# AP-H743-R1 Flight Controller
::: warning
PX4 does not manufacture this (or any) autopilot.
:::
The AP-H743-R1 is an advanced autopilot manufactured by X-MAV®.
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.
::: 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: QMC5883P
- Barometer: SPL06
### 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 {#store}
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 3rd 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
## 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 {#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 |