# MicoAir743v2 Flight Controller

The MicoAir743v2 is a flight controller designed and produced by [MicoAir Tech](http://micoair.com/).

## Features

 - STM32H743 microcontroller
 - BMI088/BMI270 dual IMUs
 - Integrated BlueTooth module for telemetry
 - SPL06 barometer
 - QMC5883L magnetometer
 - AT7456E OSD
 - 9V 3A BEC; 5V 3A BEC
 - MicroSD Card Slot
 - 8 UARTs
 - 11 PWM outputs
 - 1 I2C
 - 1 SWD

## Physical

![MicoAir H743 v2.0 Physical Size](MicoAir743v2_Physical_Size.jpg)

## UART Mapping

 - SERIAL0 -> USB
 - SERIAL1 -> UART1 (MAVLink2, DMA-enabled)
 - SERIAL2 -> UART2 (DisplayPort, DMA-enabled)
 - SERIAL3 -> UART3 (GPS, DMA-enabled)
 - SERIAL4 -> UART4 (MAVLink2, DMA-enabled)
 - SERIAL5 -> UART5 (User, DMA-enabled)
 - SERIAL6 -> UART6 (RCIN, DMA-enabled)
 - SERIAL7 -> UART7 (RX only, ESC Telemetry, DMA-enabled)
 - SERIAL8 -> UART8 (MAVLink2, connected to on board BlueTooth module)


## RC Input

The UART6  is compatible with all ArduPilot supported receiver protocols, 

* PPM is not supported.

  *  SBUS/DSM/SRXL connects to the RX6 pin.

  * FPort requires connection to TX6 . See FPort Receivers.

  *  CRSF also requires a TX6 connection, in addition to RX6, and automatically provides telemetry.

  *  SRXL2 requires a connection to TX6 and automatically provides telemetry. Set SERIAL6_OPTIONS to “4”.

Any UART can also be used for RC system connections in ArduPilot and is compatible with all protocols except PPM. See Radio Control Systems for details.

## OSD Support

The MicoAir743v2 supports onboard OSD using OSD_TYPE 1 (MAX7456 driver). Simultaneously, DisplayPort OSD is available on the HD VTX connector, set OSD_TYPE2 = "5".


## VTX Support

The SH1.0-6P connector supports a DJI Air Unit / HD VTX connection. Protocol defaults to DisplayPort. Pin 1 of the connector is 9v so be careful not to connect this to a peripheral requiring 5v.

## PWM Output

The MicoAir743v2 supports up to 11 PWM outputs.

All the channels support DShot.

Channels 1-8 support bi-directional DShot.

PWM outputs are grouped and every group must use the same output protocol:

1, 2, 3, 4 are Group 1;

5, 6 are Group 2;

7, 8, 11 are Group 3;

9, 10 are Group 4;
Note: PWM11 is the "LED" pin. If this is configured for serial LED use then PWM 7 and 8 can only be used as serial LED also.

## Battery Monitoring

The board has a internal voltage sensor and connections on the ESC connector for an external current sensor input.
The voltage sensor can handle up to 6S LiPo batteries.

The default battery parameters are:

 - BATT_MONITOR 4
 - BATT_VOLT_PIN 10
 - BATT_CURR_PIN 11
 - BATT_VOLT_MULT 21.12
 - BATT_CURR_SCALE 40.2

## Compass

The MicoAir743v2 has a built-in compass sensor (QMC5883L), and you can also attach an external compass using I2C on the SDA and SCL connector.

## BlueTooth

The MicoAir743v2 has an on board BlueTooth module connected to UART8(SERIAL8). The BlueTooth id is MicoAir743v2-xxxxxx and you can connect to it without pairing id.

## Mechanical

 - Mounting: 30.5 x 30.5mm, Φ4mm
 - Dimensions: 36 x 36 x 8 mm
 - Weight: 10g

## Ports Connector

![MicoAir H743 v2.0 Ports Connection](MicoAir743v2_Ports_Connection.jpg)

## Loading Firmware

Initial firmware load can be done with DFU by plugging in USB with the bootloader button pressed. Then you should load the "XXXX_with_bl.hex" firmware, using your favorite DFU loading tool.


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.