ardupilot/libraries/AP_HAL_ChibiOS/hwdef/TBS_LUCID_PRO

TBS LUCID PRO Flight Controller

The TBS LUCID PRO/Freestyle is a flight controller produced by Team Black Sheep.

Features

• MCU - STM32F405 32-bit processor running at 168 MHz
• IMU - ICM42688 (Freestyle) or MPU6000 (Pro)
• Barometer - SPL06
• OSD - AT7456E
• Onboard Flash: 4MByte
• 6x UARTs
• 6x PWM Outputs (4 Motor Output, 1 Camera PWM and 1 LED)
• Battery input voltage: 2S-6S
• BEC 3.3V 0.5A
• BEC 5V 3A
• BEC 9V 3A for video

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 -> UART1 (RX, DMA-enabled)
• SERIAL2 -> UART2 (User, RX5 is SBUS input and is inverted from pin)
• SERIAL3 -> UART3 (HD RX, DMA-Enabled)
• SERIAL4 -> UART4 (SmartAudio)
• SERIAL5 -> UART5 (ESC Telem)
• SERIAL6 -> UART6 (GPS, DMA-Enabled)

RC Input

RC input is configured by default via SERIAL1. It supports all serial RC protocols except PPM and SBUS. For SBUS use SERIAL2, set its protocol to RCIN ("23") and change SERIAL1_PROTOCOL to something other than RCIN ("23").

Note: If the receiver is FPort the receiver must be tied to the SERIAL1 TX pin , RSSI_TYPE set to 3, and SERIAL1_OPTIONS must be set to 7 (invert TX/RX, half duplex). For full duplex like CRSF/ELRS use both RX1 and TX1 and set RSSI_TYPE also to 3.

FrSky Telemetry

FrSky Telemetry is supported using an unused UART, such as the T4 pin (UART4 transmit). You need to set the following parameters to enable support for FrSky S.PORT:

• SERIAL4_PROTOCOL 10
• SERIAL4_OPTIONS 7

OSD Support

The TBS LUCID PRO supports OSD using OSD_TYPE 1 (MAX7456 driver) and simultaneously DisplayPort using TX3/RX3 on the HD VTX connector.

PWM Output

The TBS LUCID PRO supports up to 6 PWM or DShot outputs. The pads for motor output M1 to M4 are provided on both the motor connector and on separate pads, plus M5-6 on a separate pads for LED strip and camera control.

The PWM is in 3 groups:

• PWM 1-2 in group1
• PWM 3-4 in group2
• PWM 5-6 in group3 (No DShot). PWM5 marked as "CAMC", PWM6 as "LED"

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. Channels 1-4 support bi-directional dshot.

Battery Monitoring

The board has a built-in voltage sensor and external current sensor input. The current sensor can read up to 130 Amps. The voltage sensor can handle up to 6S LiPo batteries.

The correct battery setting parameters are:

• BATT_MONITOR 4
• BATT_VOLT_PIN 10
• BATT_CURR_PIN 11
• BATT_VOLT_MULT 20
• BATT_AMP_PERVLT 40

Compass

The TBS LUCID PRO does not have a builtin compass, but you can attach an external compass using I2C on the SDA and SCL pads.

Firmware

Firmware for this board can be found here <https://firmware.ardupilot.org>__ in sub-folders labeled “TBS_LUCID_PRO”

Loading Firmware

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