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Onboard FMU on Airvolute DCS2.Pilot board

DroneCore 2.0 is a modular AI-driven open architecture autopilot designed for complex use cases that combines high computational processing power, redundant connectivity, small size, and low weight.The autopilot represents a one-stop-solution for developers integrating the functionality of carrier board, companion computer, and power distribution board into a single compact form factor. This system usually uses a "CUBE" autopilot as its primary FMU, but can use an onboard STM32H743 as the FMU. This board definition and firmware on the ArduPilot firmware server <https://firmware.ardupilot.org>__ is for this secondary FMU For more informations on DCS2.Pilot board see: https://docs.airvolute.com/dronecore-autopilot/dcs2

Where To Buy

info@airvolute.com

Features

MCU: STM32H743
IMU: BMI088
Barometer: BMP390
2 UARTS
2 CAN buses
4 PWM outputs
PPM (RC input)
external SPI and I2C
SD card connector
USB connection onboard with Jetson Host
Ethernet

DCS2.Pilot peripherals diagram

Top side

PPM connector (RC input)

JST GH 1.25mm pitch, 3-Pin

Matching connector JST GHR-03V-S.

RC input is configured on the PPM_SBUS_PROT pin as part of the PPM connector. Pin is connected to UART3_RX and also to analog input on TIM3_CH1. This pin supports all unidirectional RC protocols, but for it to be enabled, it is necessary to set SERIAL3_PROTOCOL as RCIN. Also RC input is shared with primary FMU, so it is default disabled on this secondary FMU.

5V supply is limited to 1A by internal current limiter.

Pin	Signal
1	GND
2	5V
3	PPM

Bottom side

FMU SEC. connector

JST GH 1.25mm pitch, 12-Pin

Matching connector JST GHR-12V-S.

The DCS2 Onboard FMU supports up to 4 PWM outputs. These are directly attached to the STM32H743 and support all PWM protocols as well as DShot and bi-directional DShot. The 4 PWM outputs are in 2 groups: PWM 1,2 in group1 PWM 3,4 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.

5V supply is limited to 1A by internal current limiter.

Pin	Signal
1	GND
2	GND
3	GPIO/PWM output 4
4	GPIO/PWM output 3
5	GPIO/PWM output 2
6	GPIO/PWM output 1
7	Serial 1 RX
8	Serial 1 TX
9	Serial 2 RX
10	Serial 2 TX
11	5V
12	5V

EXT. SENS. connector

BM23PF0.8-10DS-0.35V connector

Matching connector BM23PF0.8-10DP-0.35V

This connector allows connecting external IMU with I2C and SPI data buses.

5V supply is limited to 1.9A by internal current limiter.

Pin	Signal
1	SPI_MOSI
2	SPI_MISO
3	SPI_SCK
4	SPI_CS0
5	SPI_CS1
6	SPI_CS2
7	SPI_CS3
8	IMU_DRDY_EXT
9	I2C_SE_SDA
10	I2C_SE_SCL
MP1	5V
MP2	5V
MP3	GND
MP4	GND

ETH EXP. connector

505110-1692 connector

Ethernet connector is routed to FMU through onboard switch.

The onboard FMU is connected via the RMII bus with a speed of 100 Mbits.

SD card connector

MEM2085-00-115-00-A connector

Connector for standard microSD memory card. This card is primarily used to store flight data and logs.

Other connectors

CAN 1, CAN 2 connectors

The board contains two CAN buses - CAN1 and CAN 2. The buses support speeds up to 1 Mbits and in FD mode up to 8 Mbits.

These connectors are not part of DCS2.Pilot board, but they are routed on DCS2.Adapter_board. This board (DCS2.Adapter_board) is fully modular and can be modified according to the customer's requirements. For more informations see: https://docs.airvolute.com/dronecore-autopilot/dcs2/adapter-extension-boards/dcs2.-adapter-default-v1.0/connectors-and-pinouts

JST GH 1.25mm pitch, 4-Pin

Matching connector JST GHR-04V-S.