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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