mirror of https://github.com/ArduPilot/ardupilot
89 lines
2.7 KiB
Markdown
89 lines
2.7 KiB
Markdown
|
# HEEWING F405 Flight Controller
|
||
|
|
|
||
|
|
https://www.heewing.com/pages/t1-ranger-vtol-pnp-manual
|
||
|
|
|
||
|
|
The HEEWING F405 is a flight controller produced by [HEEWING](https://www.heewing.com/pages/t1-ranger-vtol-pnp-manual) that is incorporated into their Ranger-T1 VTOL RTF airframe.
|
||
|
|
|
||
|
|
## Features
|
||
|
|
|
||
|
|
- STM32F405 microcontroller
|
||
|
|
- ICM42688 IMU
|
||
|
|
- SLP06 barometer
|
||
|
|
- 16Mb dataflash
|
||
|
|
- MAX7456 OSD
|
||
|
|
- 4 UARTs
|
||
|
|
- 9 PWM outputs
|
||
|
|
|
||
|
|
### HEEWING F405 Pinout
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
## UART Mapping
|
||
|
|
|
||
|
|
The UARTs are marked Rn and Tn in the above pinouts. The Rn pin is the
|
||
|
|
receive pin for UARTn. The Tn pin is the transmit pin for UARTn.
|
||
|
|
|
||
|
|
- SERIAL0 -> USB
|
||
|
|
- SERIAL1 -> UART3 (UART1 on casing, DMA-enabled)
|
||
|
|
- SERIAL2 -> UART1 (UART2 on casing, DMA-enabled)
|
||
|
|
- SERIAL5 -> UART5 (GPS)
|
||
|
|
- SERIAL6 -> UART2 (RCIN RX-only or RX/TX with BRD_ALT_CONFIG=1, DMA-enabled)
|
||
|
|
|
||
|
|
## RC Input
|
||
|
|
|
||
|
|
RC input is configured on the RCIN connector (UART2_RX) pin. It supports all serial RC protocols. It can be configured for two-way protocols (e.g. CRSF) by setting BRD_ALT_CONFIG=1
|
||
|
|
|
||
|
|
## FrSky Telemetry
|
||
|
|
|
||
|
|
FrSky Telemetry can be supported using the transmit pin on a spare serial ports SERIAL1 and SERIAL2.
|
||
|
|
|
||
|
|
## OSD Support
|
||
|
|
|
||
|
|
The HEEWING F405 supports OSD using OSD_TYPE 1 (MAX7456 driver).
|
||
|
|
|
||
|
|
## PWM Output
|
||
|
|
|
||
|
|
The HEEWING F405 supports up to 9 PWM outputs. M1-M2, M5-M6 and M9 support bi-directional dshot. All outputs support dshot although M3-4 are not recommended for this purpose as they share resources with I2C.
|
||
|
|
|
||
|
|
The PWM is in 4 groups:
|
||
|
|
|
||
|
|
- PWM 1 and 2 in group1
|
||
|
|
- PWM 3 and 4 in group2
|
||
|
|
- PWM 5 and 6 in group3
|
||
|
|
- PWM 7-9 in group4
|
||
|
|
|
||
|
|
Channels within the same group need to use the same output rate. If
|
||
|
|
any channel in a group uses DShot then all channels in the group need
|
||
|
|
to use DShot.
|
||
|
|
|
||
|
|
## Battery Monitoring
|
||
|
|
|
||
|
|
The board has a builting voltage and current sensor. The current
|
||
|
|
sensor can read up to 130 Amps. The voltage sensor can handle up to 6S
|
||
|
|
LiPo batteries.
|
||
|
|
|
||
|
|
The correct battery setting parameters are:
|
||
|
|
|
||
|
|
- BATT_MONITOR 4
|
||
|
|
- BATT_VOLT_PIN 10
|
||
|
|
- BATT_CURR_PIN 11
|
||
|
|
- BATT_VOLT_MULT 7.71
|
||
|
|
- BATT_AMP_PERVLT 26.67
|
||
|
|
|
||
|
|
## Compass
|
||
|
|
|
||
|
|
The HEEWING F405 does not have a builtin compass, but you can attach an external compass using the GPS port. The RTF kit comes pre-supplied with a GPS and compass.
|
||
|
|
|
||
|
|
## Loading Firmware
|
||
|
|
|
||
|
|
Initial firmware load can be done with DFU by plugging in USB with the
|
||
|
|
bootloader button pressed. Then you should load the "with_bl.hex"
|
||
|
|
firmware, using your favourite DFU loading tool.
|
||
|
|
|
||
|
|
Note that this hardware has problems going into DFU mode if a GPS is connected and powered - please disconnect your GPS when flashing for the first time.
|
||
|
|
|
||
|
|
Once the initial firmware is loaded you can update the firmware using
|
||
|
|
any ArduPilot ground station software. Updates should be done with the
|
||
|
|
*.apj firmware files.
|
||
|
|
|