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ardupilot/libraries/AP_HAL_ChibiOS/hwdef/ACNS-F405AIO/README.md

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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