ardupilot/libraries/AP_HAL_ChibiOS/hwdef/SkySakuraH743

SkySakura H743 Flight Controller

The SkySakura H743 is a flight controller produced by [SkySakuraRC]

Features

• MCU: STM32H743VIT6, 480MHz
• Gyro1: ICM42688
• Gyro2: IIM42652
• SD Card support
• BEC output: 5V 5A & 12V 5A (MAX 60W total) (switchable 12V)
• Barometer1: DPS310
• Barometer2: ICP20100
• Magnometer: IST8310
• CAN bus support
• 7 UARTS: (USART1, USART2, USART3, UART4, USART6, UART7 with flow control, UART8)
• 2 I2C, I2C1 is used internally.
• 13 PWM outputs (12 motor outputs, 1 led)
• 4-12s wide voltage support

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	RX7/TX7	UART7 (MAVLink2, flow-control-capable)
SERIAL2	TX1/RX1	UART1 (MAVLink2, DMA-enabled)
SERIAL3	TX2/RX2	UART2 (USER)
SERIAL4	TX3/RX3	UART3 (GPS1, DMA-enabled)
SERIAL5	TX4/RX4	UART4 (RCIN, DMA-enabled)
SERIAL6	TX6/RX6	UART6 (DisplayPort, DMA-enabled)
SERIAL7	TX8/RX8	UART8 (ESC-Telemetry, RX8 on ESC connectors, TX8 can be used if protocol is change from ESC telem)
SERIAL8	COMPUTER	USB

Safety Button

SkySakura H743 supports safety button, with connection to sh1.0 6 pin connector, with buzzer and safety led on the same connector. Safety button is defaulted to be disabled but can be enabled by setting the following parameter:

• BRD_SAFETY_DEFLT 1

RC Input

RC input is configured on UART4 with an sh1.0 connector. It supports all RC protocols except PPM. The SBUS pin on the HD VTX connector is tied directly the UART4 RX. If ELRS is used on UART4, then the SBUS lead from a DJI VTX must not be connected to the SBUS to prevent ELRS lock up on boot.

OSD Support

SkySakura H743 supports HD OSD through UART6 by default.

VTX Power Control

The 12VSW output voltage on the HD VTX connector is controlled by GPIO 85, via RELAY1 by default. Low activates the voltage.

PWM Output

The SkySakura H743 has 13 PWM outputs. M1-M8 are linked to sh1.0 8 pin connectors. The first 8 outputs support bi-directional DShot and DShot. Output 9-13 only support non-DShot protocols and 13 is configured as NEOPIXEL LED by default.

The PWM are in in two groups:

• PWM 1-2 in group1
• PWM 3-4 in group2
• PWM 5-6 in group3
• PWM 7-8 in group4
• PWM 9-12 in group5
• PWM 13 in group6

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.

Battery Monitoring

The board has a builtin voltage sensor and external current monitor inputs. The voltage sensor can handle up to 12S LiPo batteries. The current sensor scale's default range is 120A, but will need to be adjusted according to which sensor is used. These inputs are present on the first ESC connector. A second battery monitor can be also used. Its voltage sensor is capable of reading up to 6.6V maximum and is available on the A3 solder pad. Its current monitor input is on the A4 solder pad.

The default battery setting parameters are:

• BATT_MONITOR 4
• BATT_VOLT_PIN 10
• BATT_VOLT_MULT 34
• BATT_CURR_PIN 11
• set BATT2_MONITOR 4
• BATT2_VOLT_PIN 12
• BATT2_CURR_PIN 13
• BATT2_VOLT_MULT 10
• set BATT2_AMP_PERVLT to appropriate value for second current sensor

Compass

The SkySakura H743 have a builtin IST8310 compass. Due to motor interference, users often disable this compass and use an external compass attached via the external SDA/SCL pins.

NeoPixel LED

PWM13 provides external NeoPixel LED support.

Firmware

Firmware can bee found on the firmware server < https://firmware.ardupilot.org__ in the "SkySakuraH743" folders

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.

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.