# PixFlamingo-F767 Flight Controller

The PixFlamingo-F767 is a flight controller produced by Dheeran Labs.
Contact dheeranlabs@gmail.com for sales

## Features
    Processor
        STM32F767 32-bit processor
	Onboard Flash: 2048Mbits
    Sensors
        Two IMU : ICM42670, MPU6500/ICM20602 Acc/Gyro
        One Baro : Internal MS5611/BMP280/DPS310 SPI barometer
	Internal LIS3MDL Compass
    Power
        5v input voltage with voltage monitoring
    Interfaces
        10x PWM outputs 
        1x RC input
        5x UARTs/serial for GPS and other peripherals
        2x I2C ports for external compass, airspeed, etc.
	microSD card slot port
	Internal RGB LED
	Safety switch port
	Buzzer port
        USB-C port

## Connectors

**POWER ADC**

| Pin  |     Signal      | Volt  |
| :--: | :-------------: | :---: |
|  1   |     VCC_IN      |  +5V  |
|  2   |     VCC_IN      |  +5V  |
|  3   | BAT_CRRENT_ADC  | +3.3V |
|  4   | BAT_VOLTAGE_ADC | +3.3V |
|  5   |       GND       |  GND  |
|  6   |       GND       |  GND  |

**TELEM1**

| Pin  |  Signal  | Volt  |
| :--: |  :-----: | :---: |
|  1   |    VCC   |  +5V  |
|  2   | UART_TX3 | +3.3V |
|  3   | UART_RX3 | +3.3V |
|  4   |    CTS   | +3.3V |
|  5   |    RTS   | +3.3V |
|  6   |    GND   |  GND  |

**TELEM2**

| Pin  |  Signal  | Volt  |
| :--: |  :-----: | :---: |
|  1   |    VCC   |  +5V  |
|  2   | UART_TX6 | +3.3V |
|  3   | UART_RX6 | +3.3V |
|  4   |     X    |   X   |
|  5   |     X    |   X   |
|  6   |    GND   |  GND  |

**GPS1**

| Pin  |  Signal  | Volt  |
| :--: |  :-----: | :---: |
|  1   |    VCC   |  +5V  |
|  2   | UART_TX1 | +3.3V |
|  3   | UART_RX1 | +3.3V |
|  4   | I2C2_SCL | +3.3V |
|  5   | I2C2_SDA | +3.3V |
|  6   |    GND   |  GND  |

**SERIAL5**

| Pin  |  Signal  | Volt  |
| :--: |  :-----: | :---: |
|  1   |    VCC   |  +5V  |
|  2   | UART_TX7 | +3.3V |
|  3   | UART_RX7 | +3.3V |
|  4   |     X    |   X   |
|  5   |    GND   |  GND  |

**SERIAL6, GPIO**

| Pin  |  Signal  | Volt  |
| :--: |  :-----: | :---: |
|  1   |    VCC   |  +5V  |
|  2   | USART_TX2| +3.3V |
|  3   | USART_RX2| +3.3V |
|  4   |   GPIO   | +3.3V |
|  5   |    GND   |  GND  |


**SAFETY**

| Pin  |      Signal      | Volt  |
| :--: | :-----------:    | :---: |
|  1   |     SAFETY_SW    | +3.3V |
|  2   |   SAFETY_SW_LED  | +3.3V |
|  3   |      3V3_OUT	  | +3.3V |
|  4   |      BUZZER+     | +3.3V |
|  5   |      BUZZER-     | GND   |


## 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 (OTG1)
 - SERIAL1 -> UART3 (TELEM1) with CTS/RTS DMA Enabled
 - SERIAL2 -> UART6 (TELEM2) with DMA Enabled
 - SERIAL3 -> UART1 (GPS1) Tx(NODMA), Rx(DMA Enabled)
 - SERIAL4 -> EMPTY
 - SERIAL5 -> UART7 (User) NODMA
 - SERIAL6 -> USART2 (User) NODMA

## RC Input

Supports I-Bus/S-bus

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

## PWM Output

The PixFlaminog-F767 supports up to 10 PWM outputs. 

The PWM is in 5 groups:

 - PWM 1-4 in group1
 - PWM 5-8 in group2
 - PWM 9 in group3
 - PWM 10 in group4

## GPIOs

All 10 PWM channels can be used for GPIO functions (relays, buttons, RPM etc).

The pin numbers for these PWM channels in ArduPilot are shown below:

| PWM Channels | Pin  | PWM Channels | Pin  |
| ------------ | ---- | ------------ | ---- |
| PWM1         | 50   | PWM8         | 57   |
| PWM2         | 51   | PWM9         | 58   |
| PWM3         | 52   | PWM10        | 59   |
| PWM4         | 53   |              |      |
| PWM5         | 54   |              |      |
| PWM6         | 55   |              |      |
| PWM7         | 56   |              |      |

## Analog inputs

The PixFlamingo-F767 flight controller has 4 analog inputs

 - ADC Pin10   -> Battery Current 
 - ADC Pin11   -> Battery Voltage 
 - ADC Pin14   -> ADC 3V3 Sense
 - ADC Pin15 -> ADC 6V6 Sense

## Battery Monitor Configuration

The board has voltage and current sensor inputs on the POWER_ADC connector.

The correct battery setting parameters are:

Enable Battery monitor.

BATT_MONITOR =4

Then reboot.

BATT_VOLT_PIN 11

BATT_CURR_PIN 10

BATT_VOLT_MULT 10.1 (may need adjustment if supplied monitor is not used)

BATT_AMP_PERVLT 17.0 (may need adjustment if supplied monitor is not used)

## Build the FC

./waf configure --board=PixFlamingo-F767
./waf copter

The compiled firmware is located in folder **"build/PixFlamingo-F767/bin/arducopter.apj"**.

## Loading Firmware

The PixFlamingo-F767 flight controller comes pre-installed with an ArduPilot compatible bootloader, allowing the loading of *.apj firmware files with any ArduPilot compatible ground station.