ardupilot/libraries/AP_HAL_ChibiOS/hwdef/3DRControlZeroG

3DR (mRo) Control Zero H7 OEM Flight Controller revision G

The Control Zero H7 OEM revision G is a flight controller produced by 3DR (mRo).

Features

Processor
	STM32H743IIK6 32-bit Processor
Sensors
	BMI088 6DOF
	ICM20602 6DOF
	ICM20948 9DOF
	DPS368 Baro
Power
	External Power Supply
	Logic level at 3.3V
Interfaces
	Bottom Connectors: 36pin front and 40pin back Samtec FTM-118-02-x and FTM-120-02-x
	8x PWM / IO - DMA capable
	1x RC Input 
	5x UARTs (2x with hardware flow control)
	2x CAN
	1x SPI
	3x I2C
	SWD via TC2030 header
	SDCARD Socket
Memory
	FRAM (256KB)
Miscellaneous
	Onboard 3 color LED
	Buzzer
	Safety Button

Uncased Weight and Dimensions

Weight: 3.66g (13.oz) Width: 20mm (.79in) Length: 34mm (1.34in)

Case sold separately

Changelog

• M10059C - Initial Release
• M10059G adds external power supply and TCXO.

Pinout

UART Mapping

• SERIAL0 -> USB1, for GCS connection

• SERIAL1 -> USART2 (TELEM 1) DMA Enabled

• SERIAL2 -> USART3 (TELEM 2) DMA Enabled

• SERIAL3 -> UART4 (GPS) DMA Enabled

• SERIAL4 -> UART8 (GPS 2) DMA Enabled

• SERIAL5 -> UART7 (DEBUG) DMA Enabled

• SERIAL6 -> USART6 (Additional USART) DMA Enabled

• SERIAL7 -> USB2, MAVLink interface

RC Input

RC input is configured on the RC_IN pin. These are the supported RC input protocols:

Spektrum DSM / DSM2 / DSM-X® Satellite compatible input and binding. Futaba S.BUS® & S.BUS2® compatible input. Graupner SUMD. Yuneec ST24.

Analog Inputs

The Control Zero H7 OEM revision G has 4 ADC inputs:

• ADC1 Pin11 -> RSSI IN
• ADC1 Pin14 -> Battery Voltage
• ADC1 Pin15 -> Battery Current
• ADC1 Pin18 -> 5V Sensor

PWM Output

The Control Zero H7 OEM revision G supports up to 8 PWM outputs. All DShot and BiDirDShot capable.

The PWM outputs are distributed in 3 groups:

• PWM 1-4 in group 1
• PWM 5-6 in group 4
• PWM 7-8 in group 8

Channels within the same group must use only one output rate. If any channel is using DShot or BiDirDShot the rest of the group will use the said output type.

Power Supply

This board requires a 5V, 1 Amps power supply.

Battery Monitoring

This board has a built-in voltage and current sensors. The following settings need to be present already on the board to work with a Power Zero Module (M10077):

• BATT_MONITOR 4
• BATT_VOLT_PIN 14
• BATT_CURR_PIN 15
• BATT_VOLT_SCALE 15.3
• BATT_CURR_SCALE 50.0

Other Power Module needs to be adjusted accordingly

Build

./waf configure --board=3DRControlZeroG

./waf copter (check ArduPilot's docs for more info about the available targets)

The compiled binary will be located in build/3DRControlZeroG/bin/arducopter.apj.

Uploading Firmware

Any Control Zero H7 OEM revision G has a preloaded Ardupilot bootloader, which allows the user to use a compatible Ground Station software to upload the .apj file.