STM32H743VIH6, ICM42688-P, DPS310, OSD, 7x UARTs, 1x CAN, 2x I2C, 12x PWM outputs, 3x BEC
INAV | |||||
PWM | S1 | PB0 | 5 V tolerant I/O | TIM3_CH3 | Fixed Wing Motor |
S2 | PB1 | 3.3 V tolerant I/O | TIM3_CH4 | ||
S3 | PA0 | 5 V tolerant I/O | TIM5_CH1 | Fixed Wing Servo |
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S4 | PA1 | 5 V tolerant I/O | TIM5_CH2 | ||
S5 | PA2 | 5 V tolerant I/O | TIM5_CH3 | ||
S6 | PA3 | 5 V tolerant I/O | TIM5_CH4 | ||
S7 | PD12 | 5 V tolerant I/O | TIM4_CH1 | ||
S8 | PD13 | 5 V tolerant I/O | TIM4_CH2 | ||
S9 | PD14 | 5 V tolerant I/O | TIM4_CH3 | ||
S10 | PD15 | 5 V tolerant I/O | TIM4_CH4 | ||
S11 | PE5 | 5 V tolerant I/O | TIM15_CH1 | ||
S12 | PE6 | 5 V tolerant I/O | TIM15_CH2 | ||
LED | PA8 | 5 V tolerant I/O | TIM1_CH1 | 2812LED | |
ADC | Vbat pad 1K:20K divider builtin |
PC0 | 0~36V | Vbat ADC ADC_CHANNEL_1 |
scale 2100 |
Curr Pad | PC1 | 0~3.3V | Current ADC ADC_CHANNEL_2 |
scale 150 | |
RSSI Pad | PC5 | 0~3.3V | RSSI ADC ADC_CHANNEL_3 |
Analog RSSI | |
AirS Pad 20K:20K divider builtin |
PC4 | 0~6.6V | AirS ADC ADC_CHANNEL_4 |
Analog Airspeed | |
VB2 Pad 1K:20K divider builtin |
PA4 | 0~69V | ADC_CHANNEL_5 | scale 2100 | |
CU2 Pad | PA7 | 0~3.3V | ADC_CHANNEL_6 | spare | |
I2C | I2C1 CL1/DA1 |
PB6/PB7 | 5 V tolerant I/O | Compass | QMC5883 / HMC5883 IST8310 / IST8308 MAG3110 / LIS3MDL |
OLED | 0.96″ | ||||
I2C2 CL2/DA2 on JST-GH-4P |
PB10/PB11 | 5 V tolerant I/O | onboard Barometer | DPS310, Add: 0x76 | |
Digital Airspeed sensor | MS4525 | ||||
Temperature sensor | |||||
UART | USB | PA11/PA12 | 5 V tolerant I/O | USB | |
TX1 RX1 | PA9/PA10 | 5 V tolerant I/O | USART1 | telem2 | |
TX2 RX2 | PD5/PD6 | 5 V tolerant I/O | USART2 | GPS1 | |
TX3 RX3 | PD8/PD9 | 5 V tolerant I/O | USART3 | GPS2 | |
TX4 RX4 | PB9/PB8 | 5 V tolerant I/O | UART4 | USER | |
TX6 RX6 | PC6/PC7 | 5 V tolerant I/O | TX6 & RX6 | CRSF | |
UART6_RX | SBUS/IBUS/DSM/PPM | ||||
UART6_TX | FPORT/SRXL2 | ||||
RX7 TX7 | PE7/PE8 | 3.3 V tolerant I/O | UART7 | telem1 | |
TX8 RX8 | PE1/PE0 | 5 V tolerant I/O | UART8 | USER |
ArduPilot | ||||||
PWM | S1 | PB0 | 5 V tolerant I/O | PWM1 GPIO50 | TIM8_CH2N | Group1 |
S2 | PB1 | 3.3 V tolerant I/O | PWM2 GPIO51 | TIM8_CH3N | ||
S3 | PA0 | 5 V tolerant I/O | PWM3 GPIO52 | TIM5_CH1 | Group2 | |
S4 | PA1 | 5 V tolerant I/O | PWM4 GPIO53 | TIM5_CH2 | ||
S5 | PA2 | 5 V tolerant I/O | PWM5 GPIO54 | TIM5_CH3 | ||
S6 | PA3 | 5 V tolerant I/O | PWM6 GPIO55 | TIM5_CH4 | ||
S7 | PD12 | 5 V tolerant I/O | PWM7 GPIO56 | TIM4_CH1 | Gourp3 | |
S8 | PD13 | 5 V tolerant I/O | PWM8 GPIO57 | TIM4_CH2 | ||
S9 | PD14 | 5 V tolerant I/O | PWM9 GPIO58 | TIM4_CH3 | ||
S10 | PD15 | 5 V tolerant I/O | PWM10 GPIO59 | TIM4_CH4 | ||
S11 | PE5 | 5 V tolerant I/O | PWM11 GPIO60 | TIM15_CH1 | Group4 | |
S12 | PE6 | 5 V tolerant I/O | PWM12 GPIO61 | TIM15_CH2 | ||
LED | PA8 | 5 V tolerant I/O | PWM13 GPIO62 | TIM1_CH1 | Group5 | |
SERVO13_FUNCTION 120, NTF_LED_TYPES neopixel | ||||||
PWM1~PWM13 are Dshot and PWM capable. However, mixing Dshot and normal PWM operation for outputs is restricted into groups, ie. enabling Dshot for an output in a group requires that ALL outputs in that group be configured and used as Dshot, rather than PWM outputs. If servo and motor are mixed in same group, make sure this group run lowest PWM frequency according to the servo specification. ie. Servo supports Max. 50Hz, ESC must run at 50Hz in this group. |
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ADC | Vbat pad 1K:20K divider builtin |
PC0 | 0~36V | Vbat ADC onboard battery voltage sense |
BATT_VOLT_PIN BATT_VOLT_MULT |
10 21.0 |
Curr pad | PC1 | 0~3.3V | Current ADC onboard current sense |
BATT_CURR_PIN BATT_AMP_PERVLT |
11 66.7 |
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VB2 Pad 1K:20K divider builtin |
PA4 | 0~69V | Vbat2 ADC | BATT2_VOLT_PIN BATT2_VOLT_MULT |
18 21.0 |
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CU2 Pad | PA7 | 0~3.3V | Current2 ADC | BATT2_CURR_PIN BATT2_AMP_PERVLT |
7 / |
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RSSI Pad | PC5 | 0~3.3V | RSSI ADC Analog RSSI |
RSSI_ANA_PIN RSSI_TYPE |
8 1 |
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AirS Pad 20K:20K divider builtin |
PC4 | 0~6.6V | AirS ADC Analog Airspeed |
ARSPD_PIN ARSPD_TYPE |
4 2 |
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I2C | I2C1 CL1/DA1 |
PB6/PB7 | 5 V tolerant I/O | Compass | COMPASS_AUTODEC | 1 |
I2C2 CL2/DA2 on JST-GH-4P |
PB10/PB11 | 5 V tolerant I/O | on board Baro DPS310 | Address | 0x76 | |
Digital Airspeed I2C MS4525 DLVR-L10D |
ARSPD_BUS ARSPD_TYPE ARSPD_TYPE |
0 1 9 |
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CAN | CAN1 | PD0/PD1 | 5 V tolerant I/O | CAN Node | CAN_D1_PROTOCOL CAN_P1_DRIVER |
1 1 |
CAN GPS CAN Compass CAN Airspeed sensor |
GPS_TYPE COMPASS_TYPEMASK ARSPD_TYPE |
9 0 8 |
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UART | USB | PA11/PA12 | 5 V tolerant I/O | USB | console | SERIAL0 |
RX7 TX7 RTS7 CTS7 | PE7/8/9/10 | 3.3 V tolerant I/O | UART7 | telem1 | SERIAL1 | |
TX1 RX1 | PA9/PA10 | 5 V tolerant I/O | USART1 | telem2 | SERIAL2 | |
TX2 RX2 | PD5/PD6 | 5 V tolerant I/O | USART2 | GPS1 | SERIAL3 | |
TX3 RX3 | PD8/PD9 | 5 V tolerant I/O | USART3 | GPS2 | SERIAL4 | |
TX8 RX8 | PE1/PE0 | 5 V tolerant I/O | UART8 | USER | SERIAL5 | |
TX4 RX4 | PB9/PB8 | 5 V tolerant I/O | UART4 | USER | SERIAL6 | |
TX6 RX6 | PC6/PC7 | 5 V tolerant I/O | USART6 | RC input/Receiver | SERIAL7 | |
RX6 | SBUS/IBUS/DSM/PPM | |||||
TX6 | FPORT/SRXL2 |
The Rx6 pin, which by default is mapped to a timer input, can be used for all ArduPilot supported receiver protocols, except CRSF which requires a true UART connection. However, bi-directional protocols which include telemetry, such as SRXL2 and FPort, when connected in this manner, will only provide RC without telemetry.
To allow CRSF and embedded telemetry available in Fport, CRSF, and SRXL2 receivers, the Rx6 pin can also be configured to be used as true UART RX pin for use with bi-directional systems by setting the BRD_ALT_CONFIG to “1” so it becomes the SERIAL7 port’s RX input pin.
With this option, SERIAL7_PROTOCOL must be set to “23”, and:
Any UART can be used for RC system connections in ArduPilot also, and is compatible with all protocols except PPM. See Radio Control Systems for details.
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# GPIOs
# RCx_OPTION: RC input option
e.g.
The configured feature will be triggered when the auxiliary switch’s pwm value becomes higher than 1800. It will be deactivated when the value falls below 1200.
Check the pwm value sent from the transmitter when the switch is high and low using the Mission Planner’s Initial Setup >> Mandatory Hardware >> Radio Calibration screen. If it does not climb higher than 1800 or lower than 1200, it is best to adjust the servo end points in the transmitter.
Name | Value |
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MANUFACTURER | Matek Systems |
MOUNTING SIZE | Custom |