ardupilot/libraries/AP_HAL_ChibiOS/hwdef/YJUAV_A6SE

A6SE Flight Controller

The A6SE flight controller is manufactured and sold by YJUAV.

Features

• STM32H750 microcontroller
• Onboard Flash: 128Mbits/16Mbytes
• Two IMUs: ICM42688, ICM42688
• Internal ITS8310 I2C magnetometer
• Internal DPS310 SPI barometer
• Internal RGB LED
• microSD card slot port
• 1 analog power ports
• 5 UARTs and 1 USB ports
• 3 I2C and 2 CAN ports
• 11 PWM output ports
• Safety switch port
• External SPI port
• Buzzer port
• RC IN port

Pinout

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&TELEM2

Pin	Signal	Volt
1	VCC	+5V
2	UART_TX	+3.3V
3	UART_RX	+3.3V
4	CTS	+3.3V
5	RTS	+3.3V
6	GND	GND

ADC

Pin	Signal	Volt
1	VCC	+5V
2	ADC_3V3	+3.3V
3	ADC_6V6	+6.6V
4	GND	GND

SPI

Pin	Signal	Volt
1	VCC	+5V
2	SPI_SCK	+3.3V
3	SPI_MISO	+3.3V
4	SPI_MOSI	+3.3V
5	SPI_CS	+3.3V
6	GND	GND

I2C

Pin	Signal	Volt
1	VCC	+5V
2	I2C_SCL	+3.3V
3	I2C_SDA	+3.3V
4	GND	GND

CAN1&CAN2

Pin	Signal	Volt
1	VCC	+5V
2	CAN_P	+3.3V
3	CAN_N	+3.3V
4	GND	GND

GPS1

Pin	Signal	Volt
1	VCC	+5V
2	UART_TX	+3.3V
3	UART_RX	+3.3V
4	I2C_SCL	+3.3V
5	I2C_SDA	+3.3V
6	GND	GND

GPS2&SAFETY

Pin	Signal	Volt
1	VCC	+5V
2	UART_TX	+3.3V
3	UART_RX	+3.3V
4	I2C_SCL	+3.3V
5	I2C_SDA	+3.3V
6	SAFETY_SW	+3.3V
7	SAFETY_SW_LED	+3.3V
8	3V3_OUT	+3.3V
9	BUZZER	+3.3V
10	GND	GND

DEBUG

Pin	Signal	Volt
1	VCC	+5V
2	TX	+3.3V
3	RX	+3.3V
4	SWDIO	+3.3V
5	SWCLK	+3.3V
6	GND	GND

SAFETY

Pin	Signal	Volt
1	3V3_OUT	+3.3V
2	SAFETY_SW	+3.3V
3	SAFETY_SW_LED	+3.3V
4	SBUS_OUT	+3.3V
5	RSSI	+3.3V
6	GND	GND

USB EX

Pin	Signal	Volt
1	VCC_IN	+5V
2	DM	+3.3V
3	DP	+3.3V
4	GND	GND

UART Mapping

• SERIAL0 -> USB (OTG1)
• SERIAL1 -> USART1 (Telem1)
• SERIAL2 -> USART6 (Telem2)
• SERIAL3 -> USART3 (GPS1), NODMA
• SERIAL4 -> USART2 (GPS2), NODMA
• SERIAL5 -> UART8 (SBUS)
• SERIAL6 -> UART7 (Debug), NODMA
• SERIAL7 -> USB2 (OTG2)

RC Input

The remote control signal should be connected to the “RC IN” pin, at one side of the servo channels.

This signal pin supports two types of remote control signal inputs, SBUS and PPM signals.

PWM Output

The A6SE supports up to 11 PWM outputs,support all PWM protocols as well as DShot. All 11 PWM outputs have GND on the bottom row, 5V on the middle row and signal on the top row.

The 11 PWM outputs are in 4 groups:

• PWM 1, 2, 3 and 4 in group1
• PWM 5, 6, 7 and 8 in group2
• PWM 9, 10, 11 in group3

Channels 1-8 support bi-directional Dshot. Channels within the same group need to use the same output rate. If any channel in a group uses DShot, then all channels in that group need to use DShot.

GPIOs

All 11 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	PWM11	60
PWM5	54
PWM6	55
PWM7	56

Analog inputs

The A6SE flight controller has 5 analog inputs

• ADC Pin4 -> Battery Current
• ADC Pin12 -> Battery Voltage
• ADC Pin8 -> ADC 3V3 Sense
• ADC Pin10 -> ADC 6V6 Sense
• ADC Pin11 -> RSSI voltage monitoring

Build the FC

./waf configure --board=YJUAV_A6SE ./waf copter

The compiled firmware is located in folder "build/YJUAV_A6SE/bin/arducopter.apj".

Loading Firmware

The A6SE flight controller comes pre-installed with an ArduPilot compatible bootloader, allowing the loading of *.apj firmware files with any ArduPilot compatible ground station.