)
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- Battery input voltage: 2S-6S
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- BEC 5V 1A
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## Pinout
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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 -> UART1 (DMA-enabled)
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- SERIAL2 -> UART2 (RCIN one wire, DMA-enabled)
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- SERIAL3 -> UART3 (DMA-enabled)
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- SERIAL4 -> UART4 (DMA-enabled)
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- SERIAL5 -> UART5 (DMA-enabled)
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- SERIAL6 -> UART6 (On motor pads 7/8, with alt config 1, DMA-enabled)
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- SERIAL8 -> UART8 (DMA-enabled)
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## RC Input
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RC input is configured on the T2 (UART2_TX) pin. It supports all serial RC
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protocols. For protocols requiring half-duplex serial to transmit
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telemetry (such as FPort) you should setup SERIAL2 as an RC input serial port,
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with half-duplex, pin-swap and inversion enabled.
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## FrSky Telemetry
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FrSky Telemetry is supported using the T2 pin (UART2 transmit). You need to set the following parameters to enable support for FrSky S.PORT
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- SERIAL2_PROTOCOL 10
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- SERIAL2_OPTIONS 7
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## OSD Support
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The SPRacingH7 supports OSD using OSD_TYPE 1 (MAX7456 driver).
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## PWM Output
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The SPRacingH7 supports up to 11 PWM outputs. The pads for motor output
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M1 to M4 on the motor connectors and M5 to M8 on separate pads, plus
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M11 for LED strip or another PWM output. M9 and M10 are only available on the stacking connector.
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The PWM is in 5 groups:
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- PWM 1-4 in group1
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- PWM 5, 6 in group2
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- PWM 7, 8 in group3
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- PWM 9, 10 in group4
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- PWM 11 in group5
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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. Channels 1-4 support bi-directional dshot.
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## Battery Monitoring
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The board has a builting voltage and current sensor. The current
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sensor can read up to 130 Amps. The voltage sensor can handle up to 6S
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LiPo batteries.
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The correct battery setting parameters are:
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- BATT_MONITOR 4
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- BATT_VOLT_PIN 10
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- BATT_CURR_PIN 11
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- BATT_VOLT_MULT 11.1
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- BATT_AMP_PERVLT 59.5
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## Compass
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The SPRacingH7 does not have a builtin compass, but you can attach an external compass using I2C on the SDA and SCL pads.
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## Loading Firmware
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Since this board stores the flight control software on external flash the initial firmware load should be done using the
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SPRacing SSBL (https://github.com/spracing/ssbl). Please follow the instructions for loading PX4 firmware to load ArduPilot.
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A convenience script is provided Tools/scripts/ssbl_uploader.sh to perform the required steps.
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It should also be possible to load the ArduPilot bootloader via DFU, but doing so will invalidate your warranty.
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