YJUAV A6SE High Performance Mini Flight Controller¶
Overview¶
The A6SE is a high-performance and cost-effective flight control product, with a small size, light weight, and easy installation.
The A6SE flight controller is manufactured and sold by YJUAV.
Where to Buy¶
Order here.
Specifications¶
Processor
STM32H750 32-bit processor
480 Mhz/ 1 MB RAM
16MB Onboard Flash
32KB F-RAM nonvolatile memory
Sensors
InvenSense ICM42688 accelerometer / gyroscope
InvenSense ICM42688 accelerometer / gyroscope
DPS310 barometer
IST8310 magnetometer
Power
Power supply: 4.5~5.5V
Interfaces
11x PWM servo outputs
5x ADC pins
5x Uart ports
3x I2C ports
2x CAN ports
1x SPI port
1x microSD port
1x TypeC USB port
1x JST_GH1.25 USB port
1x Analog battery monitor port
1x RC input (suport SBUS, PPM and DSM)
1x Safety switch and Buzzer port
1x S.Bus servo output
Other
Weight 40g
Size 58mm x 38mm x 16mm
Operating temperature -20 ~ 85°c
Pinout¶
POWER ADC¶
Pin |
Signal |
Volt |
|---|---|---|
1 |
VCC_IN |
+5V |
2 |
VCC_IN |
+5V |
3 |
BAT_CRRENT_ADC |
+3.3V |
4 |
BAT_VOLTAGE_ADC |
+3.3V |
5 |
GND |
GND |
6 |
GND |
GND |
TELEM1¶
Pin |
Signal |
Volt |
|---|---|---|
1 |
VCC |
+5V |
2 |
UART_TX2 |
+3.3V |
3 |
UART_RX2 |
+3.3V |
4 |
CTS |
+3.3V |
5 |
RTS |
+3.3V |
6 |
GND |
GND |
TELEM2¶
Pin |
Signal |
Volt |
|---|---|---|
1 |
VCC |
+5V |
2 |
UART_TX6 |
+3.3V |
3 |
UART_RX6 |
+3.3V |
4 |
CTS |
+3.3V |
5 |
RTS |
+3.3V |
6 |
GND |
GND |
ADC¶
Pin |
Signal |
Volt |
|---|---|---|
1 |
VCC |
+5V |
2 |
ADC_3V3 |
+3.3V |
3 |
ADC_6V6 |
+6.6V |
4 |
GND |
GND |
SPI¶
Pin |
Signal |
Volt |
|---|---|---|
1 |
VCC |
+5V |
2 |
SPI_SCK |
+3.3V |
3 |
SPI_MISO |
+3.3V |
4 |
SPI_MOSI |
+3.3V |
5 |
SPI_CS |
+3.3V |
6 |
GND |
GND |
I2C¶
Pin |
Signal |
Volt |
|---|---|---|
1 |
VCC |
+5V |
2 |
I2C_SCL |
+3.3V |
3 |
I2C_SDA |
+3.3V |
4 |
GND |
GND |
CAN1&CAN2¶
Pin |
Signal |
Volt |
|---|---|---|
1 |
VCC |
+5V |
2 |
CAN_P |
+3.3V |
3 |
CAN_N |
+3.3V |
4 |
GND |
GND |
GPS1¶
Pin |
Signal |
Volt |
|---|---|---|
1 |
VCC |
+5V |
2 |
UART_TX3 |
+3.3V |
3 |
UART_RX3 |
+3.3V |
4 |
I2C_SCL |
+3.3V |
5 |
I2C_SDA |
+3.3V |
6 |
GND |
GND |
GPS2&SAFETY¶
Pin |
Signal |
Volt |
|---|---|---|
1 |
VCC |
+5V |
2 |
UART_TX1 |
+3.3V |
3 |
UART_RX1 |
+3.3V |
4 |
I2C_SCL |
+3.3V |
5 |
I2C_SDA |
+3.3V |
6 |
SAFETY_SW |
+3.3V |
7 |
SAFETY_SW_LED |
+3.3V |
8 |
3V3_OUT |
+3.3V |
9 |
BUZZER |
+3.3V |
10 |
GND |
GND |
DEBUG¶
Pin |
Signal |
Volt |
|---|---|---|
1 |
VCC |
+5V |
2 |
UART_TX7 |
+3.3V |
3 |
UART_TX8 |
+3.3V |
4 |
SWDIO |
+3.3V |
5 |
SWCLK |
+3.3V |
6 |
GND |
GND |
SAFETY¶
Pin |
Signal |
Volt |
|---|---|---|
1 |
3V3_OUT |
+3.3V |
2 |
SAFETY_SW |
+3.3V |
3 |
SAFETY_SW_LED |
+3.3V |
4 |
UART8_TX(SBUS_OUT) |
+3.3V |
5 |
RSSI |
+3.3V |
6 |
GND |
GND |
USB¶
Pin |
Signal |
Volt |
|---|---|---|
1 |
VCC_IN |
+5V |
2 |
DM |
+3.3V |
3 |
DP |
+3.3V |
4 |
GND |
GND |
UART Mapping¶
SERIAL0 -> USB (OTG1)
SERIAL1 -> USART2 (Telem1)
SERIAL2 -> USART6 (Telem2)
SERIAL3 -> USART3 (GPS1), NODMA
SERIAL4 -> USART1 (GPS2), NODMA
SERIAL5 -> UART8 (USER) TX only, normally used for SBUS_OUT with protocol change
SERIAL6 -> UART7 (USER/Debug), NODMA
SERIAL7 -> USB2 (OTG2)
Note
UART8 TX is output on the SAFETY connector. Its commonly used for SBUS_OUT function by setting SERIAL5_PROTOCOL = “15”. The UART8 RX input is not accessible for use.
RC Input¶
The RCIN pin is mapped to a timer input instead of the UART, and can be used for all ArduPilot supported receiver protocols, except CRSF/ELRS and SRXL2 which require a true UART connection. However, FPort, when connected in this manner, can provide RC without telemetry.
To allow CRSF and embedded telemetry available in Fport, CRSF, and SRXL2 receivers, a full UART must be used. For example, UART1 can have its protocol changed from the default GPS protocol for GPS2 to RX input protocol:
With this option, SERIAL4_PROTOCOL must be set to “23”, and:
PPM is not supported.
SBUS/DSM/SRXL connects to the RX1 pin.
FPort requires connection to TX1 and RX1. See FPort Receivers.
CRSF also requires a TX1 connection, in addition to RX1, and automatically provides telemetry.
SRXL2 requires a connection to TX1 and automatically provides telemetry. Set SERIAL4_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.
PWM Output¶
The A6SE supports up to 11 PWM outputs,support all PWM protocols as well as DShot. All 11 PWM outputs have GND on the bottom row, 5V on the middle row and signal on the top row.
The 11 PWM outputs are in 3 groups:
PWM 1, 2, 3 and 4 in group1
PWM 5, 6, 7 and 8 in group2
PWM 9, 10, 11 in group3
Channels 1-8 support bi-directional Dshot. Channels within the same group need to use the same output rate. If any channel in a group uses DShot, then all channels in that group need to use DShot.
GPIOs¶
All 11 PWM channels can be used for GPIO functions (relays, buttons, RPM etc).
The pin numbers for these PWM channels in ArduPilot are shown below:
PWM Channels |
Pin |
PWM Channels |
Pin |
|---|---|---|---|
PWM1 |
50 |
PWM8 |
57 |
PWM2 |
51 |
PWM9 |
58 |
PWM3 |
52 |
PWM10 |
59 |
PWM4 |
53 |
PWM11 |
60 |
PWM5 |
54 |
||
PWM6 |
55 |
||
PWM7 |
56 |
Analog inputs¶
The A6SE flight controller has 5 analog inputs
ADC Pin4 -> Battery Current
ADC Pin2 -> Battery Voltage
ADC Pin8 -> ADC 3V3 Sense
ADC Pin10 -> ADC 6V6 Sense
ADC Pin11 -> RSSI voltage monitoring
Battery Monitor Configuration¶
The board has voltage and current sensor inputs on the POWER_ADC connector.
The correct battery setting parameters are:
Enable Battery monitor.
BATT_MONITOR =4
Then reboot.
BATT_VOLT_MULT 18.0
BATT_AMP_PERVLT 24.0 (may need adjustment if supplied monitor is not used)
Compass¶
There is an on-board compass. Calibration is required (see Compass Calibration).
Note
on-board compasses are often close to battery lines and therefore subject to interference and sometimes disabled, with external compasses being located remotely to avoid this issue.
Loading Firmware¶
The board comes pre-installed with an ArduPilot compatible bootloader, allowing the loading of xxxxxx.apj firmware files with any ArduPilot compatible ground station.
Firmware for these boards can be found here in sub-folders labeled “YJUAV_A6SE”.