F405-VTOL
Matek F405-VTOL Flightcontroller F405 Ardupilot, INAV - Übersichtsseite
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Matek F405-VTOL Flightcontroller F405 Ardupilot, INAV,
STM32F405RGT6, ICM42688P, SPL06, OSD, VTOL PDB, 6xUARTs, 12x PWM,1xI2C
Specifications
MCU: STM32F405RGT6, 168MHz , 1MB Flash
IMU: ICM42688-P
Baro: SPL06-001
OSD: AT7456E
Blackbox: MicroSD card slot
6x UARTs, 1x Softserial_Tx option(INAV)
12x PWM outputs
1x I2C
4x ADC (VBAT, Current, RSSI, Airspeed)
1x spare PINIO
USB/Beep Extender with Type-C(USB2.0)
Built in inverter on UART2-RX for SBUS input
Switchable Dual Camera Input
FC Firmware
ArduPilot: MatekF405-TE
INAV: MATEKF405TE_SD (INAV 5.0 or newer)
PDB
Input voltage range: 6.8~30V (2~6S LiPo)
Sense resistor: 100A continuous, 220A peak
5x ESC power pads, total 100A continuous
Support continuous load of up to 100A on ESC pad near the current sensor resistor
Support continuous load of up to 30A & peak of 50A on each ESC pad of Quadcopter
Battery Voltage divider 1K:20K (Scale 2100 in INAV, BATT_VOLT_MULT 21.0 in ArduPilot)
Current Senor: 220A, 3.3V ADC (Scale 150 in INAV, 66.7 A/V in ArduPilot)
BEC 5V output
Designed for Flight controller, Receiver, OSD, Camera, Buzzer, 2812 LED_Strip, Buzzer, GPS module, AirSpeed
Continuous current: 2 Amps
BEC 9V /12V output
Designed for Video Transmitter, Camera, Gimbal ect.
Continuous current: 2 Amps
12V option with Jumper pad
for stable 9V/12V output, input voltage should > output voltage +1V
BEC Vx output
Designed for Servos
Voltage adjustable, 5V Default, 6V or 7.2V via jumper
Continuous current: 8 Amps, 10A Peak
for stable Vx output, input voltage should > Vx voltage +1V
BEC 3.3V output
Designed for Baro / Compass module and external 3.3V peripherals
Linear Regulator
Continuous current: 200mA
Physical
Mounting: 25 x 25mm-Φ2mm, 35 x 35mm- Φ4mm
Dimensions: 45 x 42 x 15mm
Weight: 25g w/ USB/buzzer adapter
Including
1x F405-VTOL
1x USB(Type-C)/Beep (Passive buzzer) Extender + 20cm JST-SH-6P to JST-SH-6P cable for USB extender.
1x 20cm JST-GH-4P to JST-GH-4P cable for I2C port
1x Rubycon ZLH 35V 470uF capacitor
Dupont 2.54 pins (Board is shipped unsoldered)
INAV mapping
INAV MultiRotor | INAV Plane | ||||
PWM | S1 | 5 V tolerant I/O | TIM8_CH4 | Motor | Motor |
S2 | 5 V tolerant I/O | TIM8_CH3 | Motor | Motor | |
S3 | 5 V tolerant I/O | TIM1_CH3N | Motor | Servo | |
S4 | 5 V tolerant I/O | TIM1_CH1 | Motor | Servo | |
S5 | 5 V tolerant I/O | TIM2_CH4 | Motor | Servo | |
S6 | 5 V tolerant I/O | TIM2_CH3 | Motor | Servo | |
S7 | 5 V tolerant I/O | TIM2_CH2 | Motor | Servo | |
S8 | 5 V tolerant I/O | TIM2_CH1 | Motor | Servo | |
S9 | 5 V tolerant I/O | TIM12_CH1 | Servo | Servo | |
S10 | 5 V tolerant I/O | TIM13_CH1 | Servo | Servo | |
S11 | 5 V tolerant I/O | TIM4_CH1 | Servo | Servo | |
LED | 5 V tolerant I/O | TIM3_CH4 | 2812LED | 2812LED | |
ADC | Vbat Pad | 1K:20K divider builtin 0~30V | Vbat ADC ADC_CHANNEL_1 | INAV voltage scale 2100 | |
Curr pad | 0~3.3V | Current ADC ADC_CHANNEL_2 | scale 150 | ||
RSSI Pad | 0~3.3V | RSSI ADC ADC_CHANNEL_3 | Analog RSSI | ||
AirS Pad | no divider builtin 0~3.3V | AirS ADC ADC_CHANNEL_4 | Analog Airspeed | ||
I2C | I2C1 | 5V tolerant I/O | Compass | QMC5883 / HMC5883 /MAG3110 / LIS3MDL | |
OLED | 0.96″ | ||||
onboard Barometer | SPL06-001 | ||||
Digital Airspeed sensor | MS4525 | ||||
Temperature sensor | |||||
UART 5V tolerant I/O | USB | USB | |||
TX1 RX1 | 5V tolerant I/O | UART1 | USER | ||
TX3 RX3 | UART3 | USER | |||
TX4 RX4 | UART4 | USER | |||
TX5 RX5 | UART5 | USER | |||
TX6 RX6 | UART6 | USER | |||
TX2 RX2 SBUS | 5V tolerant I/O | UART2 | RC input/Receiver | ||
Sbus pad | for SBUS receiver, Sbus pad = RX2+inverter | ||||
RX2 pad | IBUS/DSM/PPM | ||||
TX2 & RX2 | CRSF | ||||
TX2 pad | SmartPort Telemetry | enable Softserial_Tx1 | |||
TX2 pad | FPORT, uninverted S.Port/F.Port signal (hacked) | ||||
TX2 pad | SRXL2 |
PINIO
PINIO1 /PIO1 pad, Low Level by default, Low/High level switchable by Mode-USER1
PINIO2 is for camera input switch by Modes-USER2
Tips
F405-VTOL has INAV fw preloaded for QC
Download INAV (Target MATEKF405TE_SD) fw 5.x or newer directly from INAV configurator 5.x or newer.
ArduPilot mapping
ArduPilot | |||||
PWM 5V tolerant I/O | S1 | PWM1 GPIO50 | TIM8_CH4 | DMA/DShot | Group1 |
S2 | PWM2 GPIO51 | TIM8_CH3 | DMA/DShot | ||
S3 | PWM3 GPIO52 | TIM1_CH3N | DMA/DShot | Group2 | |
S4 | PWM4 GPIO53 | TIM1_CH1 | DMA/DShot | ||
S5 | PWM5 GPIO54 | TIM2_CH4 | DMA/DShot | Gourp3 | |
S6 | PWM6 GPIO55 | TIM2_CH3 | DMA/DShot | ||
S7 | PWM7 GPIO56 | TIM2_CH2 | DMA/DShot | ||
S8 | PWM8 GPIO57 | TIM2_CH1 | DMA/DShot | ||
S9 | PWM9 GPIO58 | TIM12_CH1 | NO DMA | Gourp4 | |
S10 | PWM10 GPIO59 | TIM13_CH1 | NO DMA | Gourp5 | |
S11 | PWM11 GPIO60 | TIM4_CH1 | NO DMA | Gourp6 | |
LED pad | PWM12 GPIO61 | TIM3_CH4 | DMA/DShot | Gourp7 | |
SERVO12_FUNCTION 120, NTF_LED_TYPES neopixel | |||||
Mixing Dshot and normal PWM operation for outputs is restricted into groups, ie. enabling Dshot for an output in a group requires that ALL outputs in that group be configured and used as Dshot, rather than PWM outputs. If servo and motor are mixed in same group, make sure this group run lowest PWM frequency according to the servo specification. ie. Servo supports Max. 50Hz, ESC must run at 50Hz in this group. | |||||
ADC | Vbat Pad | 1K:20K divider builtin 0~30V | Vbat ADC onboard battery voltage | BATT_VOLT_PIN BATT_VOLT_MULT | 14 21.0 |
Curr pad | 0~3.3V | current sensor ADC onboard current sense | BATT_CURR_PIN BATT_AMP_PERVLT | 15 66.7 | |
RSSI Pad | 0~3.3V | RSSI ADC Analog RSSI | RSSI_ANA_PIN RSSI_TYPE | 8 2 | |
AirS Pad | no divider builtin 0~3.3V | AirS ADC Analog Airspeed | ARSPD_PIN ARSPD_TYPE | 10 2 | |
I2C | I2C1 | 5V tolerant I/O | Compass | COMPASS_AUTODEC | 1 |
onboard Baro SPL06-001 | Address | 0x76 | |||
Digital Airspeed I2C MS4525 DLVR-L10D | ARSPD_BUS ARSPD_TYPE ARSPD_TYPE | 1 1 9 | |||
UART 5V tolerant I/O | USB | USB | console | SERIAL0 | |
TX1 RX1 | USART1 | with DMA | telem1 | SERIAL1 | |
TX3 RX3 | USART3 | NO DMA | telem2 | SERIAL2 | |
TX5 RX5 | UART5 | NO DMA | GPS1 | SERIAL3 | |
TX4 RX4 | UART4 | NO DMA | DJI OSD | SERIAL4 | |
TX6 RX6 | USART6 | TX6 with DMA | USER | SERIAL5 | |
TX2 RX2 SBUS | USART2 | with DMA | RC input/Receiver | SERIAL6 | |
RX2 | IBUS/DSM/PPM | BRD_ALT_CONFIG 0 Default | |||
Sbs pad | SBUS | ||||
TX2 & RX2 | CRSF | BRD_ALT_CONFIG 1 SERIAL6_PROTOCOL 23 | SERIAL6_OPTIONS 0 | ||
TX2 | uninverted FPort (hacked) | SERIAL6_OPTIONS 4 | |||
TX2 | SRXL2 | SERIAL6_OPTIONS 4 |
set LOG_BACKEND_TYPE = 1 (File) for SD card logging
If sending highspeed serial data (eg. 921600 baud) to the board, use USART1(Serial1) or USART2(Serial6).
Frsky Smartport Telemetry
non-inverted (hacked) S.Port signal
any spare Uart_TX
SERIALx_BAUD 57
SERIALx_OPTIONS 7
SERIALx_PROTOCOL 4 or 10(for yaapu)
DJI FPV OSD (ArduPilot 4.1)
https://ardupilot.org/plane/docs/common-msp-osd-overview.html
OSD_TYPE = 3
SERIALx_PROTOCOL = 33
MSP_OPTIONS = 0 (polling mode)
Relay(PINIO)
PINIO1, PIO1 pad, Low Level by default
PINIO2, Camera switch, C1 ON by default
# GPIOs
PA4 PINIO1 OUTPUT GPIO(81) LOW //PIO1 pad
PB5 PINIO2 OUTPUT GPIO(82) LOW //camera switch
# RCx_OPTION: RC input option
28 Relay On/Off
34 Relay2 On/Off
35 Relay3 On/Off
36 Relay4 On/Off
e.g.
RELAY_PIN 81 //PIO1 GPIO
RC7_OPTION 28 //Relay On/Off, Use CH7 of Transmitter to control PIO1 Low/High Level
RELAY_PIN2 82 //Camera switch GPIO
RC8_OPTION 34 //Relay2 On/Off, Use CH8 of Transmitter to control high/low level on PB5 pad
The configured feature will be triggered when the auxiliary switch’s pwm value becomes higher than 1800. It will be deactivated when the value falls below 1200.
Check the pwm value sent from the transmitter when the switch is high and low using the Mission Planner’s Initial Setup >> Mandatory Hardware >> Radio Calibration screen. If it does not climb higher than 1800 or lower than 1200, it is best to adjust the servo end points in the transmitter.
Tips
F405-VTOL has INAV fw preloaded for QC
Target MATEKF405TE_SD is not listed in INAV configurator 4.x.x, It is supported by INAV5.0 or newer
ArduPilot fw, set LOG_BACKEND_TYPE = 1 (File) for SD card logging
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