ardupilot/libraries/AP_HAL_ChibiOS/hwdef/QioTekAdeptF407

QioTek AdeptF407 Flight Controller

The Qiotek AdeptF407 an autopilot produced by QioTek.

It is an autopilot used CKS MCU.

Features

• MCU: CKS32F407VGT6
• Accelerometer/Gyro: ICM4 series/ICM2 series or ICM4 series/ICM4 series
• BEC output: 5V 3A for autopilot and peripheral hardware
• BEC output: 9V/12V 3A for camera and analog video transmission
• Barometer: DPS310
• OSD: AT7456E
• builtin IST8310 magnetometer(internal I2C)
• builtin RAMTRON(SPI)
• 12 dedicated PWM/Capture inputs on FMU
• 5 UARTS: (USART1, USART2, USART3, UART4, USART7)
• 2 I2C ports
• 1 CAN port
• 2 Analog inputs of voltage / current for battery monitoring
• 2 analog video input channels
• 1 analog video output source switcher switching by relay5
• 4 relays output control
• 1 Status LED
• 1 nARMED

Pinout

Connectors

External USB

Pin	Signal	Volt
1	VCC	+5V
2	D+	D_P
3	D-	D_N
4	GND	GND

Telme1

Pin	Signal	Volt
1	VCC	+5V
2	TX	+3.3V
3	RX	+3.3V
4	GND	GND

Telme2

Pin	Signal	Volt
1	VCC	+5V
2	TX	+3.3V
3	RX	+3.3V
4	NC	- -
5	NC	- -
6	GND	GND

GPS1

Pin	Signal	Volt
1	VCC	+5V
2	TX	+3.3V
3	RX	+3.3V
4	scl2	+3.3V
5	sda2	+3.3V
6	GND	GND

GPS1

Pin	Signal	Volt
1	VCC	+5V
2	TX	+3.3V
3	RX	+3.3V
4	scl2	+3.3V
5	sda2	+3.3V
6	GND	GND

UART4 and UART5

Pin	Signal	Volt
1	VCC	+5V
2	TX	+3.3V
3	RX	+3.3V
4	GND	GND

CAN1

Pin	Signal	Volt
1	VCC	+5V
2	CAN1_H	CAN_P
3	CAN1_L	CAN_N
4	GND	GND

IIC1

Pin	Signal	Volt
1	VCC	+5V
2	SDA1	+3.3V
3	SCL1	+3.3V
4	GND	GND

Safety and buzzer

Pin	Signal	Volt
1	VCC/3.3	+3.3V
2	VCC5	+5V
3	Safety	+3.3V
4	LED	+3.3V
5	Buzzer	+3.3V
6	GND	GND

VT Port

Pin	Signal	Volt
1	AV_OUT	+5V
2	S.AU ctrl.	+3.3V
3	9V/12V	9V/12V
4	GND	GND

PWM11 and PWM12

Pin	Signal	Volt
1	PWM11	+3.3V
2	GND	GND
3	PWM12	+3.3V
4	GND	GND

POWER1 and Power2

Pin	Signal	Volt
1	VCC_IN	+5V
2	VCC_IN	+5V
3	BAT_CRRENT_ADC	+6.6V
4	BAT_VOLTAGE_ADC	+6.3V
5	GND	GND
6	GND	GND

Battery Input

Pin	Signal	Volt
1	Battery_VCC	MAX 30V
2	Battery_GND	GND

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.

Name	Pin	Function
SERIAL0	OTG1	USB
SERIAL1	TX6/RX6	UART1 (Telem1)
SERIAL2	TX3/RX3	UART2 (Telem2 buadrate 921600)
SERIAL3	TX1/RX1	UART3 (GNSS)
SERIAL4	TX4/RX4	UART4 (Reserve for GNSS2)
SERIAL5	TX2/RX2	UART5 (Debug)

RC Input

RC input is configured on the RCIN pin by PA15 TIM2_CH1 TIM2 , at one end of the servo rail, marked RC in the above diagram. This pin supports PPM and S.Bus. protocols.

OSD Support

QioTek AdpetF407 supports OSD using OSD_TYPE 1 (MAX7456 driver).

PWM Output

The QioTek AdpetF407 AIO supports up to 12 PWM outputs. All 14 PWM outputs have GND on the top row, 5V on the middle row and signal on the bottom row.

The 12 PWM outputs are in 3 groups:

PWM 1 and 4 in group1 PWM 4 and 8 in group2 PWM 9 and 12 in group3

Channels within the same group need to use the same output rate. If any channel in a group uses DShot or then all channels in the group need to use DShot.

CAN Port

The CAN port is disabled by default. Enable the CAN port setting the parameters CAN_P1_Driver to 1 (DroneCAN protocol).

Battery Monitoring

The board has two dedicated power monitor ports on 6 pin connectors. The correct battery setting parameters are dependent on the type of power brick which is connected.

The correct battery setting parameters are:

BATT_VOLT_PIN 2 BATT_CURR_PIN 3 BATT_VOLT_MULT 20.000 BATT_AMP_PERVLT 60.000 BATT2_VOLT_PIN 14 BATT2_CURR_PIN 15 BATT2_VOLT_MULT 20.000 BATT2_AMP_PERVLT 60.000

In addition, the builtin voltage divider circuit can be used by Solder pad to switching to share the battery voltage monitoring by power2 support to 6S.

If you want to use the built-in voltage monitor on power 1, you can manually invert the BATT_ VOLT_ PIN to 14, BATT_ CURR_ PIN to 15, BATT2_ VOLT_ PIN to 2, BATT2_ CURR_ PIN to 3.

Built-in BEC The built-in BEC 5V output has a starting voltage of 2S, and 9V/12V has a starting voltage of 3S/4S respectively.

Compass

The QioTek AdpetF407 has a builtin QMC5883 compass. Due to potential interference the board is usually used with an external I2C compass as part of a GPS/Compass combination.

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.

The AdeptF407 auto pilot pre-installed with an ArduPilot compatible bootloader. Updates should be done with the *.apj firmware files.