H743-WLITE
Matek H743-WLITE STM32H7 Flightcontroller 480Mhz, Ardupilot CAN BUS - Übersichtsseite
Last updated
Matek H743-WLITE STM32H7 Flightcontroller 480Mhz, Ardupilot CAN BUS - Übersichtsseite
Last updated
STM32H743VIH6, ICM42688-P, DPS310, OSD, 7x UARTs, 1x CAN, 2x I2C, 12x PWM outputs, 3x BEC
FC Specifications
MCU: STM32H743VIH6, 480MHz , 512KB RAM, 2MB Flash
IMU: ICM42688-P
Baro: DPS310 (I2C2)
OSD: AT7456E
Blackbox: MicroSD card slot (SDIO)
7x Uarts (1,2,3,4,6,7,8) with built-in inversion.
13x PWM outputs(12+LED)
6x ADC (VBAT, Current, RSSI, Analog AirSpeed, VB2, CU2)
3x LEDs for FC STATUS (Blue, Red) and 3.3V indicator(Red)
2x I2C
1x CAN
USB/Beep Extender with Type-C(USB2.0)
Dual Camera Inputs switch
9V(12V) for VTX power switch
High-precision Current Sense, 220A range
ADC VB2 voltage divider: 1K:20K
ADC AirSpeed voltage divider: 20K:20K
FC Firmware
INAV: MATEKH743
ArduPilot: MATEKH743
PDB
1x ESC power pads
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)
Sense resistor: 90A continuous, 220A peak
BEC 5V output
Designed for Flight controller, Receiver, OSD, Camera, Buzzer, 2812 LED_Strip, Buzzer, GPS module, AirSpeed
Continuous current: 2 Amps, Max.3A
BEC 9V /12V output
Continuous current: 2 Amps, Max.3A
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, Max.10A
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
Dimensions: 44 x 29 x 14.5 mm
Weight: 22g w/ USB/buzzer adapter
Including
1x H743-WLITE
1x USB(Type-C)/Beep (Passive buzzer) Extender
1x 20cm JST-SH-6P to JST-SH-6P cable for USB extender.
2x 20cm JST-GH-4P to JST-GH-4P cable for CAN & I2C port
1x Rubycon ZLH 35V 470uF capacitor
Dupont 2.54 pins (Board is shipped unsoldered)
INAV mapping
INAV
PWM
S1
PB0
5 V tolerant I/O
TIM3_CH3
Fixed Wing Motor
S2
PB1
3.3 V tolerant I/O
TIM3_CH4
S3
PA0
5 V tolerant I/O
TIM5_CH1
Fixed Wing Servo
S4
PA1
5 V tolerant I/O
TIM5_CH2
S5
PA2
5 V tolerant I/O
TIM5_CH3
S6
PA3
5 V tolerant I/O
TIM5_CH4
S7
PD12
5 V tolerant I/O
TIM4_CH1
S8
PD13
5 V tolerant I/O
TIM4_CH2
S9
PD14
5 V tolerant I/O
TIM4_CH3
S10
PD15
5 V tolerant I/O
TIM4_CH4
S11
PE5
5 V tolerant I/O
TIM15_CH1
S12
PE6
5 V tolerant I/O
TIM15_CH2
LED
PA8
5 V tolerant I/O
TIM1_CH1
2812LED
ADC
Vbat pad 1K:20K divider builtin
PC0
0~36V
Vbat ADC ADC_CHANNEL_1
scale 2100
Curr Pad
PC1
0~3.3V
Current ADC ADC_CHANNEL_2
scale 150
RSSI Pad
PC5
0~3.3V
RSSI ADC ADC_CHANNEL_3
Analog RSSI
AirS Pad 20K:20K divider builtin
PC4
0~6.6V
AirS ADC ADC_CHANNEL_4
Analog Airspeed
VB2 Pad 1K:20K divider builtin
PA4
0~69V
ADC_CHANNEL_5
scale 2100
CU2 Pad
PA7
0~3.3V
ADC_CHANNEL_6
spare
I2C
I2C1 CL1/DA1
PB6/PB7
5 V tolerant I/O
Compass
QMC5883 / HMC5883 IST8310 / IST8308 MAG3110 / LIS3MDL
OLED
0.96″
I2C2 CL2/DA2 on JST-GH-4P
PB10/PB11
5 V tolerant I/O
onboard Barometer
DPS310, Add: 0x76
Digital Airspeed sensor
MS4525
Temperature sensor
UART
USB
PA11/PA12
5 V tolerant I/O
USB
TX1 RX1
PA9/PA10
5 V tolerant I/O
USART1
telem2
TX2 RX2
PD5/PD6
5 V tolerant I/O
USART2
GPS1
TX3 RX3
PD8/PD9
5 V tolerant I/O
USART3
GPS2
TX4 RX4
PB9/PB8
5 V tolerant I/O
UART4
USER
TX6 RX6
PC6/PC7
5 V tolerant I/O
TX6 & RX6
CRSF
UART6_RX
SBUS/IBUS/DSM/PPM
UART6_TX
FPORT/SRXL2
RX7 TX7
PE7/PE8
3.3 V tolerant I/O
UART7
telem1
TX8 RX8
PE1/PE0
5 V tolerant I/O
UART8
USER
ArduPilot mapping
ArduPilot
PWM
S1
PB0
5 V tolerant I/O
PWM1 GPIO50
TIM8_CH2N
Group1
S2
PB1
3.3 V tolerant I/O
PWM2 GPIO51
TIM8_CH3N
S3
PA0
5 V tolerant I/O
PWM3 GPIO52
TIM5_CH1
Group2
S4
PA1
5 V tolerant I/O
PWM4 GPIO53
TIM5_CH2
S5
PA2
5 V tolerant I/O
PWM5 GPIO54
TIM5_CH3
S6
PA3
5 V tolerant I/O
PWM6 GPIO55
TIM5_CH4
S7
PD12
5 V tolerant I/O
PWM7 GPIO56
TIM4_CH1
Gourp3
S8
PD13
5 V tolerant I/O
PWM8 GPIO57
TIM4_CH2
S9
PD14
5 V tolerant I/O
PWM9 GPIO58
TIM4_CH3
S10
PD15
5 V tolerant I/O
PWM10 GPIO59
TIM4_CH4
S11
PE5
5 V tolerant I/O
PWM11 GPIO60
TIM15_CH1
Group4
S12
PE6
5 V tolerant I/O
PWM12 GPIO61
TIM15_CH2
LED
PA8
5 V tolerant I/O
PWM13 GPIO62
TIM1_CH1
Group5
SERVO13_FUNCTION 120, NTF_LED_TYPES neopixel
PWM1~PWM13 are Dshot and PWM capable. However, 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
PC0
0~36V
Vbat ADC onboard battery voltage sense
BATT_VOLT_PIN BATT_VOLT_MULT
10 21.0
Curr pad
PC1
0~3.3V
Current ADC onboard current sense
BATT_CURR_PIN BATT_AMP_PERVLT
11 66.7
VB2 Pad 1K:20K divider builtin
PA4
0~69V
Vbat2 ADC
BATT2_VOLT_PIN BATT2_VOLT_MULT
18 21.0
CU2 Pad
PA7
0~3.3V
Current2 ADC
BATT2_CURR_PIN BATT2_AMP_PERVLT
7 /
RSSI Pad
PC5
0~3.3V
RSSI ADC Analog RSSI
RSSI_ANA_PIN RSSI_TYPE
8 1
AirS Pad 20K:20K divider builtin
PC4
0~6.6V
AirS ADC Analog Airspeed
ARSPD_PIN ARSPD_TYPE
4 2
I2C
I2C1 CL1/DA1
PB6/PB7
5 V tolerant I/O
Compass
COMPASS_AUTODEC
1
I2C2 CL2/DA2 on JST-GH-4P
PB10/PB11
5 V tolerant I/O
on board Baro DPS310
Address
0x76
Digital Airspeed I2C MS4525 DLVR-L10D
ARSPD_BUS ARSPD_TYPE ARSPD_TYPE
0 1 9
CAN
CAN1
PD0/PD1
5 V tolerant I/O
CAN Node
CAN_D1_PROTOCOL CAN_P1_DRIVER
1 1
CAN GPS CAN Compass CAN Airspeed sensor
GPS_TYPE COMPASS_TYPEMASK ARSPD_TYPE
9 0 8
UART
USB
PA11/PA12
5 V tolerant I/O
USB
console
SERIAL0
RX7 TX7 RTS7 CTS7
PE7/8/9/10
3.3 V tolerant I/O
UART7
telem1
SERIAL1
TX1 RX1
PA9/PA10
5 V tolerant I/O
USART1
telem2
SERIAL2
TX2 RX2
PD5/PD6
5 V tolerant I/O
USART2
GPS1
SERIAL3
TX3 RX3
PD8/PD9
5 V tolerant I/O
USART3
GPS2
SERIAL4
TX8 RX8
PE1/PE0
5 V tolerant I/O
UART8
USER
SERIAL5
TX4 RX4
PB9/PB8
5 V tolerant I/O
UART4
USER
SERIAL6
TX6 RX6
PC6/PC7
5 V tolerant I/O
USART6
RC input/Receiver
SERIAL7
RX6
SBUS/IBUS/DSM/PPM
TX6
FPORT/SRXL2
RC INPUT
The Rx6 pin, which by default is mapped to a timer input, can be used for all ArduPilot supported receiver protocols, except CRSF which requires a true UART connection. However, bi-directional protocols which include telemetry, such as SRXL2 and FPort, when connected in this manner, will only provide RC without telemetry.
PPM is not supported.
–
ArduPilot Relay(PINIO)
Camera-1 and Vsw On by default
Make sure 2 cameras are set with identical video format, both PAL or both NTSC.
# GPIOs
PD10 PINIO1 OUTPUT GPIO(81) //9Vsw pad power switch
PD11 PINIO2 OUTPUT GPIO(82) //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 //9Vsw GPIO
RC7_OPTION 28 //Relay On/Off, Use CH7 of Transmitter to switch 9Vsw
RELAY_PIN2 82 //Camera switch GPIO
RC8_OPTION 34 //Relay2 On/Off, Use CH8 of Transmitter to switch camera
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.
Notes & Tips
H743-WLITE vs F765-WSE
STM32H743VIH6 vs STM32F765VIH6
RX4/TX4 vs RX5
Other components and layout are identical.
ArduPilot
220A Current sensor on H743-WLITE, , BATT_AMP_PERVLT to 66.7
1k:20k voltage divider for battery voltage sense on H743-WLITE, BATT_VOLT_MULT 21
Supported since Arduplane 4.2
INAV
220A Current sensor on H743-WLITE, set current_meter_scale = 150
1k:20k voltage divider for battery voltage sense on H743-WLITE, set vbat_scale = 2100
Starting with INAV5.0, you may download firmware directly from INAV configurator.
Others
If the ESCs you are using don’t have enough capacitors integrated, low ESR electrolytic capacitor is required for reducing ESC noise.
Input voltage range: 6.8~30V (2~6S )
Designed for Video Transmitter, Camera, ect.
To allow CRSF and embedded telemetry available in Fport, CRSF, and SRXL2 receivers, the Rx6 pin can also be configured to be used as true UART RX pin for use with bi-directional systems by setting the to “1” so it becomes the SERIAL7 port’s RX input pin.
With this option, must be set to “23”, and:
SBUS/DSM/SRXL connects to the Rx6 pin, but SBUS requires that the be set to “3”.
FPort requires connection to Tx6 and be set to “7”. If Telemetry doesn’t work, try set = 135.
CRSF also requires a Tx6 connection, in addition to Rx6, and automatically provides telemetry. Set to “0”.
SRXL2 requires a connection to Tx6 and automatically provides telemetry. Set to “4”.
Any UART can be used for RC system connections in ArduPilot also, and is compatible with all protocols except PPM. See for details.
It is recommended to use STM32CubeProgrammer to erase MCU and upload firmware. check this blog
H743-WLITE is not supported by INAV4.1 or older downloaded from configurator. pls download from our website.