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mathieulohier bcc60d0945 hwdef: modalai_fc_v1 update documentation 2022-02-01 11:02:23 +11:00
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README.md hwdef: modalai_fc_v1 update documentation 2022-02-01 11:02:23 +11:00
fc-dk-preliminary-datasheet.png hwdef: modalai_fc_v1 update documentation 2022-02-01 11:02:23 +11:00
fc-overlay-top-144-dpi.jpg
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flight-core-dims.png hwdef: modalai_fc_v1 update documentation 2022-02-01 11:02:23 +11:00
flight-core.jpg hwdef: modalai_fc_v1 update documentation 2022-02-01 11:02:23 +11:00
flight_core_v1_imu_locations.png hwdef: modalai_fc_v1 update documentation 2022-02-01 11:02:23 +11:00
hwdef-bl.dat
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hwdef.dat HAL_ChibiOS: adjust modalai for INA2xx batt mon change 2021-11-05 14:30:43 +11:00

README.md

ModalAI Flight Core v1 Controller

The ModalAI FlightCore is a flight controller made in the USA. The Flight Core can be paired with ModalAI VOXL for obstacle avoidance and GPS-denied navigation, or used independently as a standalone flight controller.

Buy Here

See Flight Core Documentation Here

See Flight Core Datasheet Here

ModalAI_FC

Features

Feature Details
Weight 6 g
MCU 216MHz, 32-bit ARM M7 STM32F765II
Memory 256Kb FRAM
2Mbit Flash
512Kbit SRAM
IMUs ICM-20602 (SPI1)
ICM-42688-P (SPI2)
BMI088 (SPI6)
Barometer BMP388 (I2C4)
Secure Element A71CH (I2C4)
microSD Card Information on supported cards
Inputs GPS/Mag
Spektrum
Telemetry
CAN bus
PPM
Outputs 6 LEDs (2xRGB)
8 PWM Channels
Extra Interfaces 3 serial ports
I2C
GPIO

Pinout

ModalAI_v1 Board

For detailed pinout descriptions see FlightCore Pinout

Dimensions

ModalAI-fc-dims

ModalAI_fc-dims2

Block Diagram

ModalAI_FC

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.

  • SERIAL0 -> USB
  • SERIAL1 -> UART7 (Telem1)
  • SERIAL2 -> UART5 (Telem2)
  • SERIAL3 -> USART1 (GPS)
  • SERIAL4 -> UART4 (GPS2)
  • SERIAL5 -> USART2
  • SERIAL6 -> USART6 (spektrum RCIN)
  • SERIAL7 -> USART3
  • SERIAL8 -> USB2

RC Input

RC input is configured on both the PPM input pin and the "spektrum" USART6 UART. The PPM pin supports all one-way RC protocols. For protocols requiring half-duplex serial to transmit telemetry (such as FPort) you should use the spektrum port, mapped to SERIAL6. Both PPM and spektrum ports are enabled for RCIN by default.

PWM Output

The ModalAI_v1 supports up to 8 PWM outputs on the PWM output connector

The PWM is in 2 groups:

  • PWM 1, 2, 3, 4 in group1
  • PWM 5, 6, 7, 8 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.

Power Monitoring

In addition to the normal range of ArduPilot power monitoring options, the modalAI build supports two I2C power monitors, the INA231 and the LTC2946. The FlightCore board comes with the INA231 and you should set BATTERY_MONITOR to 21. For the LTC2946 based power brick you should set BATTERY_MONITOR to 22.

Compass

The ModalAI_v1 does not have a built-in compass, but you can attach an external compass