boards: add new board X-MAV AP-H743r1 (#25967)

Author: @TompsonTan
2026-06-02 11:59:17 +08:00 · 2025-12-04 04:03:22 +08:00
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+# AP-H743-R1
+
+<Badge type="tip" text="main (planned for: PX4 v1.17)" />
+
+:::warning
+PX4 does not manufacture this (or any) autopilot.
+:::
+
+The AP-H743-R1 is an advanced autopilot manufactured by X-MAV<sup>&reg;</sup>.
+
+The autopilot is recommended for commercial system integration, but is also suitable for academic research and any other applications.
+It brings you ultimate performance, stability, and reliability in every aspect.
+
+![AP-H743-R1](../../assets/flight_controller/x-mav_ap-h743r1/ap-h743r1-main.png)
+
+::: info
+These flight controllers are [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
+:::
+
+### Processors & Sensors
+
+- FMU Processor: STM32H743VIT6
+  - 32 Bit Arm® Cortex®-M7, 480MHz, 2MB flash memory, 1MB RAM
+- IO Processor: STM32F103
+  - 32 Bit Arm® Cortex®-M3, 72MHz, 20KB SRAM
+- On-board sensors
+  - Accel/Gyro: ICM-42688-P\*2(Version1), BMI270\*2(Version2)
+  - Mag: IST8310
+  - Barometer: DPS310(Version1),SPL06(Version2)
+
+### Interfaces
+
+- 15x PWM Servo Outputs
+- 1x Dedicated S.Bus Input
+- 3x TELEM Ports
+- 1x SERIAL4 Port
+- 2x GPS Ports
+- 1x USB Port (TYPE-C)
+- 3x I2C Bus Ports
+- 2x CAN Ports
+- 2x Power Input Ports
+  - ADC Power Input
+  - DroneCAN/UAVCAN Power Input
+- 2x Dedicated Debug Port
+  - FMU Debug
+  - IO Debug
+
+## Purchase Channels
+
+Order from [X-MAV](https://www.x-mav.cn/).
+
+## Radio Control
+A Radio Control (RC) system is required if you want to manually control your vehicle (PX4 does not require a radio system for autonomous flight modes).
+
+You will need to select a compatible transmitter/receiver and then bind them so that they communicate (read the instructions that come with your specific transmitter/receiver).
+
+SBUS receivers connect to the SBUS-IN input port.
+CRSF receiver must be wired to a spare port (UART) on the Flight Controller. Then you can bind the transmitter and receiver together.
+
+## Serial Port Mapping
+
+| UART   | Device     | Port          |
+| ------ | ---------- | ------------- |
+| USART1 | /dev/ttyS0 | GPS           |
+| USART2 | /dev/ttyS1 | GPS2          |
+| USART3 | /dev/ttyS2 | TELEM1        |
+| UART4  | /dev/ttyS3 | TELEM2        |
+| UART7  | /dev/ttyS4 | TELEM3        |
+| UART8  | /dev/ttyS5 | SERIAL4       |
+
+## PWM Output
+
+The AP-H743-R1 flight controller supports up to 15 PWM outputs.
+The first 8 outputs (labelled M1 to M8) are controlled by a dedicated STM32F103 IOMCU controller.
+The remaining 7 outputs (labelled A1 to A7) are the "auxiliary" outputs.
+These are directly attached to the STM32H743 FMU controller .
+
+The 15 PWM outputs are:
+
+M1 - M8 are connected to the IOMCU.
+A1 - A7 are connected to the FMU.
+
+M1 - M8 support DShot and are in 3 groups:
+
+- M1, M2 in group 1
+- M3, M4 in group 2
+- M5, M6, M7, M8 in group 3
+
+The 7 FMU PWM outputs are in 3 groups:
+
+- A1 - A4 are in one group.
+- A5, A6 are in a 2nd group.
+- A7 is in a 3nd group.
+
+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.
+
+### Electrical data
+
+- Voltage Ratings:
+  - Max input voltage: 5.4V
+  - USB Power Input: 4.75\~5.25V
+  - Servo Rail Input: 0\~9.9V
+
+## Battery Monitoring
+
+The board has connectors for 2 power monitors.
+
+- POWER1 -- ADC
+- POWER2 -- DroneCAN
+
+The board is configure by default for a analog power monitor, and also has DroneCAN power monitor configured which is enabled.
+
+## Building Firmware
+
+To [build PX4](../dev_setup/building_px4.md) for this target, execute:
+
+```sh
+make x-mav_ap-h743r1_default
+```
+
+## Pinouts and Size
+
+![AP-H743-R1 pinouts](../../assets/flight_controller/x-mav_ap-h743r1/ap-h743r1-pinouts.png)
+
+![AP-H743-R1](../../assets/flight_controller/x-mav_ap-h743r1/ap-h743r1-size.png)
+
+## Supported Platforms / Airframes
+
+Any multirotor/airplane/rover or boat that can be controlled using normal RC servos or Futaba S-Bus servos.
+The complete set of supported configurations can be found in the [Airframe Reference](../airframes/airframe_reference.md).
+
+## Debug Port
+
+### SWD
+The [SWD interface](../debug/swd_debug.md) operate on the **FMU-DEBUG** port (`FMU-DEBUG`).
+
+The debug port (`FMU-DEBUG`) uses a [JST SM04B-GHS-TB](https://www.digikey.com/en/products/detail/jst-sales-america-inc/SM04B-GHS-TB/807788) connector and has the following pinout:
+
+| Pin     | Signal         | Volt  |
+| ------- | -------------- | ----- |
+| 1 (red) | 5V+            | +5V   |
+| 2 (blk) | FMU_SWDIO      | +3.3V |
+| 3 (blk) | FMU_SWCLK      | +3.3V |
+| 4 (blk) | GND            | GND   |