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README.md
T-Motor H7 Mini Flight Controller
The T-Motor H7 Mini is a flight controller produced by T-Motor.
Features
- MCU - STM32H743 32-bit processor running at 480 MHz
- IMU - ICM42688/BMI270
- Barometer - DPS310
- OSD - AT7456E
- Onboard Flash: 128Mbits
- 6x UARTs (1,5,6,7,9)
- 9x PWM Outputs (8 Motor Output, 1 LED)
- Battery input voltage: 2S-6S
- BEC 5V/2A, 10V/1.5A
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 (ESC Telemetry)
- SERIAL3 -> UART3
- SERIAL5 -> UART5 (GPS, DMA-enabled)
- SERIAL6 -> UART6 (RX, DMA-enabled)
- SERIAL7 -> UART7 (DJI VTX, DMA-enabled)
- SERIAL8 -> UART8 (SBUS, DMA-enabled)
RC Input
RC input is configured on the R6/TX6 (UART6_RX/UART6_TX) pins. It supports all serial RC protocols. For protocols requiring half-duplex serial to transmit telemetry (such as FPort) you should setup SERIAL6 with half-duplex, pin-swap and inversion enabled.
OSD Support
The T-Motor H7 Mini supports OSD using OSD_TYPE 1 (MAX7456 driver).
PWM Output
The T-Motor H7 Mini supports up to 5 PWM outputs. The pads for motor output M1 to M4 on the motor connectors and separate pads, plus M5 for LED strip or another PWM output.
The PWM is in 2 groups:
- PWM 1-4 in group1
- PWM 5 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. Channels 1-4 support bi-directional dshot.
Battery Monitoring
The board has a builting voltage and current sensor. 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 11
- BATT_CURR_PIN 13
- BATT_VOLT_MULT 11.0
- BATT_AMP_PERVLT 50.0
Compass
The T-Motor H7 Mini does not have a builtin compass, but you can attach an external compass using I2C on the SDA and SCL pads.
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.