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Полётный контроллер Matek H743-MINI v3

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Полётный контроллер Matek H743-MINI v3 (STM32H743VIT6, ICM20602 & MPU6000, DPS310, OSD, 5.5x UARTs, 2x I2C, 1x CAN, 11x PWM outputs, BEC5V, BEC8V)

Полетный контроллер H743-MINI от компании Matek отличается высокой производительностью благодаря использованию процессора STM32H743VIT6 с частотой 480 МГц и объемом оперативной памяти 1 МБ. Он оснащен различными датчиками для обеспечения стабильности полета, такими как акселерометр MPU6000 (для версии V1.0 и V1.5) / ICM42688-P (для версии V3) и гироскоп ICM20602 (только для версии V1.0) / ICM42605 (для всех версий). Также есть барометрический датчик Infineon DPS310 и OSD-модуль AT7456E. Для записи данных предусмотрен разъем microSD карты. Контроллер имеет различные интерфейсы связи, такие как 5,5х UART, 11х ШИМ, 2х I2C, 1х CAN, а также 5х аналоговых входов. Есть возможность подключения двух камер через переключатель. Питание осуществляется от источника постоянного тока с диапазоном напряжений от 6,3 до 36 вольт. Размер платы составляет 36 х 28 х 6,5 мм, вес всего 7 грамм. Комплектация включает сам контроллер, силиконовые и латунные втулки, JST-SH1.0_8pin кабель и разъемы.

FC характеристики:

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

Питание:

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 прошивка:

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

Размеры:

Монтаж
- 20 x 20mm/Φ3mm с силиконовыми втулками
- 20 x 20mm/Φ2mm с кремниевыми и латунными втулками
Размеры: 36 x 28 x 6.5mm
Вес: 7g

Комплект:

Полётный контроллер Matek H743-MINI v3 - 1 шт
Силиконовые втулки M4 to M3 - 6 шт
Латунные втулки M3 to M2 - 6 шт
JST-SH1.0_8pin кабель, 5cm - 1 шт
JST-SH1.0_8pin разъемы- 2 шт

Ссылки:

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

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

Tips

ArduPilot Firmware
H743 is supported by INAV3.0.1 or higher.
H743-MINI has betaflight firmware preloaded for QC
BetaFlight: Target MATEKH743 is supported since 4.3, pls download BetaFlight firmware 4.2.x from our website.
If you flash ArduPilot firmware via BetaFlight configurator. there is a known issue that flash process will freeze at 50% if “full chip erase” is selected. It is highly recommended to use STM32CubeProgrammer to erase MCU and upload firmware https://www.mateksys.com/?p=6905
INAV: SD card and MSC mode for H743 is supported by INAV 4.0 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

Что нового в H743-mini V1.5

Сравнение версий H743-mini (Что нового в H743-mini V3)

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 https://www.mateksys.com/?p=6905

INAV

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