YJUAV A6Ultra

The A6Ultra flight controller is manufactured and sold by YJUAV.

Features:

  • MCU

    • STM32H743 32-bit processor running at 480MH

    • 2MB Flash

    • 1MB RAM

  • Sensors
    • IMUs:

      • 2x ICM42688, ICM42652

    • Baros:

      • Two barometers:2 x DPS310

      • Magnetometer: Built-in ITS8310 magnetometer

  • Interfaces

    • Ethernet

    • Micro-C USB

    • MicroSD card slot

    • 5 UARTs, 2 with hardware flow control

    • Safety Switch

    • 2 Analog Power Monitor inputs

    • 2 CAN ports

    • 2 I2C ports

    • SPI port

    • Buzzer

    • RCin port

    • 13 motor/servo outputs, 8 supporting BiDirDShot, 11 suporting DShot

Pinout

../_images/YJUAV_A6Ultra-pinout.jpg

Connectors

POWER1 ADC

Pin

Signal

Volt

1

VCC_IN

+5V

2

VCC_IN

+5V

3

BAT_CURRENT_ADC

+3.3V

4

BAT_VOLTAGE_ADC

+3.3V

5

GND

GND

6

GND

GND

POWER2 ADC

Pin

Signal

Volt

1

VCC_IN

+5V

2

VCC_IN

+5V

3

BAT2_CURRENT_ADC

+3.3V

4

BAT2_VOLTAGE_ADC

+3.3V

5

GND

GND

6

GND

GND

TELEM1

Pin

Signal

Volt

1

VCC

+5V

2

USART2_TX

+3.3V

3

USART2_RX

+3.3V

4

CTS

+3.3V

5

RTS

+3.3V

6

GND

GND

TELEM2

Pin

Signal

Volt

1

VCC

+5V

2

USART6_TX

+3.3V

3

USART6_RX

+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

I2C4_SCL

+3.3V

3

I2C4_SDA

+3.3V

4

GND

GND

CAN1

Pin

Signal

Volt

1

VCC

+5V

2

CAN1_P

+3.3V

3

CAN1_N

+3.3V

4

GND

GND

CAN2

Pin

Signal

Volt

1

VCC

+5V

2

CAN2_P

+3.3V

3

CAN2_N

+3.3V

4

GND

GND

GPS1

Pin

Signal

Volt

1

VCC

+5V

2

USART3_TX

+3.3V

3

USART3_RX

+3.3V

4

I2C2_SCL

+3.3V

5

I2C2_SDA

+3.3V

6

GND

GND

GPS2&SAFETY

Pin

Signal

Volt

1

VCC

+5V

2

USART1_TX

+3.3V

3

USART1_RX

+3.3V

4

I2C3_SCL

+3.3V

5

I2C3_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

UART7_TX

+3.3V

3

UART7_RX

+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 EX

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)

  • SERIAL4 -> USART1 (GPS2)

  • SERIAL5 -> UART8 (USER) TX only, normally used for SBUS_OUT with protocol change

  • SERIAL6 -> UART7 (USER/Debug), NODMA

  • SERIAL7 -> USB2 (OTG2)

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 A6Ultra supports up to 13 PWM outputs,support all PWM protocols. All 13 PWM outputs have GND on the bottom row, 5V on the middle row and Signal on the top row.

The 13 PWM outputs are in 4 groups:

  • PWM 1, 2, 3 and 4 in group1

  • PWM 5, 6, 7 and 8 in group2

  • PWM 9, 10, 11 in group3

  • PWM 12, 13 in group4 (PWM only)

Channels 1-8 support bi-directional Dshot. Channels 1-11 support 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 =====BATT2_MONITOR 4

BATT2_VOLT_PIN 12

BATT2_CURR_PIN 16

BATT2_VOLT_MULT 21.0 (may need adjustment if supplied monitor is not used)

BATT2_AMP_PERVLT 34.6 (may need adjustment if supplied monitor is not used)

All 13 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

PWM12

61

PWM6

55

PWM13

62

PWM7

56

Analog inputs

The A6Ultra flight controller has 7 Analog inputs

  • ADC Pin4 -> Battery Current

  • ADC Pin2 -> Battery Voltage

  • ADC Pin16 -> Battery2 Current

  • ADC Pin12 -> Battery2 Voltage

  • ADC Pin8 -> ADC 3V3 Sense

  • ADC Pin10 -> ADC 6V6 Sense ADC Pin11 -> RSSI voltage monitoring

Battery Monitor

The board has voltage and current sensor inputs on the POWER1_ADC and POWER2_ADC connector.

The correct battery setting parameters are:

Battery1 monitor:

Battery2 monitor:

Loading Firmware

The A6Ultra flight controller comes pre-installed with an ArduPilot compatible bootloader, allowing the loading of *.apj firmware files with any ArduPilot compatible ground station.