mirror of https://github.com/ArduPilot/ardupilot
119 lines
3.6 KiB
Markdown
119 lines
3.6 KiB
Markdown
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# Matek H7A3-slim Flight Controller
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https://www.mateksys.com/?portfolio=h7a3-slim.
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## Features
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Processor
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STM32H7A3RIT6 Cortex-M7 280 MHz, 2MB flash
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Sensors
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ICM-42688p Acc/Gyro
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SPL06-001 barometer
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AT7456E OSD
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W25N01GV dataflash
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Power
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2S - 6S Lipo input voltage with voltage monitoring
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9V, 2A BEC for powering Video Transmitter and camera controlled by GPIO
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5V, 2A BEC for internal and peripherals
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Interfaces
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11x PWM outputs DShot capable
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6x UARTs
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1x CAN
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1x I2C
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4x ADC
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128MB NAND for logging
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USB-C port
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LED
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Red, 3.3V power indicator
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Blue and Green, FC status
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Size
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36 x 36mm PCB with 30.5mm M3 mounting
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## Overview
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## Wiring Diagram
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## UART Mapping
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The UARTs are marked Rx* and Tx* in the above pinouts. The Rx* pin is the
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receive pin for UART*. The Tx* pin is the transmit pin for UART*.
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- SERIAL0 -> USB
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- SERIAL1 -> USART1 (MAVLink2 telem) (DMA capable)
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- SERIAL2 -> USART2 (Serial RC input) (DMA capable)
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- SERIAL3 -> USART3 (GPS) (DMA capable)
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- SERIAL4 -> UART4 (User) (NO DMA)
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- SERIAL5 -> UART5 (User) (NO DMA)
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- SERIAL6 -> USART6 (User) (NO DMA)
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## CAN and I2C
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H7A3-SLIM supports 1x CAN bus and 1x I2C bus
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multiple CAN peripherals can be connected to one CAN bus in parallel. similarly for I2C bus.
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## RC Input
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RC input is configured on the USART2(SERIAL2). It supports all serial RC protocols. SERIAL2_PROTOCOL=23 by default.
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- PPM is not supported.
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- CRSF requires Tx2 & Rx2 connection, and set SERIAL2_OPTIONS to “0” (default).
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- SBUS/DSM/SRXL connects to the Rx2 pin, but SBUS requires that the SERIAL2_OPTIONS be set to “3”.
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- FPort requires connection to Tx2, and set SERIAL2_OPTIONS to “7”.
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- SRXL2 requires a connection to Tx2, and automatically provides telemetry. Set SERIAL2_OPTIONS to “4”.
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## OSD Support
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H7A3-SLIM supports using its internal OSD using OSD_TYPE 1 (MAX7456 driver). External OSD support such as DJI or DisplayPort is supported using any spare UART. See :ref:`common-msp-osd-overview-4.2` for more info.
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## PWM Output
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H7A3-SLIM supports up to 11 PWM outputs. All outputs support DShot.
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The PWM is in 5 groups:
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- PWM 1,2 TIM1
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- PWM 3,4 TIM2
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- PWM 5,6,7,8 TIM3
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- PWM 9,10 TIM4
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- PWM 11 TIM16
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## Battery Monitoring
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The board has 2x built-in voltage dividers and 2x current ADC. support external 3.3V based current sensor
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The correct battery setting parameters are set by default and 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 21.0 ("Vbat" pad support 5.5~30V input, limited by onboard regulator chips)
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- BATT_AMP_PERVLT X ("Curr" pad, set it according to external current sensor spec)
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- BATT2_VOLT_PIN 18
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- BATT2_CURR_PIN 8
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- BATT2_VOLT_MULT 21.0 ("VB2" pad support Max.69V voltage sense)
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- BATT_AMP_PERVLT X ("CU2" pad, set it according to external current sensor spec)
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## Compass
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H7A3-SLIM does not have a built-in compass, but you can attach an external compass using I2C on the SDA and SCL pads.
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## VTX power control
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GPIO 81 controls the 9V BEC output to pins marked "9V". Setting this GPIO high removes voltage supply to pins. Default GPIO 81 is low(9V output enable)
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## Loading Firmware
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Firmware for these boards can be found at https://firmware.ardupilot.org in sub-folders labeled MatekH7A3.
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Initial firmware load can be done with DFU by plugging in USB with the
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boot button pressed. Then you should load the "ardu*_with_bl.hex" firmware, using your favourite DFU loading tool. eg STM32CubeProgrammer
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Subsequently, you can update firmware with Mission Planner.
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