mirror of https://github.com/ArduPilot/ardupilot
87 lines
2.5 KiB
Markdown
87 lines
2.5 KiB
Markdown
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# T-Motor H7 Mini Flight Controller
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The T-Motor H7 Mini is a flight controller produced by [T-Motor](https://store.tmotor.com/goods-1295-H7+MINI.html).
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## Features
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- MCU - STM32H743 32-bit processor running at 480 MHz
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- IMU - ICM42688/BMI270
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- Barometer - DPS310
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- OSD - AT7456E
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- Onboard Flash: 128Mbits
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- 6x UARTs (1,5,6,7,9)
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- 9x PWM Outputs (8 Motor Output, 1 LED)
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- Battery input voltage: 2S-6S
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- BEC 5V/2A, 10V/1.5A
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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 (ESC Telemetry)
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- SERIAL3 -> UART3
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- SERIAL5 -> UART5 (GPS, DMA-enabled)
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- SERIAL6 -> UART6 (RX, DMA-enabled)
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- SERIAL7 -> UART7 (DJI VTX, DMA-enabled)
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- SERIAL8 -> UART8 (SBUS, DMA-enabled)
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## RC Input
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RC input is configured on the R6/TX6 (UART6_RX/UART6_TX) pins. 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 SERIAL6 with half-duplex, pin-swap and inversion enabled.
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## OSD Support
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The T-Motor H7 Mini supports OSD using OSD_TYPE 1 (MAX7456 driver).
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## PWM Output
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The T-Motor H7 Mini supports up to 5 PWM outputs. The pads for motor output
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M1 to M4 on the motor connectors and separate pads, plus
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M5 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.
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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 11
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- BATT_CURR_PIN 13
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- BATT_VOLT_MULT 11.0
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- BATT_AMP_PERVLT 50.0
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## Compass
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The T-Motor H7 Mini 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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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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