mirror of https://github.com/ArduPilot/ardupilot
88 lines
3.6 KiB
Markdown
88 lines
3.6 KiB
Markdown
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# AnyLeaf Mercury H7 Flight Controller
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The Mercury H7 is a flight controller produced by [AnyLeaf](http://www.anyleaf.org/).
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## Features
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Processor
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STM32H743 32-bit processor
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Sensors
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ICM42688 Acc/Gyro with dedicated 32.768kHz crystal
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DPS310 barometer
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Power
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2S - 6S Lipo input voltage with voltage monitoring
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9V, 3A supply for powering video transmitters
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5V, 2A supply for powering servos and electronics
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3.3V, 500mA supply for powering electronics
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Interfaces
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8x Bidirectional-DSHOT, or PWM-capable motor outputs
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1x CAN-FD port for external peripherals
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1x DJI-format Vtx connector
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4x UARTs/serial for external peripherals, 3 of which are available by default
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1x I2C bus for external peripherals
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USB-C port
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All UARTs support hardware inversion
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Onboard ExpressLRS radio tranceiver for control and/or telemetry data.
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Dimensions
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Size: 37.5 x 37.5mm
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Weight: 8g
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## Pinout
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Pins and connector values are labeled on the flight controller PCB, with the following exceptions:
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- The onboard ELRS tranceiver is connected to pins PA2 (FC Tx) and PA3 (FC Rx), on UART2.
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- ESC telemetry is connected to UART3 Rx (PD9)
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- OSD HDL (DJI hand controller interop) is connected to UART1 Rx (PB7)
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## UART Mapping
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All UARTs are DMA capable
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- SERIAL0 -> USB
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- SERIAL1 -> UART1 (External pads, and RX1 on DJI connector SBUS pin; defaulted to MAVLINK2)
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- SERIAL2 -> UART2 (DJI Connector telemetry; defaulted to DisplayPort)
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- SERIAL3 -> UART3 (ESC connector telemetry pin, or external pad; defaulted to ESC telemetry)
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- SERIAL4 -> USART4 (External pads; GPS protocol by default)
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- SERIAL5 -> UART7 (Onboard ELRS receiver only, RCIN protocol)
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- SERIAL6 -> UART8 (USER, External pads)
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## Can FD port
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This flight controller includes a 4-pin DroneCAN standard CAN port. It's capable of 64-byte frames,
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and up to 5Mbps data rates. It's useful for connecting GPS devices, compasses, power monitoring, sensors, motors, servos, and other CAN peripherals.
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## RC Input
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This flight controller includes a 2.4Ghz ExpressLRS transceiver, capable of receiving control input, and transmitting or receiving MavLink telemetry. To enable all ELRS features, either RC5 channel should be setup as an ARM switch (there are several RC5_OPTIONS that can do this) or by mapping the transmitter's Channel 5 to reflect ARM status from telemetry. See: https://youtu.be/YO2yA1fmZBs for an axample.
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SBUS on the DJI connector may be used if SERIAL5_PROTOCOL is changed to 0 and SERIAL1_PROTOCOL is changed to 23 for RC input.
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## OSD Support
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This flight controller has an MSP-DisplayPort output on a 6-pin DJI-compatible JST SH port re-configured.
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## Motor Output
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Motor 1-8 is capable of bidirectional DSHOT and PWM.
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All outputs in the motor groups below must be either PWM or DShot:
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Motors 1-4 Group1
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Motors 5-6 Group2
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Motors 7-8 Group3
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## Magnetometer
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This flight controller does not have a built-in magnetometer, but you can attach an external one using the CAN connector, or the I2C pads on the bottom.
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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 “Anyleaf H7”.
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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 "AnyleafH7_bl.hex"
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firmware, using your favourite DFU loading tool.
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Subsequently, you can update firmware using Mission Planner or QGroundControl.
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