112 lines
2.2 KiB
Markdown
112 lines
2.2 KiB
Markdown
# MFT-SEMA100 Flight Controller
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The MFT-SEMA100 is a flight controller designed and produced by MFT Savunma ve Havacılık LTD. ŞTİ.
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## Features
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- STM32H743 microcontroller
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- BMI088 IMU
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- BMP390 barometer
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- LIB3MDL magnetometer
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- MicroSD Card Slot
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- 5 UARTs
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- 12 PWM outputs
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- 2 CANs
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- 2 I2Cs
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## Physical
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## UART Mapping
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- SERIAL0 -> USB
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- SERIAL1 -> UART1 (MAVLink2, DMA-enabled)
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- SERIAL2 -> UART2 (MAVLink2, DMA-enabled)
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- SERIAL3 -> UART3 (GPS, DMA-enabled)
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- SERIAL4 -> UART5 (GPS2, DMA-enabled)
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- SERIAL5 -> UART7 (DMA-enabled)
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- SERIAL6 -> UART8 (RX only)
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## Connectors
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All pins are 2.54 mm Pin Headers
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## Power Connector
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XT30-PW 5V Input for powering the board
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## RC Input
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The default RC input is configured on the UART8 RCIN pin.
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## PWM Output
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The MFT-SEMA100 supports up to 12 PWM outputs.
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PWM outputs are grouped and every group must use the same output protocol:
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1, 2 are Group 1;
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3, 4 are Group 2;
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5, 6, 7, 8 are Group 3;
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9, 10 are Group 4;
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11, 12 are Group 5;
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Channels within the same group need to use the same output rate.
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## GPIOs
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The numbering of the GPIOs for PIN variables in ArduPilot is:
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PWM1 50
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PWM2 51
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PWM3 52
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PWM4 53
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PWM5 54
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PWM6 55
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PWM7 56
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PWM8 57
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PWM9 58
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PWM10 59
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PWM11 60
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PWM12 61
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## Battery Monitoring
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The board has a internal voltage sensor and connections on the ESC connector for an external current sensor input.
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The voltage sensor can handle up to 6S LiPo batteries.
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The default battery parameters are:
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- BATT_MONITOR 4
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- BATT_VOLT_PIN 19
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- BATT_CURR_PIN 8
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- BATT_VOLT_MULT 10
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- BATT_CURR_SCALE 10
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## Compass
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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.
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## IMU Heater
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The IMU heater in the MFT-SEMA100 can be controlled with the BRD_HEAT_TARG parameter, which is in degrees C.
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## Mechanical
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- Mounting: 55 x 56 mm, Φ4 mm
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- Dimensions: 64 x 65 x 10 mm
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- Weight: 15g
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## Loading Firmware
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The board comes pre-installed with an ArduPilot compatible bootloader, allowing the loading of *.apj firmware files with any ArduPilot compatible ground station.
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