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Wysyłka od: 20.00 PLN
Producent: MATEK
KUP TERAZ!

V3,  IMU ICM42688P, ICM42605

 

FC Specifications

  • MCU: STM32H743VIH6, 480MHz , 1MB RAM, 2MB Flash
  • Board V1.0 IMU: MPU6000 (SPI1) & ICM20602 (SPI4)
  • Board V1.5 IMU: MPU6000 (SPI1) & ICM42605 (SPI4)
  • Board V3 IMU: ICM42688P & ICM42605
  • Baro: Infineon DPS310 (I2C2)
  • OSD: AT7456E (SPI2)
  • Blackbox: MicroSD card socket (SDIO)
  • 7x Uarts (1,2,3,4,6,7,8) with built-in inversion.
  • 13x PWM outputs(including “LED” pad)
  • 2x I2C
  • 1x CAN
  • 6x ADC (VBAT, Current, RSSI, Analog AirSpeed, Vbat2, Cur2)
  • 3x LEDs for FC STATUS (Blue, Red) and 3.3V indicator(Red)
  • 1x SPI3 breakout
  • USB Type-C(USB2.0)
  • 1x JST-SH1.0_8pin connector (Vbat/G/Curr/Rx8/S1/S2/S3/S4)
  • 1x JST-GH1.25_4pin connector (5V/CAN-H/CAN-L/G)
  • Dual Camera Inputs switch
  • 5V/Vbat filtered power ON/OFF switch
  • DJI FPV OSD is supported by any spare UART

Power

  • Vbat Input: 6~36V (2~8S LiPo)
  • BEC: 5V 2A cont. (Max.3A)
  • LDO 3.3V: Max.200mA
  • No Current Sensor built-in
  • ADC Vbat2 pad supports Max. 69V (voltage divider: 1K:20K)
  • Static power: 200mA@5V with Betaflight,  150mA@5V with ArduPilot

FC Firmware

  • ArduPilot(ChiBiOS): MATEKH743
  • BetaFlight: MATEKH743
  • INAV: MATEKH743

Physical

  • Mounting: 30.5 x 30.5mm, Φ4mm with Grommets Φ3mm
  • Dimensions: 36 x 36 x 5 mm
  • Weight: 7g

Including

  • 1x H743-SLIM
  • 6x Silicon grommets M4 to M3
  • 1x JST-SH1.0_8pin cable, 5cm
  • 2x JST-SH1.0_8pin connectors
  • 1x JST-GH-4P to JST-GH-4P cable for CAN port, 20cm

 

Ardupilot Mapping

PWM
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.		 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
             
ADC No pad
1K:10K divider builtin		 PC0 0~36V on board battery voltage BATT_VOLT_PIN
BATT_VOLT_MULT		 10
11.0
No pad PC1 0~3.3V on board current sensor BATT_CURR_PIN
BATT_AMP_PERVLT		 11
40
Vbat2 Pad
1K:20K divider builtin		 PA4 0~69V Vbat2 ADC BATT2_VOLT_PIN
BATT2_VOLT_MULT		 18
21.0
Cur2 Pad PA7 0~3.3V Cur2 ADC BATT2_CURR_PIN
BATT2_AMP_PERVLT		 7
/
RSSI Pad PC5 0~3.3V RSSI ADC
Analog RSSI		 RSSI_ANA_PIN
RSSI_TYPE		 8
1
AirS Pad
10K:10K divider builtin		 PC4 0~6.6V AirS ADC
Analog Airspeed		 ARSPD_PIN
ARSPD_TYPE		 4
2
             
I2C I2C1

CL1/DA1

 PB6/PB7 5 V tolerant I/O Digital Airspeed I2C ARSPD_BUS 1
MS4525
MS5525
DLVR-L10D		 ARSPD_TYPE 1
3
9
Compass COMPASS_AUTODEC 1
I2C2

CL2/DA2

 PB10/PB11 5 V tolerant I/O on board Baro DPS310    
             
CAN CAN1 PD0/PD1 5 V tolerant I/O F103/F303 CAN Node CAN_D1_PROTOCOL
CAN_P1_DRIVER		 1
1
CAN GPS GPS_TYPE 9
CAN Compass COMPASS_TYPEMASK 0
CAN Airspeed sensor ARSPD_TYPE 8
             
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  
RX6 PPM  

RC INPUT

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:

  • PPM is not supported.
  • SBUS/DSM/SRXL connects to the Rx6 pin, but SBUS requires that the SERIAL7_OPTIONS be set to “3”.
  • FPort requires connection to Tx6 and SERIAL7_OPTIONS be set to “7”.  If Telemetry doesn’t work, try set  SERIAL7_OPTIONS = 135.
  • CRSF also requires a Tx6 connection, in addition to Rx6, and automatically provides telemetry. Set SERIAL7_OPTIONS to “0”.
  • SRXL2 requires a connection to Tx6 and automatically provides telemetry. Set SERIAL7_OPTIONS to “4”.

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.

 

Ardupilot Relay

  • Camera-1 and Vsw On by default
  • Make sure 2 cameras are set with identical video format, both PAL or both NTSC.

# GPIOs

  • PD10 PINIO1 OUTPUT GPIO(81)   //Vsw pad power switch
  • PD11 PINIO2 OUTPUT GPIO(82)   //Camera switch

# RCx_OPTION: RC input option

  • 28   Relay On/Off
  • 34   Relay2 On/Off
  • 35   Relay3 On/Off
  • 36   Relay4 On/Off

e.g.

  • RELAY_PIN       81    //Vsw GPIO
  • RC7_OPTION   28    //Relay On/Off, Use CH7 of Transmitter to switch Vsw
  • RELAY_PIN2     82    //Camera switch GPIO
  • RC8_OPTION   34    //Relay2 On/Off, Use CH8 of Transmitter to switch camera

or

  • RELAY_PIN3       81    //Vsw GPIO
  • RC9_OPTION     35    //Relay3 On/Off, Use CH9 of Transmitter to switch Vsw
  • RELAY_PIN4       82    //Camera switch GPIO
  • RC10_OPTION   36    //Relay4 On/Off, Use CH10 of Transmitter to switch camera

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.

 

BF Mapping

          BetaFlight
PWM S1 PB0 5 V tolerant I/O TIM3_CH3 Motor
S2 PB1 3.3 V tolerant I/O TIM3_CH4
S3 PA0 5 V tolerant I/O TIM5_CH1
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    NO DMA
S11 PE5 5 V tolerant I/O TIM15_CH1 Servo
S12 PE6 5 V tolerant I/O TIM15_CH2
LED PA8 5 V tolerant I/O TIM1_CH1 2812LED
RX4 PB8 5 V tolerant I/O TIM16_CH1  
TX4 PB9 5 V tolerant I/O TIM17_CH1  
ADC Vbat ADC, No pad
1K:10K divider builtin		 PC0 0~36V on board battery voltage scale 110
Current ADC, No pad PC1 0~3.3V on board current sensor scale external
VB2 Pad
1K:20K divider builtin		 PA4 0~69V Vbat2 ADC scale 210
CU2 Pad PA7 0~3.3V Current2 ADC scale external
RSSI Pad PC5 0~3.3V RSSI ADC Analog RSSI
AirS Pad
10K:10K divider builtin		 PC4 0~6.6V AirS ADC Analog Airspeed
           
I2C I2C1
CL1/DA1		 PB6/PB7 5 V tolerant I/O Digital Airspeed I2C MS4525
Compass  
I2C2
CL2/DA2		 PB10/PB11 5 V tolerant I/O on board Barometer DPS310
           
UART USB PA11/PA12 5 V tolerant I/O USB  
RX7 TX7 RTS7 CTS7 PE7/8/9/10 3.3 V tolerant I/O UART7 USER
TX1 RX1 PA9/PA10 5 V tolerant I/O USART1 USER
TX2 RX2 PD5/PD6 5 V tolerant I/O USART2 USER
TX3 RX3 PD8/PD9 5 V tolerant I/O USART3 USER
TX8 RX8 PE1/PE0 5 V tolerant I/O UART8 USER
TX4 RX4 PB9/PB8 5 V tolerant I/O UART4 USER
TX6 RX6 PC6/PC7 5 V tolerant I/O UART6_RX PPM & Serial RX
UART6_TX FPORT

 

H743-mini ArduPilot INAV BetaFlight
V1 ICM20602(1st)
MPU6000(2nd)		 ArduPilot 4.0 stable
or newer		 MPU6000 (0)
ICM20602 (1)		 INAV 3.0
or newer		 MPU6000 (0)
ICM20602 (1)		 BF 4.2
or newer
V1.5 ICM42605(1st)
MPU6000(2nd)		 ArduPilot 4.1 stable
or newer		 MPU6000 (0)
ICM42605 (2)		 INAV 4.0
or newer		 MPU6000 (0)
ICM42605 (1)		 BF 4.2
or newer
V3 ICM42688P(1st)
ICM42605(2nd)		 ArduPilot 4.2 latest
or newer		 ICM42688P (0)
ICM42605 (2)		 INAV 5.0
or newer		 ICM42688P (0)
ICM42605 (1)		 BF 4.3
or newer

 

Firmware :

http://www.mateksys.com/?p=5159#tab-id-11

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