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README.md
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
