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ardupilot/libraries/AP_HAL_ChibiOS/hwdef/MFT-SEMA100/README.md

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MFT-SEMA100 Flight Controller

The MFT-SEMA100 is a flight controller designed and produced by MFT Savunma ve Havacılık LTD. ŞTİ.

Features

  • STM32H743 microcontroller
  • BMI088 IMU
  • BMP390 barometer
  • LIB3MDL magnetometer
  • MicroSD Card Slot
  • 5 UARTs
  • 12 PWM outputs
  • 2 CANs
  • 2 I2Cs

Physical

MFT-SEMA100_Top_View

MFT-SEMA100_Bottom_View

UART Mapping

  • SERIAL0 -> USB
  • SERIAL1 -> UART1 (MAVLink2, DMA-enabled)
  • SERIAL2 -> UART2 (MAVLink2, DMA-enabled)
  • SERIAL3 -> UART3 (GPS, DMA-enabled)
  • SERIAL4 -> UART5 (GPS2, DMA-enabled)
  • SERIAL5 -> UART7 (DMA-enabled)
  • SERIAL6 -> UART8 (RX only)

Connectors

All pins are 2.54 mm Pin Headers

Power Connector

XT30-PW 5V Input for powering the board

RC Input

The default RC input is configured on the UART8 RCIN pin.

PWM Output

The MFT-SEMA100 supports up to 12 PWM outputs.

PWM outputs are grouped and every group must use the same output protocol:

1, 2 are Group 1;

3, 4 are Group 2;

5, 6, 7, 8 are Group 3;

9, 10 are Group 4;

11, 12 are Group 5;

Channels within the same group need to use the same output rate.

GPIOs

The numbering of the GPIOs for PIN variables in ArduPilot is:

PWM1 50 PWM2 51 PWM3 52 PWM4 53 PWM5 54 PWM6 55 PWM7 56 PWM8 57

PWM9 58 PWM10 59 PWM11 60 PWM12 61

Battery Monitoring

The board has a internal voltage sensor and connections on the ESC connector for an external current sensor input. The voltage sensor can handle up to 6S LiPo batteries.

The default battery parameters are:

  • BATT_MONITOR 4
  • BATT_VOLT_PIN 19
  • BATT_CURR_PIN 8
  • BATT_VOLT_MULT 10
  • BATT_CURR_SCALE 10

Compass

The MFT-SEMA100 has a built-in compass sensor (LIB3MDL), and you can also attach an external compass using I2C on the SDA and SCL connector.

IMU Heater

The IMU heater in the MFT-SEMA100 can be controlled with the BRD_HEAT_TARG parameter, which is in degrees C.

Mechanical

  • Mounting: 55 x 56 mm, Φ4 mm
  • Dimensions: 64 x 65 x 10 mm
  • Weight: 15g

Loading Firmware

The board comes pre-installed with an ArduPilot compatible bootloader, allowing the loading of *.apj firmware files with any ArduPilot compatible ground station.