mirror of https://github.com/ArduPilot/ardupilot
89 lines
2.4 KiB
Markdown
89 lines
2.4 KiB
Markdown
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# Mamba Basic F405 MK4 Flight Controller
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The Mamba Basic line of flight controllers are produced by [Diatone](https://www.diatone.us).
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## Features
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- STM32F405RGT6 microcontroller
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- MPU6000 IMU
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- AT7456E OSD
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- 4 UARTs
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- 7 PWM outputs (6 Motor Output, 1 LED)
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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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|Name|Pin|Function|
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|:-|:-|:-|
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|SERIAL0|COMPUTER|USB|
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|SERIAL1|PPM/RX1/SBUS/TX1|UART1 (RC Input)|
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|SERIAL2|TX2/RX2|UART2 (DMA-enabled)|
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|SERIAL3|TX3/RX3|UART3 (Telem1)|
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|SERIAL4|TX4/RX4|UART4 (Empty)|
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|SERIAL6|TX6/RX6|UART6 (GPS, DMA-enabled)|
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## RC Input
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RC input is configured on the PPM (UART1_RX) pin. It supports all RC protocols.
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## OSD Support
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The Mamba F405 MK4 supports OSD using OSD_TYPE 1 (MAX7456 driver).
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## PWM Output
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The Mamba F405 MK4 supports up to 7 PWM outputs. The pads for motor output ESC1 to ESC4 on the above diagram are for the 4 outputs. All outputs support DShot as well as all PWM types. Motors 1-4 support bi-directional DShot.
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The PWM is in 4 groups:
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- PWM 1,2 in group1
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- PWM 3,4 in group2
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- PWM 5,6 in group3
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- PWM 7 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.
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## Battery Monitoring
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The board has a builting voltage sensor. The voltage sensor can handle up to 6S
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LiPo batteries.
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The correct battery setting parameters are:
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- BATT_MONITOR 3
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- BATT_VOLT_PIN 11
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- BATT_VOLT_MULT around 11.0
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- BATT_CURR_PIN 13
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- BATT_CURR_MULT around 28 with the 20x20 40A ESC (calculated, needs to be verified)
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## Compass
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The Mamba Basic flight controllers do not have a builtin compass, but you can attach an external compass using I2C on the SDA and SCL pads.
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## Alternate settings
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It is possible to set alternate configurations with the BRD_ALT_CONFIG parameter.
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|BRD_ALT_CONFIG|RX1 function|
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|:----|:----|
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|ALT 0(default) |RCININT|
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|ALT 1|RX1/TX1|
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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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