102 lines
3.4 KiB
Markdown
102 lines
3.4 KiB
Markdown
# AEROFOX-H7 Flight Controller
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The AEROFOX-H7 is a flight controller produced by AEROFOX(http://aerofox.cn)
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<img src="AEROFOX-H7_IMG.png" alt="" width="400">
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## Features
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Processor
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STM32H743
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Sensors
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ADIS16470 (appears in the advanced version)
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ICM45686 (appears in the advanced version)
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ICM42688
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QMC5883L
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SPL06-001
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Power
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2S-12S (MAX60V) Lipo input voltage
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5V BEC for system power supply( 5V peripheral current limit 1.2A)
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5V/12V BEC for VTX( Current limit 2.5A, need strong heat dissipation)
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Dual power automatic switching and condition monitoring
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Interfaces
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16x PWM output
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7x UARTs for RC, TELEM, GPS and other peripherals
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2x I2C ports for external compass, airspeed, baro
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2x CAN port
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4x Relay output
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4x ADC input
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FPC connector
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The connector includes an SPI, an I2C, an PWM IMU heating control pin.
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## Pinout
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<img src="AEROFOX-H7_pinout.png" alt="" width="800">
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## UART Mapping
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All UARTs, except UART1, are DMA enabled. UART corresponding to each SERIAL port, and its default protocol, are shown below:
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- SERIAL0 -> USB (MAVLink2)
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- SERIAL1 -> UART7 (ESC Telemetry)
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- SERIAL2 -> UART4 (User configured)
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- SERIAL3 -> UART5 (User configured)
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- SERIAL4 -> USART2 (User configured)
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- SERIAL5 -> USART1 (GPS)
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- SERIAL6 -> UART8 (RCIN)
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- SERIAL7 -> USART3 (MAVLink2)
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## RC Input
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SERIAL 6 is configured for RC input by default and is compatible with all ArduPilot supported protocols except PPM. For protocols requiring half-duplex serial to transmit telemetry (such as FPort) you should set SERAIL6_OPTIONS = 4 (Half-Duplex)
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## PWM Output
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The AEROFOXH7 support up to 16PWM outputs. All pins support DShot. Outputs 1-8 support bi-directional DShot.
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The 16 PWM outputs are in 9 groups:
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- PWM 1,2 in group1
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- PWM 3,4 in group2
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- PWM 5,6 in group3
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- PWM 7,8 in group4
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- PWM 9,10 in group5
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- PWM 11 in group6
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- PWM 12 in group7
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- PWM 13,14 in group8
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- PWM 15,16 in group9
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Channels within the same group need to use the same output rate. If any channel in a group uses DShot, then all channels in that group need to use DShot.
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## Battery Monitoring
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The board has a builting voltage and current sensor. The voltage sensor can handle up
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to 12S LiPo batteries.
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### The power A is onboard voltage sensor
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It is enabled by default and has the following parameters set by default:s
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- BATT_MONITOR 4
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- BATT_VOLT_PIN 19
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- BATT_CURR_PIN 9
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- BATT_VOLT_MULT 21
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- BATT_AMP_PERVL 40
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### The power B is external PMU input
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An additional power monitor input is provided and can be enabled by setting:
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- BATT_MONITOR 4, then reboot and set the following:
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- BATT_VOLT_PIN 10
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- BATT_CURR_PIN 11
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- BATT_VOLT_MULT 34
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- BATT_AMP_PERVLT should be set as required by the specific monitor used
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## Compass
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A 5883L compass is installed inside the H7 flight control. When high current devices such as ESC and BEC are installed under the flight control board, the on-board compass is usually disabled and an external compass used mounted to minimize motor current effects.
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## Loading Firmware
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The board comes pre-installed with an ArduPilot compatible bootloader, allowing the
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loading of *.apj firmware files with any ArduPilot compatible ground station. The
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hardware also supports the PX4 Betaflight INAV firmware, which needs to be changed with STlink.
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