ardupilot/libraries/AP_HAL_ChibiOS/hwdef/AnyleafH7

AnyLeaf Mercury H7 Flight Controller

The Mercury H7 is a flight controller produced by AnyLeaf.

Features

Processor
    STM32H743 32-bit processor
Sensors
    ICM42688 Acc/Gyro with dedicated 32.768kHz crystal
    DPS310 barometer
Power
    2S - 6S Lipo input voltage with voltage monitoring
    9V, 3A supply for powering video transmitters
    5V, 2A supply for powering servos and electronics
    3.3V, 500mA supply for powering electronics
Interfaces
    8x Bidirectional-DSHOT, or PWM-capable motor outputs
    1x CAN-FD port for external peripherals
    1x DJI-format Vtx connector
    4x UARTs/serial for external peripherals, 3 of which are available by default
    1x I2C bus for external peripherals
    USB-C port
    All UARTs support hardware inversion
    Onboard ExpressLRS radio tranceiver for control and/or telemetry data.
Dimensions
    Size: 37.5 x 37.5mm
    Weight: 8g

Pinout

Pins and connector values are labeled on the flight controller PCB, with the following exceptions:

• The onboard ELRS tranceiver is connected to pins PA2 (FC Tx) and PA3 (FC Rx), on UART2.
• ESC telemetry is connected to UART3 Rx (PD9)
• OSD HDL (DJI hand controller interop) is connected to UART1 Rx (PB7)

UART Mapping

All UARTs are DMA capable

• SERIAL0 -> USB
• SERIAL1 -> UART1 (External pads, and RX1 on DJI connector SBUS pin; defaulted to MAVLINK2)
• SERIAL2 -> UART2 (DJI Connector telemetry; defaulted to DisplayPort)
• SERIAL3 -> UART3 (ESC connector telemetry pin, or external pad; defaulted to ESC telemetry)
• SERIAL4 -> USART4 (External pads; GPS protocol by default)
• SERIAL5 -> UART7 (Onboard ELRS receiver only, RCIN protocol)
• SERIAL6 -> UART8 (USER, External pads)

Can FD port

This flight controller includes a 4-pin DroneCAN standard CAN port. It's capable of 64-byte frames, and up to 5Mbps data rates. It's useful for connecting GPS devices, compasses, power monitoring, sensors, motors, servos, and other CAN peripherals.

RC Input

This flight controller includes a 2.4Ghz ExpressLRS transceiver, capable of receiving control input, and transmitting or receiving MavLink telemetry. To enable all ELRS features, either RC5 channel should be setup as an ARM switch (there are several RC5_OPTIONS that can do this) or by mapping the transmitter's Channel 5 to reflect ARM status from telemetry. See: https://youtu.be/YO2yA1fmZBs for an axample.

SBUS on the DJI connector may be used if SERIAL5_PROTOCOL is changed to 0 and SERIAL1_PROTOCOL is changed to 23 for RC input.

OSD Support

This flight controller has an MSP-DisplayPort output on a 6-pin DJI-compatible JST SH port re-configured.

Motor Output

Motor 1-8 is capable of bidirectional DSHOT and PWM.

All outputs in the motor groups below must be either PWM or DShot: Motors 1-4 Group1 Motors 5-6 Group2 Motors 7-8 Group3

Magnetometer

This flight controller does not have a built-in magnetometer, but you can attach an external one using the CAN connector, or the I2C pads on the bottom.

Loading Firmware

Firmware for these boards can be found at https://firmware.ardupilot.org in sub-folders labeled “Anyleaf H7”.

Initial firmware load can be done with DFU by plugging in USB with the boot button pressed. Then you should load the "AnyleafH7_bl.hex" firmware, using your favourite DFU loading tool.

Subsequently, you can update firmware using Mission Planner or QGroundControl.