PX4-Autopilot/docs/uk/flight_controller/x-mav_ap-h743r1.md

AP-H743-R1 Flight Controller

:::warning PX4 не розробляє цей (або будь-який інший) автопілот. :::

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. :::

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
• Сенсори на платі
  • Accel/Gyro: ICM-42688-P*2(Version1), BMI270*2(Version2)
  • Mag: QMC5883P
  • Barometer: DPS310(Version1),SPL06(Version2)

Інтерфейси

• 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.

Радіоуправління

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).

Вам буде потрібно вибрати сумісний передавач/приймач та потім зв'язати їх, щоб вони взаємодіяли (прочитайте інструкції, що додаються до вашого конкретного передавача/приймача).

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.

Налаштування послідовного порту

UART	Пристрій	Порт
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.

Електричні дані

• Номінальна напруга:
  • Max input voltage: 5.4V
  • Вхід USB Power: 4.75~5.25V
  • Вхід на серворейку: 0~9.9В

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.

Збірка прошивки

To build PX4 for this target, execute:

make x-mav_ap-h743r1_default

Pinouts and Size

Підтримувані платформи / Конструкції

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.

Debug Port

SWD

The SWD interface operate on the FMU-DEBUG port (FMU-DEBUG).

The debug port (FMU-DEBUG) uses a JST SM04B-GHS-TB connector and has the following pinout:

Pin	Сигнал	Вольтаж
1 (red)	5V+	+5V
2 (blk)	FMU_SWDIO	+3.3V
3 (blk)	FMU_SWCLK	+3.3V
4 (blk)	GND	GND