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What is new on the H743-mini V3

  • ICM42688-P+ICM42605 instead of MPU6000+ICM42605
  • PWM 10 & 11 instead of PWM9 & 10(V1/V1.5)
  • Other functions, layout and components are same as previous board version.
  • H743-mini V3 has betaflight_4.3.0 preloaded for QC

ArduPilot

  • H743-mini-V3 with ICM42688-P is supported by ArduPilot 4.2 or higher,
  • ICM42688-P is defined as first IMU (IMU0) ,  ICM42605 is the 2nd (IMU1).
  • with ArduPilot 4.2, set INS_ENABLE_MASK to 7 or default 127.
  • It is recommended to use STM32CubeProgrammer to erase MCU and upload firmware.  check this blog http://www.mateksys.com/?p=6905

INAV

  • H743-mini-V3 is not supported by INAV4.1 downloaded from configurator. pls download inav_4.1.0_MATEKH743_42688 from our website.
  • Starting with INAV5.0,  V1/V1.5/V3 will share the same firmware.

BetaFlight

  • IMU ICM42688-p is supported by BetaFlight 4.3 or higher.
  • icm42688-p is the first IMU(default), ICM42605 is the second IMU.
  • Target MATEKH743 in BetaFlight 4.2.x list doesn’t support ICM426XX series, You need to flash it with BF4.3_RC or latest

FC Specifications

  • MCU: STM32H743VIT6, 480MHz , 1MB RAM, 2MB Flash
  • Board V1.0 IMU: MPU6000 (SPI1) & ICM20602 (SPI4)
  • Board V1.5 IMU: MPU6000 (SPI1) & ICM42605 (SPI4)
  • Board V3 IMU: ICM42688-P (SPI1) & ICM42605 (SPI4)
  • Baro: Infineon DPS310 (I2C2)
  • OSD: AT7456E (SPI2)
  • Blackbox: MicroSD card socket (SDIO)
  • 5.5x Uarts (1,2,4,6,7, Rx8)
  • 11x PWM outputs
  • 2x I2C (I2C1/DA1 CL1 pads, no I2C2 breakout)
  • 1x CAN (C-H, C-L pads)
  • 5x ADC (VBAT, Current, RSSI, VB2, CU2)
  • 3x LEDs for FC STATUS (Blue, Red) and 3.3V indicator(Red)
  • 1x JST-SH1.0_8pin connector (Vbat/G/Curr/Rx8/S1/S2/S3/S4)
  • Dual Camera Inputs switch
  • 8V power ON/OFF switch

Power

  • Vbat Input: 6.3~36V (2~8S LiPo)
  • BEC: 5V 1.5A cont. (Max.2A)
  • BEC: 8V 1.5A cont. (Max.2A),   8V outputs stable when Vbat>=10V,  8V outputs 80% of Vbat when Vbat< 10V
  • LDO 3.3V: 200mA
  • VB2 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
    • 20 x 20mm/Φ3mm with Silicon Grommets
    • 20 x 20mm/Φ2mm with Silicon & Brass Grommets
  • Dimensions:  36 x 28 x 6.5mm
  • Weight: 7g

Including

  • 1x H743-MINI
  • 6x Silicon grommets M4 to M3
  • 6x Brass grommets M3 to M2
  • 1x JST-SH1.0_8pin cable, 5cm
  • 2x JST-SH1.0_8pin connectors

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 (V1,V1.5) PD14 5 V tolerant I/O PWM9 GPIO58 TIM4_CH3
S10 (V1,V1.5) PD15 5 V tolerant I/O PWM10 GPIO59 TIM4_CH4
S11 (V3) PE5 5 V tolerant I/O PWM11 GPIO60 TIM15_CH1 Gourp4
S12 (V3) PE6 5 V tolerant I/O PWM12 GPIO61 TIM15_CH1
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
VB2 Pad
1K:20K divider builtin
PA4 0~69V Vbat2 ADC BATT2_VOLT_PIN
BATT2_VOLT_MULT
18
21.0
CU2 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
           
             
I2C I2C1

CL1/DA1

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

No CL2/DA2 breakout

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
No TX3 RX3 breakout / / / / /
RX8 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(PINIO)

  • Camera-1 and 8V On by default
  • Make sure 2 cameras are set with identical video format, both PAL or both NTSC.

# GPIOs

  • PD10 PINIO1 OUTPUT GPIO(81)   //8V power ON/OFF 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    //8V switch 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    //8V switch 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/INAV multi-rotor
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 (V1, V1.5) PD14 5 V tolerant I/O TIM4_CH3
S10 (V1, V1.5) PD15 5 V tolerant I/O TIM4_CH4
S11 (V3) PE5 5 V tolerant I/O TIM15_CH1 Servo
S12 (V3) 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 BF 110, INAV 1100
Current ADC, No pad PC1 0~3.3V on board current sensor scale external
VB2 Pad
1K:10K divider builtin
PA4 0~69V Vbat2 ADC BF 210, INAV 2100
CU2 Pad PA7 0~3.3V Current2 ADC scale external
RSSI Pad PC5 0~3.3V RSSI ADC Analog RSSI
           
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 / / / /
RX8 PE0 5 V tolerant I/O UART8_RX 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

 

 

TIPS

 

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

Known issue

  • Motor 7 will not spin with BetaFlight 4.2.x and OCTO X8 mixer if RPM filter is enabled.   Pls set dshot_bidir = OFF,  or use latest BetaFlight 4.3.0

Polecamy