mirror of https://github.com/ArduPilot/ardupilot
100 lines
3.3 KiB
Markdown
100 lines
3.3 KiB
Markdown
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# GEPRC TAKER F745 BT Flight Controller
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The TAKER F745 BT is a flight controller produced by [GEPRC](https://geprc.com/).
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## Features
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- STM32F745 microcontroller
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- MPU6000+ICM42688 dual IMU
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- BMP280 barometer
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- microSD based 512MB flash logging
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- AT7456E OSD
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- 7 UARTs
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- 8 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 (DisplayPort, DMA-enabled)
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- SERIAL2 -> UART2 (RCIN, DMA-enabled)
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- SERIAL3 -> UART3 (connected to internal BT module, not currently usable by ArduPilot)
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- SERIAL4 -> UART4 (GPS)
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- SERIAL6 -> UART6 (User)
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- SERIAL7 -> UART7 (User)
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- SERIAL8 -> UART8 (ESC Telemetry)
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## RC Input
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RC input is configured by default via the USAR2 RX input. It supports all unidirectional RC protocols except PPM. FPort and full duplex protocols, like CRSF/ELRS, will need to use TX2 also.
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Note:
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If the receiver is FPort or a full duplex protocol, then the receiver must be tied to the USART2 TX pin and [SERIAL2_OPTIONS](https://ardupilot.org/copter/docs/parameters.html#serial2-options) = 7 (invert TX/RX, half duplex), and [RSSI_TYPE](https://ardupilot.org/copter/docs/parameters.html#rssi-type) =3.
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## FrSky Telemetry
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FrSky Telemetry is supported using the Tx pin of any UART including SERIAL2/UART2. You need to set the following parameters to enable support for FrSky S.PORT (example shows SERIAL3).
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- SERIAL3_PROTOCOL 10
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- SERIAL3_OPTIONS 7
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## OSD Support
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The TAKER F745 BT supports analog OSD using its internal OSD chip and simultaneously HD goggle DisplayPort OSDs via the HD VTX connector.
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## VTX Support
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The SH1.0-6P connector supports a standard DJI HD VTX connection. Pin 1 of the connector is 12v (or VBAT by solder pad selection) so be careful not to connect to devices expecting 5v.
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## PWM Output
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The TAKER F745 BT supports up to 9 PWM outputs. The pads for motor output
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M1 to M4 are on the esc connector, M5-M8 are solder pads, plus M9 is defaulted for serial LED strip or can be used as another PWM output.
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The PWM is in 4 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 in group4
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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 internal voltage sensor and connections on the ESC connector for an external current sensor input.
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The voltage sensor can handle up to 6S.
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LiPo batteries.
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The default battery parameters are:
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- BATT_MONITOR 4
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- BATT_VOLT_PIN 13
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- BATT_VOLT_SCALE 11.0
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- BATT_CURR_PIN 12
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- BATT_CURR_SCALE 28.5
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## Compass
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The TAKER F745 BT 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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