mirror of https://github.com/ArduPilot/ardupilot
86 lines
2.3 KiB
Markdown
86 lines
2.3 KiB
Markdown
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# ACNS-F405AIO Integrated Flight Controller
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The ACNS-F405AIO is a low-cost compact flight controller for multi-rotor UAVs which integrated 4 BLheli_s ESCs on board.
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## Features
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- STM32F405RET microcontroller
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- IMU: BMI160, ICM42688
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- Mag: LIS3MDLTR
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- Baro: BMP280
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- 1 microSD card slot port
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- 6 UARTs and USB ports
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- 1 I2C port
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- 1 CAN port
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- 1 SBUS input and 8 PWM output (4 Internal ESCs,4 External PWM ports )
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- 1 External SPI port
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- 1 RGB LED on board
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- 128M flash on board
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- 4 BLheli_s ESCs, 3-4s, 30A, The motor order matches the Arducotper X frame type config
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- Small footprint and lightweight, 39mm X 39mm X 10mm, 9g(without shell)
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## UART Mapping
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- SERIAL0 -> USB (OTG1)
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- SERIAL1 -> USART1(Telem1) (DMA)
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- SERIAL2 -> USART3(Telem2) (DMA)
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- SERIAL3 -> UART4(GPS) (DMA)
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- SERIAL4 -> UART6(GPS2) (DMA)
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- SERIAL5 -> USART2(SBUS) (RC input, NO DMA)
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## RC Input
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RC input is configured on the SBUS pin (UART2_RX). It supports all RC protocols except serial protocols
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## PWM Output
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The ACNS-F405AIO supports up to 8 PWM outputs. All outputs support DShot (No BDshot).
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The PWM is in 3 groups:
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- PWM 1~4 in group1 (4 Motors)
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- PWM 5,6 in group2 (External PWM)
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- PWM 7,8 in group3 (External PWM)
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## GPIOs
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4 External PWM channels can be used for GPIO functions.
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The pin numbers for these PWM channels in ArduPilot are shown below:
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| PWM Channels | Pin |
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| ------------ | ---- |
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| PWM5 | 54 |
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| PWM6 | 55 |
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| PWM7 | 56 |
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| PWM8 | 57 |
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## Battery Monitoring
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The correct battery setting parameters are set by default and are:
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- BATT_MONITOR 4
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- BATT_VOLT_PIN 11
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- BATT_CURR_PIN 12
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- BATT_VOLT_SCALE 9.2
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- BATT_CURR_SCALE 50.0
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## Compass
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The ACNS-F405AIO has one built-in compass LIS3MDLTR, you can also attach an external compass using I2C on the SDA and SCL pads.
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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 “ACNS-F405AIO”.
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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 "xxx_bl.hex"
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firmware, using your favorite DFU loading tool.
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Subsequently, you can update the firmware with Mission Planner.
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## Pinout<div align=center>
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<img width="500" src=F405AIO_top.jpg/>
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<img width="500" src=F405AIO_bottom.jpg/>
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