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# AP-H743-R1
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<Badge type="tip" text="main (planned for: PX4 v1.17)" />
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:::warning
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PX4 does not manufacture this (or any) autopilot.
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:::
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The AP-H743-R1 is an advanced autopilot manufactured by X-MAV<sup>®</sup>.
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The autopilot is recommended for commercial system integration, but is also suitable for academic research and any other applications.
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It brings you ultimate performance, stability, and reliability in every aspect.
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:::info
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이 비행 컨트롤러는 [제조업체에서 지원](../flight_controller/autopilot_manufacturer_supported.md)합니다.
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:::
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### Processors & Sensors
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- FMU Processor: STM32H743VIT6
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- 32 Bit Arm® Cortex®-M7, 480MHz, 2MB flash memory, 1MB RAM
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- IO Processor: STM32F103
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- 32 Bit Arm® Cortex®-M3, 72MHz, 20KB SRAM
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- 내장 센서 :
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- Accel/Gyro: ICM-42688-P\*2(Version1), BMI270\*2(Version2)
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- 자력계: IST8310
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- Barometer: DPS310(Version1),SPL06(Version2)
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### 인터페이스
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- 15x PWM Servo Outputs
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- 1x Dedicated S.Bus Input
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- 3x TELEM Ports
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- 1x SERIAL4 Port
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- 2x GPS Ports
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- 1x USB Port (TYPE-C)
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- 3x I2C Bus Ports
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- 2x CAN Ports
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- 2x Power Input Ports
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- ADC Power Input
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- DroneCAN/UAVCAN Power Input
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- 2x Dedicated Debug Port
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- FMU Debug
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- IO 디버그
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## Purchase Channels
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Order from [X-MAV](https://www.x-mav.cn/).
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## 무선 조종
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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).
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기체와 조종자가 통신하기 위하여 송신기와 수신기를 바인딩하여야 합니다.
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송신기와 수신기의 매뉴얼을 참고하십시오.
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SBUS receivers connect to the SBUS-IN input port.
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CRSF receiver must be wired to a spare port (UART) on the Flight Controller. Then you can bind the transmitter and receiver together.
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## 시리얼 포트 매핑
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| UART | 장치 | 포트 |
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| ------ | ---------- | ------- |
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| USART1 | /dev/ttyS0 | GPS |
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| USART2 | /dev/ttyS1 | GPS2 |
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| USART3 | /dev/ttyS2 | TELEM1 |
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| UART4 | /dev/ttyS3 | TELEM2 |
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| UART7 | /dev/ttyS4 | TELEM3 |
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| UART8 | /dev/ttyS5 | SERIAL4 |
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## PWM Output
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The AP-H743-R1 flight controller supports up to 15 PWM outputs.
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The first 8 outputs (labelled M1 to M8) are controlled by a dedicated STM32F103 IOMCU controller.
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The remaining 7 outputs (labelled A1 to A7) are the "auxiliary" outputs.
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These are directly attached to the STM32H743 FMU controller .
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The 15 PWM outputs are:
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M1 - M8 are connected to the IOMCU.
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A1 - A7 are connected to the FMU.
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M1 - M8 support DShot and are in 3 groups:
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- M1, M2 in group 1
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- M3, M4 in group 2
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- M5, M6, M7, M8 in group 3
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The 7 FMU PWM outputs are in 3 groups:
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- A1 - A4 are in one group.
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- A5, A6 are in a 2nd group.
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- A7 is in a 3nd group.
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Channels within the same group need to use the same output rate.
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If any channel in a group uses DShot then all channels in the group need to use DShot.
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### Electrical data
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- Voltage Ratings:
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- Max input voltage: 5.4V
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- USB Power Input: 4.75\~5.25V
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- Servo Rail Input: 0\~9.9V
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## Battery Monitoring
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The board has connectors for 2 power monitors.
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- POWER1 -- ADC
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- POWER2 -- DroneCAN
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The board is configure by default for a analog power monitor, and also has DroneCAN power monitor configured which is enabled.
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## 펌웨어 빌드
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To [build PX4](../dev_setup/building_px4.md) for this target, execute:
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```sh
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make x-mav_ap-h743r1_default
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```
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## Pinouts and Size
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## 지원 플랫폼 및 기체
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Any multirotor/airplane/rover or boat that can be controlled using normal RC servos or Futaba S-Bus servos.
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The complete set of supported configurations can be found in the [Airframe Reference](../airframes/airframe_reference.md).
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## 디버그 포트
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### SWD
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The [SWD interface](../debug/swd_debug.md) operate on the **FMU-DEBUG** port (`FMU-DEBUG`).
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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:
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| 핀 | 신호 | 전압 |
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| ------------------------- | ------------------------------ | --------------------- |
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| 1(red) | 5V+ | +5V |
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| 2 (흑) | FMU_SWDIO | +3.3V |
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| 3 (흑) | FMU_SWCLK | +3.3V |
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| 4 (흑) | GND | GND |
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