SULILGH7P1/P2

Design information for these open-source autopilots is available from https://oshwhub.com/shuyedeye/p1-flight-control.

Features

  • MCU

    • STM32H743IIK6 32-bit processor running at 480MHz

    • 2MB Flash

    • 1MB RAM

  • IO MCU

    • STM32F103

  • IMU:

    • P2:Internal Vibration Isolation for IMUs

    • P2:IMU constant temperature heating(1 W heating power).

    • IMU1-BMI088(With vibration isolation)

    • IMU2-ICM42688-P(With vibration isolation)

    • IMU3-ICM20689(No vibration isolation)

  • Baro:

    • Two barometers:Baro1-BMP581 , Baro2-ICP20100

    • Magnetometer: IST8310

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.

Name

Function

MCU PINS

DMA

SERIAL0

OTG1

USB

SERIAL1

Telem1

USART2

DMA Enabled

SERIAL2

Telem2

USART3

DMA Enabled

SERIAL3

GPS1

USART1

DMA Enabled

SERIAL4

GPS2

UART4

DMA Enabled

SERIAL5

RC

UART8

DMA Enabled

SERIAL7

FMU DEBUG

UART7

DMA Enabled

SERIAL8

OTG-SLCAN

USB

RC Input

The RCIN pin, which by default is mapped to a timer input, 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, will only provide RC without telemetry.

To allow CRSF and embedded telemetry available in Fport, CRSF, and SRXL2 receivers, a full UART, such as SERIAL5 (UART8) would need to be used for receiver connections. Below are setups using Serial5.

Any UART can also be used for RC system connections in ArduPilot and is compatible with all protocols except PPM. See Radio Control Systems for details.

PWM Output

The SULILLGH7-P1/P2 flight controller supports up to 16 PWM outputs. First 8 outputs (labelled 1 to 8) are controlled by a dedicated STM32F103 IO controller. The remaining 8 outputs (labelled 9 to 16) are the “auxiliary” outputs. These are directly attached to the STM32H753 FMU controller. All 16 outputs support normal PWM output formats. All 16 outputs support DShot, except 15 and 16.

The 8 IO PWM outputs are in 4 groups:

  • Outputs 1 and 2 in group1

  • Outputs 3 and 4 in group2

  • Outputs 5, 6, 7 and 8 in group3

The 8 FMU PWM outputs are in 4 groups:

  • Outputs 1, 2, 3 and 4 in group1

  • Outputs 5 and 6 in group2

  • Outputs 7 and 8 in group3

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.

GPIO

All PWM outputs can be used as GPIOs (relays, camera, RPM etc). To use them you need to set the output’s SERVOx_FUNCTION to -1. The numbering of the GPIOs for PIN variables in ArduPilot is:

IO Pins FMU Pins
Name Value Option Name Value Option
M1 101 MainOut1 M9 50 AuxOut1
M2 102 MainOut2 M10 51 AuxOut2
M3 103 MainOut3 M11 52 AuxOut3
M4 104 MainOut4 M12 53 AuxOut4
M5 105 MainOut5 M13 54 AuxOut5
M6 106 MainOut6 M14 55 AuxOut6
M7 107 MainOut7 M15 56
M8 108 MainOut8 M16 57

Battery Monitoring

Two DroneCAN power monitor interfaces have been configured by default. These shouldn’t need to be adjusted.

Compass

The P1/P2 flight controllers have an integrated IST8310 high-precision magnetometer. Due to potential interference, the autopilot is usually used with an external I2C compass as part of a GPS/Compass combination.

Analog inputs

The P1/P2 flight controller has 2 analog inputs.

  • ADC Pin12 -> ADC 6.6V Sense

  • ADC Pin13 -> ADC 3.3V Sense

  • RSSI input pin = 103

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 “SULIGH7-P1-P2”.