T-Motor H7 Mini Flight Controller¶
The T-Motor H7 Mini is a flight controller produced by T-Motor.
Features¶
MCU - STM32H743 32-bit processor running at 480 MHz
IMU - ICM42688/BMI270
Barometer - DPS310
OSD - AT7456E
Onboard Flash: 128Mbits
6x UARTs (1,5,6,7,9)
9x PWM Outputs (8 Motor Output, 1 LED)
Battery input voltage: 2S-6S
BEC 5V/2A, 10V/1.5A
Pinout¶
UART Mapping¶
The UARTs are marked Rn and Tn in the above pinouts. The Rn pin is the receive pin for UARTn. The Tn pin is the transmit pin for UARTn.
SERIAL0 -> USB
SERIAL1 -> UART1 (ESC Telemetry)
SERIAL3 -> UART3
SERIAL5 -> UART5 (GPS, DMA-enabled)
SERIAL6 -> UART6 (RX, DMA-enabled)
SERIAL7 -> UART7 (DJI VTX, DMA-enabled)
SERIAL8 -> UART8 (SBUS, DMA-enabled)
RC Input¶
RC input is configured on the R6/TX6 (UART6_RX/UART6_TX) pins. It supports all serial RC protocols. For protocols requiring half-duplex serial to transmit telemetry (such as FPort) you should setup SERIAL6 with half-duplex, pin-swap and inversion enabled.
OSD Support¶
The T-Motor H7 Mini supports OSD using OSD_TYPE 1 (MAX7456 driver).
PWM Output¶
The T-Motor H7 Mini supports up to 5 PWM outputs. The pads for motor output M1 to M4 on the motor connectors and separate pads, plus M5 for LED strip or another PWM output.
The PWM is in 2 groups:
PWM 1-4 in group1
PWM 5 in group2
Channels within the same group need to use the same output rate. If any channel in a group uses DShot then all channels in the group need to use DShot. Channels 1-4 support bi-directional dshot.
Battery Monitoring¶
The board has a builtin voltage and current sensor. The current sensor can read up to 130 Amps. The voltage sensor can handle up to 6S LiPo batteries.
The correct battery setting parameters are:
BATT_MONITOR = 4
BATT_VOLT_PIN = 11
BATT_CURR_PIN = 13
BATT_VOLT_MULT = 11.0
BATT_AMP_PERVLT = 50.0
Compass¶
The T-Motor H7 Mini does not have a builtin compass, but you can attach an external compass using I2C on the SDA and SCL pads.
Loading Firmware¶
Initial firmware load can be done with DFU by plugging in USB with the bootloader button pressed. Then you should load the “with_bl.hex” firmware, using your favourite DFU loading tool.
Once the initial firmware is loaded you can update the firmware using any ArduPilot ground station software. Updates should be done with the *.apj firmware files.