the above image and some content courtesy of mateksys.com
Support for this board is available with ArduPilot 4.0 and higher
- STM32F765VIT6 ARM (216MHz)
- InvenSense MPU6000 IMU (accel, gyro) & ICM20602
- BMP280 barometer (later models use DPS310)
- Voltage & 132A current sensor
- 9V ~ 36V DC input power
- 5V 2A BEC for peripherals
- 9/12V 2A BEC for video
- 5/6/7.2V 8A BEC for servos
- 7x UARTS
- 12x PWM outputs
- 1x RC input PWM/PPM, SBUS
- 2x I2C ports for external compass, airspeed sensor, etc.
- SPI4 port
- USB port
- 6 ADC
- Dual Switchable Camera inputs
- Built-in OSD
- Size and Dimensions
- 54mm x 36mm x 13mm
Camera and Supply Switch¶
Switching between the two camera inputs, C1 (default on) or C2, and between on (default) and off of Vsw (5/9V selectable supply), can be implemented using the Relay function of ArduPilot and assigning the relays to an
RCx_OPTION switch on the transmitter.
RELAYx_PIN to “81” for on/off of Vsw, and to “82” to control the camera switching.
Then select an RC channel for control (Chx) and set its
RCx_OPTION to the appropriate Relay (1-4) that you had set its pin parameter above.
For example, use Channel 10 to control the camera switch using Relay 2:
Default UART order¶
- SERIAL0 = console = USB
- SERIAL1 = Telemetry1 = UART7 (support CTS and RTS signaling)
- SERIAL2 = Telemetry2 = USART1
- SERIAL3 = GPS1 = USART2
- SERIAL4 = GPS2 = USART3
- SERIAL5 = USER = UART8
- SERIAL6 = USER = UART4
- SERIAL7 = USER = UART6 (TX only unless BRD_ALT_CONFIG = 1, then RX available also)
RC input is configured on the R6 (UART6_RX) pin. It supports all RC protocols, however for FPort the receiver should be connected to T6 and SERIAL7 configured as described in FPort section.
Serial port protocols (Telem, GPS, etc.) can be adjusted to personal preferences.
All motor/servo outputs 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. The output groups that must be the same (PWM rate or Dshot, when configured as a normal servo/motor output) are: 1/2, 3/4, 5/6, or 7/8/9/10. Outputs 11 and 12 are not Dshot capable.
Connecting a GPS/Compass module¶
This board does not include a GPS or compass so an external GPS/compass should be connected in order for autonomous modes to function.
If the GPS is attached to UART2 TX/RX and powered from the adjacent 4.5V pins, it will be powered when connected via USB, as would the RX if powered from the adjacent 4.5V pins to UART6.
A battery must be plugged in for power to be provided to the pins marked 5V on the board.