The MambaH743v4 is an autopilot produced by Diatone.
STM32H743 32-bit processor running at 480 MHz
OSD - AT7456E
128MB Data Log Flash
Dual MPU6000 (Version A) or BMI270 (Version B)
6.8V ~ 26V DC input power
5V 3A BEC for peripherals
9V 3A BEC for video
9x PWM outputs
I2C ports for external compass, airspeed sensor, etc.
Size and Dimensions
38mm x 38mm x 7.5mm
The UARTs are marked RXn and TXn in the above pinouts. The RXn pin is the receive pin for UARTn. The TXn pin is the transmit pin for UARTn. Default protocols for each port are shown and may be changed by the user.
SERIAL0 -> USB
SERIAL1 -> USART1 (RX/SBUS, DMA-enabled)
SERIAL2 -> USART2 (TELEM2)
SERIAL3 -> USART3 (GPS)
SERIAL4 -> UART4 (GPS, DMA-enabled)
SERIAL5 -> UART5
SERIAL6 -> USART6 (ESC Telemetry)
SERIAL7 -> UART7 (DMA-enabled)
SEIRAL8 -> UART8
RC input is configured on the RX1 (UART1_RX) pin. It supports all serial RC protocols.
SERIAL1_PROTOCOL is set to “23” by default, and:
PPM is not supported.
SBUS/DSM/SRXL connects to the RX1 pin, but SBUS requires that the SERIAL1_OPTIONS be set to “3”.
FPort requires connection to TX1 and SERIAL7_OPTIONS be set to “7”.
CRSF also requires a TX1 connection, in addition to RX1, and automatically provides telemetry. Set SERIAL1_OPTIONS to “0”.
SRXL2 requires a connection to TX1 and automatically provides telemetry. Set SERIAL1_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.
FrSky Telemetry is supported using any UART TX pin. You need to set the following parameters to enable support for FrSky S.PORT (example given for UART5)
The MambaH743v4 supports OSD using OSD_TYPE = 1 (MAX7456 driver).
The MambaH743v4 supports up to 9 PWM outputs. The pads for motor output M1 to M8 are provided on both the motor connectors and on separate pads, plus M9 on a separate pad for LED strip or another PWM output.
The PWM is in 4 groups:
PWM 1-4 in group1
PWM 5,6 in group2
PWM 7,8 in group3
PWM 9 in group4
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 1-8 support bi-directional DShot.
The board does not have a built-in current sensor. The voltage sensor can handle up to 6S LiPo batteries.
Typical battery setting parameters are:
The MambaH743v4 does not have a builtin compass, but you can attach an external compass using I2C on the SDA and SCL pads.
Firmware for this board can be found here in sub-folders labeled “MambaH743v4””.
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. Later updates should be done with the *.apj firmware files.