ardupilot/libraries/AP_HAL_ChibiOS/hwdef/modalai_fc-v1

ModalAI Flight Core v1 Controller

The ModalAI FlightCore is a flight controller produced by ModalAI.

Features

• STM32F765 microcontroller
• ICM42688 and ICM20602 IMUs
• BMP388 barometer
• microSD card slot
• 7 UARTs plus USB
• 8 PWM outputs

Pinout

For detailed pinout descriptions see FlightCore Pinout

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
• SERIAL1 -> UART7 (Telem1)
• SERIAL2 -> UART5 (Telem2)
• SERIAL3 -> USART1 (GPS)
• SERIAL4 -> UART4 (GPS2)
• SERIAL5 -> USART2
• SERIAL6 -> USART6 (spektrum RCIN)
• SERIAL7 -> USART3
• SERIAL8 -> USB2

RC Input

RC input is configured on both the PPM input pin and the "spektrum" USART6 UART. The PPM pin supports all one-way RC protocols. For protocols requiring half-duplex serial to transmit telemetry (such as FPort) you should use the spektrum port, mapped to SERIAL6. Both PPM and spektrum ports are enabled for RCIN by default.

PWM Output

The ModalAI_v1 supports up to 8 PWM outputs on the PWM output connector

The PWM is in 2 groups:

• PWM 1, 2, 3, 4 in group1
• PWM 5, 6, 7, 8 in group2

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.

Power Monitoring

In addition to the normal range of ArduPilot power monitoring options, the modalAI build supports two I2C power monitors, the INA231 and the LTC2946. The FlightCore board comes with the INA231 and you should set BATTERY_MONITOR to 21. For the LTC2946 based power brick you should set BATTERY_MONITOR to 22.

Compass

The ModalAI_v1 does not have a built-in compass, but you can attach an external compass