mirror of https://github.com/ArduPilot/ardupilot
114 lines
3.3 KiB
Markdown
114 lines
3.3 KiB
Markdown
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# Aocoda-RC-H743Dual Flight Controller
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The Aocoda-RC-H743Dual is a flight controller produced by [Aocoda-RC](https://www.aocoda-rc.com/).
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## Features
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- MCU：STM32H743VIH6
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- Gyro：MPU6000/BIM270x2
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- Baro：DPS310/MS56XX/BMP280
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- Blackbox：128MB
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- PWM output：10CH
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- Servo：2CH
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- UART：8CH
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- Power Supply：3-6SLipo
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- BEC Output：5V/2.5A, 9V/3A
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- USB Connector: Type-C
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- Weight：8.8g
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- Size：37mm x 37mm
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- Mounting Hole：30.5mm x 30.5mm
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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 receive pin for UARTn. The Tn pin is the transmit pin for UARTn.
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- SERIAL0 -> USB (primary mavlink, usually USB)
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- SERIAL1 -> UART1 (RC input)
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- SERIAL2 -> UART2 (GPS)
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- SERIAL3 -> UART3 (VTX)
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- SERIAL4 -> UART4
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- SERIAL5 -> not available
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- SERIAL6 -> UART6 (ESC Telemetry)
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- SERIAL7 -> UART7
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- SERIAL8 -> UART8
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## RC Input
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RC input is configured on SERIAL1 (USART1), which is available on the Rx1, Tx1. PPM receivers are *not* supported as this input does not have a timer resource available.
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*Note* It is recommend to use CRSF/ELRS.
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With recommended option:
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- Set SERIAL1_PROTOCOL<SERIAL1_PROTOCOL must be set to "23"
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- Set SERIAL1_OPTIONS<SERIAL1_OPTIONS to "0".
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## OSD Support
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The Aocoda-RC-H743Dual supports OSD using OSD_TYPE 1 (MAX7456 driver).
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## PWM Output
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The Aocoda-RC-H743Dual supports up to 12 PWM outputs.
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- The pads for motor output S1 to S8 on the two motor connectors, and bi-dshot default settings.
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- S9, S10 for two servos
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- SE1(S11), SE2(S12) for servo/pinio
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The PWM is in 6 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, 8 in group4
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- PWM 9, 10 in group5
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- PWM 11, 12 in group6
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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.
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## Pin IO
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- PINIO1: 9V DCDC control (HIGH:on; LOW:off)
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*Note: DCDC default is enabled.*
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## Battery Monitoring
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The board has a built-in voltage and current sensor. The current sensor can read up to 130 Amps. The voltage sensor can handle from 3S to 6S 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 10
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- BATT_CURR_PIN 11
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- BATT_VOLT_MULT 11
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- BATT2_VOLT_PIN 18
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- BATT2_CURR_PIN 7
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- BATT2_VOLT_MULT 11
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Please calibrate before use amp parameters.
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- BATT_AMP_PERVLT 17.0
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- BATT2_AMP_PERVLT 17.0
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*Note: Please check carefully before use BATT_AMP_PERVLT/BATT2_AMP_PERVLT, as voltage divider circuit for data collection is at ESC/BEC side*
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## Compass
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The Aocoda-RC-H743Dual does not have a built-in 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 bootloader button pressed. Then you should load the "with_bl.hex" firmware, using your favourite DFU loading tool.
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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.
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