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