mirror of
https://github.com/ArduPilot/ardupilot
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117 lines
4.0 KiB
Markdown
117 lines
4.0 KiB
Markdown
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# SDMODEL SDH7 V2 Flight Controller
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## Features
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- STM32H743 microcontroller
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- MPU6000 IMU
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- BMP280 barometer
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- IST8310 Compass
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- microSD card slot
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- AT7456E OSD
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- 6 UARTs
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- 9 PWM outputs
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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 (Telem1) (MSP DisplayPort)(DMA Capable)
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- SERIAL2 -> UART2 (Telem2) (connected to internal BT module, not useable by ArduPilot)
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- SERIAL3 -> UART3 (GPS)(DMA Capable)
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- SERIAL4 -> UART4 (GPS)
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- SERIAL5 -> not available
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- SERIAL6 -> UART6 (RX6 in RCinput, ALT config to use as UART input)
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- SERIAL7 -> UART7 RX pin only, ESC telem)(DMA Capable)
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## RC Input
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RC input is configured on the R6 (UART6_RX) pin. It supports all single wire unidirectional RC
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protocols. For protocols requiring half-duplex or full duplex serial for operation
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select another UART with DMA and set its protocol to "23". To use this UART for other uses, set
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:ref:`BRD_ALT_CONFIG<BRD_ALT_CONFIG>` to "1"
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## FrSky Telemetry
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FrSky Telemetry is supported using the Tx pin of any UART including SERIAL6/UART6 . You need to set the following parameters to enable support for FrSky S.PORT (example shows SERIAL6). Note this assumes the RC input is using default (ALT_BRD_CONFIG =0). Obviously, if using ALT_BRD_CONFIG = 1 for full duplex RC prtocols, you must a different UART for FrSky Telemetry.
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- SERIAL6_PROTOCOL 10
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- SERIAL6_OPTIONS 7
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## OSD Support
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The SDMODEL SDH7 V2 supports OSD using OSD_TYPE 1 (MAX7456 driver).The defaults are also setup to allow DJI Goggle OSD support on UART1. Both OSDs can operate simultaneously.
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## VTX Support
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The JST-GH-6P connector supports a standard DJI HD VTX connection. Pin 1 of the connector is 9v so be careful not to connect
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this to a peripheral requiring 5v. The 9v supply is controlled by RELAY_PIN2 set to GPIO 81 and is on by default. It can be configured to be operated by an RC switch by selecting the function RELAY2.
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## Camera Control
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The Cam pin is GPIO82 and is set to be controlled by RELAY4 by default. Relay pins can be controlled either by an RC switch or GCS command. See :ref:`common-relay` for more information.
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## PWM Output
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The SDMODEL SDH7 V2 supports up to 9 PWM or DShot outputs. Outputs 1-4 support BDShot. The pads for motor output
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M1 to M8 on the two motor connectors, plus M9 preconfigured for LED strip or can be used as another
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PWM output.
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The PWM is in 5 groups:
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- PWM 1, 2 in group1
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- PWM 3, 4 in group2
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- PWM 5, 6 in group3
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- PWM 7, 8 in group4
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- PWM 9 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.
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.. note:: for users migrating from BetaflightX quads, the first four outputs M1-M4 have been configured for use with existing motor wiring using these default parameters:
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- :ref:`FRAME_CLASS<FRAME_CLASS>` = 1 (Quad)
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- :ref:`FRAME_TYPE<FRAME_TYPE>` = 12 (BetaFlightX)
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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
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- BATT_AMP_PERVLT 59.5
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## Compass
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SDMODEL SDH7 V2 has a built-in compass IST8310, but you can add an external compass 2nd using the I2C connections on the SDA and SCL pads.
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## Firmware
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Firmware for these boards can be found `here <https://firmware.ardupilot.org>`_ in sub-folders labeled "SDMODELH7V2".
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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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