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GOKU F405 HD 1-2S AIO v2 w/ built-in ELRS 2.4g RX

https://flywoo.net/products/goku-f405-hd-1-2s-elrs-aio-v2

The Flywoo GOKU F405 HD AIO v2 is a flight controller produced by Flywoo.

Features

MCU: STM32F405 32-bit processor. 1024Kbytes Flash
IMU: MPU6000 (SPI) or ICM42688 (SPI)
Barometer: DPS310/SPL06
Onboard LED：WS2812*2
USB VCP Driver (all UARTs usable simultaneously; USB does not take up a UART)
6 hardware UARTS (UART1,2,3,4,5,6)
Built-in ELRS 2.4 GHz serial receiver (on some models)
Also supports external serial receivers (SBUS, iBus, Spektrum, Crossfire)
Onbord 8 Mbytes for Blackbox logging
5V Power Out: 2.0A max
9V Power Out: 2.0A max (on/off software controllable via PINIO)
Dimensions: 30x30mm
Mounting Holes: Standard 25.5/25.5mm square to center of holes
Weight: 4.9g
Built-in 12A BLHeli_S 4in1 ESC
Supports BLheli_S / BlueJay / J-ESC
Supports Oneshot125, Oneshot42, Multishot, Dshot150, Dshot300, Dshot600
Input Voltage: 1-2S Lipo
Continuous Current: 12A
Firmware: Z_H_30_REV16.7

Pinout

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	COMPUTER	USB
SERIAL1	RX1/TX1	USART1 (ELRS, DMA-enabled)
SERIAL2	TX2/RX2	USART2 (Telem, DMA on RX)
SERIAL3	TX3/RX3	USART3 (USER, DMA-enabled)
SERIAL4	TX4/RX4	UART4 (GPS)
SERIAL5	TX5/RX5	UART5
SERIAL6	TX6/RX6	UART6 (DisplayPort)

USART1 and USART3 supports RX and TX DMA. UART4 supports TX DMA. USART2 supports RX DMA. UART5 and UART6 do not support DMA.

RC Input

RC input is configured as ELRS by default using UART1. Alternatively, UART3 could be used for RC inputs other than ELRS but its protocol would need to be changed to 23 and UART1 disabled by setting its protocol as -1. This board does not support PPM.

OSD Support

The GOKU F405 HD AIO v2 supports OSD using OSD_TYPE 5 (MSP DisplayPort).

PWM Output

The GOKU F405 AIO supports up to 5 PWM outputs. The pads for motor output ESC1 to ESC4 on the above diagram are the first 4 outputs. All 5 outputs support DShot.

The PWM are in 3 groups:

PWM 1-2: Group 1 PWM 3-4: Group 2 LED: Group 3

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. PWM 1-4 support bidirectional dshot. .. note:: for users migrating from BetaflightX quads, the first four outputs M1-M4 have been configured for use with existing motor wiring using these default parameters:

:ref:FRAME_CLASS<FRAME_CLASS> = 1 (Quad)
:ref:FRAME_TYPE<FRAME_TYPE> = 12 (BetaFlightX)

Battery Monitoring

The board has a builtin voltage sensor. The voltage sensor can handle 2S to 6S LiPo batteries.

The correct battery setting parameters are:

BATT_MONITOR 4
BATT_VOLT_PIN 13
BATT_VOLT_MULT around 11
BATT_CURR_PIN 12
BATT_AMP_PERVLT around 60.2

These are set by default in the firmware and shouldn't need to be adjusted

Compass

The GOKU F405 HD AIO v2 does not have a builtin compass but it does have an external I2C connector.

NeoPixel LED

The board includes a NeoPixel LED pad.

9V/VTX Electronic Switch

9V/VTX state can be controlled using ArduPilot Relay, GPIO pin 81.

Loading Firmware (you will need to compile your own 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.

Once the initial firmware is loaded you can update the firmware using any ArduPilot ground station software. Updates should be done with the *.apj firmware files.

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