mirror of https://github.com/ArduPilot/ardupilot
89 lines
2.8 KiB
Markdown
89 lines
2.8 KiB
Markdown
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# Foxeer ReaperF745v2 Flight Controller
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The ReaperF745v2 is a flight controller produced by [Foxeer](https://www.foxeer.com/).
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## Features
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- MCU - STM32F745 32-bit processor
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- IMU - BMI270
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- OSD - AT7456E
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- Onboard Flash: 128MBit
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- 5x UARTs
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- 5x PWM Outputs (4 Motor Output, 1 LED)
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- Battery input voltage: 2S-6S
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- Integrated 45A BlueJay ESCs
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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 (DJI RCIN,but needs protocol changes to SERIAL1 and SERIAL 2)
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- SERIAL2 -> UART2 (RX Protocol by default, DMA-enabled)
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- SERIAL3 -> UART3 Telem/User
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- SERIAL4 -> UART4 Telem/User
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- SERIAL7 -> UART7 (GPS, DMA-enabled)
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## RC Input
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RC input is configured on the R2 (UART2_RX) pin by default. It supports all serial RC
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protocols. For FPort you should setup the TX PIN as an RC input serial port,
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with half-duplex and inversion enabled.
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## OSD Support
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The ReaperF745v2 supports OSD using OSD_TYPE 1 (MAX7456 driver).
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## PWM Output
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The ReaperF745v2 supports up to 5 PWM outputs. There are no pads for motor output
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M1 to M4 as these are connected directly to the onboard ESCs. M5 is on a separate pad for LED strip or another PWM output.
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The PWM is in 2 groups:
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- PWM 1-4 in group1
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- PWM 5 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. Channels 1-4 support bi-directional dshot and this is configured by
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default to take advantage of the BlueJay ESC firmware that is installed by default.
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## Battery Monitoring
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The board has a builtin 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 13
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- BATT_CURR_PIN 12
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- BATT_VOLT_MULT 10.9
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- BATT_AMP_PERVLT 100
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## Compass
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The ReaperF745v2 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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## Barometer
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The ReaperF745v2 does not have a builtin barometer, but you can attach an external barometer using I2C on the SDA and SCL pads or use GPS as the EKF3 Z source. The board will boot without either, but only non altitude information requiring modes can be used.
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## Loading Firmware
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Initial firmware load can be done with DFU by plugging in USB with the
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bootloader button pressed. Then you should load the "with_bl.hex"
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firmware, using your favourite DFU loading tool.
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Once the initial firmware is loaded you can update the firmware using
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any ArduPilot ground station software. Updates should be done with the
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*.apj firmware files.
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