Matek H743-WING-V2 STM32H7 Flightcontroller 480Mhz, Ardupilot CAN BUS

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  • PM-5969
  • Matek Systems
  • H743-WING-V2
  • 4250902358693
Matek H743-WING STM32H7 Flightcontroller 480Mhz, Ardupilot CAN BUS STM32H743VIT6, ICM42605 &... mehr
Produktinformationen "Matek H743-WING-V2 STM32H7 Flightcontroller 480Mhz, Ardupilot CAN BUS"

Matek H743-WING STM32H7 Flightcontroller 480Mhz, Ardupilot CAN BUS

STM32H743VIT6, ICM42605 & MPU6000, DPS310, OSD, 7x UARTs, 2x I2C, 1xCAN, 13x PWM outputs, 3x BEC, PDB, current sensor

 

FC Specifications

  • MCU: STM32H743VIT6, 480MHz , 1MB RAM, 2MB Flash
  • IMU: MPU6000 (SPI1) & ICM42605 (SPI4)
  • Baro: Infineon DPS310 (I2C2)
  • OSD: AT7456E (SPI2)
  • Blackbox: MicroSD card slot (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, VB2, CU2)
  • 3x LEDs for FC STATUS (Blue, Red) and 3.3V indicator(Red)
  • 1x SPI3 breakout
  • USB/Beep Extender with Type-C(USB2.0)
  •  
  • Dual Camera Inputs switch
  • 5V/9V(12V) for Camera/VTX power switch
  • High-precision Current Sense (90A continuous, 220A peak)
  • Battery Voltage Sensor: 1K:10K (Scale 1100 in INAV, BATT_VOLT_MULT 11.0 in ArduPilot)
  • ADC VB2 voltage divider: 1K:20K
  • ADC AirSpeed voltage divider: 20K:20K
  • Static power 160mA@5V

FC Firmware

  • ArduPilot(ChiBiOS): MATEKH743
  • INAV: MATEKH743

PDB

  • Input voltage range: 8~36V (3~8S LiPo) w/TVS protection
  • 2x ESC power pads
  • Current Senor: 220A, 3.3V ADC (Scale 150 in INAV, 66.7 A/V in ArduPilot)
  • Sense resistor: 90A continuous, 220A peak.

BEC 5V output

  • Designed for Flight controller, Receiver, OSD, Camera, Buzzer, 2812 LED_Strip, Buzzer, GPS module, AirSpeed
  • Output 5.15 +/- 0.1V DC
  • Continuous current 2 Amps, 3A Peak

BEC 9V /12V output

  • Designed for Video Transmitter, Camera, Gimbal ect.
  • Continuous current 2 Amps, 3A Peak
  • 12V option with Jumper pad

BEC Vx output

  • Designed for Servos
  • Voltage adjustable, 5V Default, 6V or 7.2V via jumper
  • Continuous current 8 Amps, 10A Peak

BEC 3.3V output

  • Linear Regulator
  • Continuous current: 200mA

Physical

  • Mounting: 30.5 x 30.5mm, Φ4mm with Grommets Φ3mm
  • Dimensions: 54 x 36 x 13 mm
  • Weight: 30g with USB extender

Including

  • 1x H743-WING
  • 1x USB(Type-C)/Beep (Passive buzzer) Extender
  • 1x 20cm JST-SH-6P to JST-SH-6P cable for USB extender.
  • 2x 20cm JST-GH-4P to JST-GH-4P cable for CAN & I2C port
  • 1x Rubycon ZLH 35V 470uF capacitor
  • Dupont 2.54 pins (Board is shipped unsoldered)
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
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:10K divider builtin
PC0 0~36V Vbat ADC
ADC_CHANNEL_1
scale 1100
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
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.
ADC Vbat pad
1K:10K divider builtin
PC0 0~36V Vbat ADC
onboard battery voltage sense
BATT_VOLT_PIN
BATT_VOLT_MULT
10
11.0
Curr pad PC1 0~3.3V Current ADC
onboard current sense
BATT_CURR_PIN
BATT_AMP_PERVLT
11
66.7
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 Current2 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
20K:20K 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 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
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
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

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.

  • 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.

Tips & Notes

What is new on the H743-Wing V2

  1. Use ICM42605 instead of ICM20602
  2. Moved PDB/current sensor from FC board to bottom plate.
  3. Moved 8A BEC from top board to bottom plate.
  4. JST-GH connector for CAN port instead of JST-SH connector.
  5. Add a JST-GH connector for I2C2, for plug and play with ASPD-4525

ArduPilot

  • H743-WING-V2 with ICM42605 is supported by ArduPilot 4.1 latest or newer,
  • ICM42605 is defined as first IMU (IMU0) , MPU6000 is the 2nd (IMU1).
  • with ArduPilot 4.1 or higher, set INS_ENABLE_MASK to 7 or default 127.
  • Current sensor range is 220A on H743-WING-V2, make sure you set the BATT_AMP_PERVLT to 66.7
  • It is recommended to use STM32CubeProgrammer to erase MCU and upload firmware. check this blog http://www.mateksys.com/?p=6905
  • Known issue and solution, H7 will not initialize with Ardupilot firmware

INAV

  • Current sensor range is 220A on H743-WING-V2, make sure you set the Current Meter Scale to 150
  • IMU ICM42605 is supported by INAV3.0.2 or higher.
  • MPU6000 is the first IMU(IMU0, default), ICM42605 is the 3rd IMU (IMU2) in INAV MATEKH743 target.
  • If you want to try the new ICM-4 series of IMUs. download inav_3.0.2_MATEKH743.hex
    • set gyro_to_use = 2
    • set acc_hardware = icm42605
    • save
  • If you stick with MPU6000 only, H743-WING-V2 works with stable version 3.0.x downloaded from configurator also.
  • SD card and MSC mode for H743 were not implemented in INAV3.x. They are supported by INAV4.x or higher.

Others

  • If the ESCs you are using don’t have enough capacitors integrated, low ESR electrolytic capacitor is required for reducing ESC noise.

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