mirror of https://github.com/ArduPilot/ardupilot
101 lines
3.0 KiB
Markdown
101 lines
3.0 KiB
Markdown
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# FoxeerH743 Flight Controller
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The FoxeerH743 is a flight controller produced by [Foxeer](https://www.foxeer.com/).
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## Features
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- MCU - STM32H743 32-bit processor running at 480 MHz
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- IMU - MPU6000
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- Barometer - DPS310
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- OSD - AT7456E
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- Onboard Flash: 128Mbit
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- 7x UARTs
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- 9x PWM Outputs (8 Motor Output, 1 LED)
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- Battery input voltage: 2S-8S
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- BEC 3.3V 0.5A
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- BEC 5V 2A
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- BEC 10V 2A
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- DJI Connector
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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 (RX/SBUS, DMA-enabled)
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- SERIAL2 -> UART2 (VTX)
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- SERIAL3 -> UART3 (DMA-enabled)
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- SERIAL4 -> UART4 (DJI RX/SBUS, DMA-enabled)
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- SERIAL6 -> UART6 (GPS, DMA-enabled)
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- SERIAL7 -> UART7 (DJI OSD, DMA-enabled)
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- SERIAL8 -> UART8 (ESC Telemetry)
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## RC Input
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RC input is configured by default on the R4 (UART4_RX) pin in the DJI connector. It supports all serial RC
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protocols. For protocols requiring separate half-duplex serial to transmit
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telemetry (such as FPort) you should setup SERIAL1 as an RC input serial port,
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with half-duplex, pin-swap and inversion enabled. You can also use the soldered pads on UART1 by setting SERIAL4_PROTOCOL to -1 and SERIAL1_PROTOCOL to 23. For PPM support on UART1_RX set BRD_ALT_CONFIG to 1.
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## FrSky Telemetry
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FrSky Telemetry can be supported using the T1 pin (UART1 transmit). You need to set the following parameters to enable support for FrSky S.PORT
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- SERIAL1_PROTOCOL 10
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- SERIAL1_OPTIONS 7
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## OSD Support
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The FoxeerH743 supports OSD using OSD_TYPE 1 (MAX7456 driver) or OSD_TYPE 3 if using DJI OSD
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## PWM Output
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The FoxeerH743 supports up to 9 PWM outputs. The pads for motor output
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M1 to M8 are provided on both the motor connectors and on separate pads, plus
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M9 on a separate pad for LED strip or 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 1-8 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 8S
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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 11
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- BATT_AMP_PERVLT 35.4
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## Compass
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The FoxeerH743 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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