H7A3-WING
Artikelnr.: PM-7221 | HAN: H7A3-WING
_x000D_* MCU: STM32H7A3RIT6, 280MHz Cortex-M7, 1.4MB RAM, 2MB Flash _x000D_* IMU: ICM42688P _x000D_* Baro: SPL06-001 _x000D_* OSD: AT7456E _x000D_* Blackbox: MicroSD socket _x000D_* I2C digital power monitor _x000D_ _x000D_
_x000D_* 6x Uarts (1,2,3,4, 5, 6) with built-in inversion. _x000D_* 11x PWM outputs _x000D_* 1x I2C _x000D_* 1x CAN _x000D_* 4x ADC (VBAT, Current, VB2, Cur2) _x000D_* 3x LEDs for FC STATUS (Blue, Red) and 3.3V indicator(Red) _x000D_* USB/Beep Extender with Type-C(USB2.0) _x000D_* 2x JST-GH1.25_4pin connector for CAN and I2C _x000D_ _x000D_
_x000D_* 9V/12V output ON/OFF switchable _x000D_ _x000D_
_x000D_* Digital video OSD is supported by any spare UART _x000D_ _x000D_
Regulators
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_x000D_* Vbat Input: 930V (36S LiPo) _x000D_* BEC 5V/4v5: 2.5A cont. /3A peak _x000D_* BEC 9V/12V: 2A cont. /3A peak _x000D_* BEC Vx: 8A cont. /12A Peak, output 5V Default, 6V or 7.2V option. _x000D_* LDO 3.3V: Max.200mA _x000D_ _x000D_
I2C digital power monitor
_x000D_
_x000D_* No calibration required. _x000D_* Current sensing resistor: 0.00025 ohm _x000D_* Load current on current sensing resistor: 100A(Continuous), 164A(Burst) _x000D_* Voltage accuracy: ± 0.1% _x000D_* Current accuracy: ± 2% _x000D_* INA2xx I2C address: 0x45 (69) _x000D_ _x000D_
_x000D_* Parameters_x000D_ _x000D_+ BATT_MONITOR ->21 (INA2xx) _x000D_+ BATT_SHUNT -> 0.00025 _x000D_+ BATT_MAX_AMPS -> 164 _x000D_+ BATT_I2C_BUS -> 0 default _x000D_+ BATT_I2C_ADDR -> 0 default (or 69) _x000D__x000D_ _x000D_ _x000D_
FC Firmware
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_x000D_* ArduPilot: MATEKH7A3 (4.6 or newer) _x000D_* ArduPlane https://firmware.ardupilot.org/Plane/beta/MatekH7A3/ _x000D_* ArduCopter https://firmware.ardupilot.org/Copter/beta/MatekH7A3/ _x000D_* Flashing with STM32CubeProgrammer _x000D_ _x000D_
Physical
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_x000D_* Mounting: 30.5 x 30.5mm, F4mm with Grommets F3mm _x000D_* Dimensions: 54 x 36 x 13 mm _x000D_* Weight: 30g with USB extender _x000D_ _x000D_
Including
_x000D_
_x000D_* 1x H7A3-WING _x000D_* 1x USB(Type-C)/Beep (Passive buzzer) Extender with 6pin cable _x000D_* 1x 20cm JST-SH-6P to JST-SH-6P cable for USB extender. _x000D_* 2x 20cm JST-GH-4P to JST-GH-4P cable for CAN & I2C port _x000D_* 1x Rubycon ZLH 35V 470uF capacitor _x000D_* Dupont 2.54 pins (Board is shipped unsoldered) _x000D_ _x000D_ _x000D_
Layout
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ArduPilot mapping
_x000D__x000D_| | | | | | | | | --- | --- | --- | --- | --- | --- | --- | |_x000D_ ArduPilot | | | | | | |_x000D_ _x000D_|_x000D_ PWM |_x000D_ S1 |_x000D_ PWM1 GPIO50 |_x000D_ 5 V tolerant I/O |_x000D_ TIM1_CH2 |_x000D_ DMA/Bi-DShot |_x000D_ Group1 |_x000D_ _x000D_|_x000D_ S2 |_x000D_ PWM2 GPIO51 |_x000D_ 5 V tolerant I/O |_x000D_ TIM1_CH3 |_x000D_ DMA/Bi-DShot |_x000D_ _x000D_|_x000D_ S3 |_x000D_ PWM3 GPIO52 |_x000D_ 5 V tolerant I/O |_x000D_ TIM2_CH1 |_x000D_ DMA/Bi-DShot |_x000D_ Group2 |_x000D_ _x000D_|_x000D_ S4 |_x000D_ PWM4 GPIO53 |_x000D_ 5 V tolerant I/O |_x000D_ TIM2_CH2 |_x000D_ DMA/Bi-DShot |_x000D_ _x000D_|_x000D_ S5 |_x000D_ PWM5 GPIO54 |_x000D_ 5 V tolerant I/O |_x000D_ TIM3_CH3 |_x000D_ DMA/Bi-DShot |_x000D_ Group3 |_x000D_ _x000D_|_x000D_ S6 |_x000D_ PWM6 GPIO55 |_x000D_ 5 V tolerant I/O |_x000D_ TIM3_CH4 |_x000D_ DMA/Bi-DShot |_x000D_ _x000D_|_x000D_ S7 |_x000D_ PWM7 GPIO56 |_x000D_ 5 V tolerant I/O |_x000D_ TIM3_CH1 |_x000D_ DMA/Bi-DShot |_x000D_ _x000D_|_x000D_ S8 |_x000D_ PWM8 GPIO57 |_x000D_ 5 V tolerant I/O |_x000D_ TIM3_CH2 |_x000D_ DMA/Bi-DShot |_x000D_ _x000D_|_x000D_ S9 |_x000D_ PWM9 GPIO58 |_x000D_ 5 V tolerant I/O |_x000D_ TIM4_CH1 |_x000D_ DMA/DShot |_x000D_ Group4 |_x000D_ _x000D_|_x000D_ S10 |_x000D_ PWM10 GPIO59 |_x000D_ 5 V tolerant I/O |_x000D_ TIM4_CH2 |_x000D_ DMA/DShot |_x000D_ _x000D_|_x000D_ S11 |_x000D_ PWM11 GPIO60 |_x000D_ 5 V tolerant I/O |_x000D_ TIM16_CH1 |_x000D_ DMA/DShot |_x000D_ Group5 |_x000D_ _x000D_|_x000D_ PWM1PWM11 are Dshot and PWM capable. However, mixing Dshot and normal PWM operation for outputs is restricted into groups, _x000D_ 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. _x000D_ If servo and motor are mixed in same group, make sure this group run lowest PWM frequency according to the servo specification. _x000D_ That is to say. If Servo support Max. 50Hz, ESC must run at 50Hz in this group. | | | | | |_x000D_ _x000D_|_x000D_ PINIO |_x000D_ 9V switch |_x000D_ GPIO81 |_x000D_ |_x000D_ RELAY1_PIN | |_x000D_ 81 |_x000D_ _x000D_|_x000D_ ADC |_x000D_ Vbat pad |_x000D_ BATT_VOLTAGE_SENS |_x000D_ 036V |_x000D_ BATT_VOLT_PIN _x000D_ BATT_VOLT_MULT | |_x000D_ 10 _x000D_ 21.0 |_x000D_ _x000D_|_x000D_ Curr pad |_x000D_ BATT_CURRENT_SENS |_x000D_ 03.3V |_x000D_ BATT_CURR_PIN _x000D_ BATT_AMP_PERVLT | |_x000D_ 11 _x000D_ X |_x000D_ _x000D_|_x000D_ VB2 Pad |_x000D_ BATT2_VOLTAGE_SENS |_x000D_ 069V |_x000D_ BATT2_VOLT_PIN _x000D_ BATT2_VOLT_MULT | |_x000D_ 18 _x000D_ 21.0 |_x000D_ _x000D_|_x000D_ CU2 Pad |_x000D_ BATT2_CURRENT_SENS |_x000D_ 0~3.3V |_x000D_ BATT2_CURR_PIN _x000D_ BATT2_AMP_PERVLT | |_x000D_ 8 _x000D_ X |_x000D_ _x000D_|_x000D_ I2C |_x000D_ SCL/SDA |_x000D_ I2C3 |_x000D_ 5V tolerant I/O |_x000D_ on board Baro SPL06-001 |_x000D_ I2C Address |_x000D_ 0x76 |_x000D_ _x000D_|_x000D_ on board Baro INA2XX |_x000D_ I2C Address |_x000D_ 0x45 |_x000D_ _x000D_|_x000D_ Digital Airspeed I2C _x000D_ MS4525 _x000D_ DLVR-L10D |_x000D_ ARSPD_BUS _x000D_ ARSPD_TYPE _x000D_ ARSPD_TYPE |_x000D_ 0 _x000D_ 1 _x000D_ 9 |_x000D_ _x000D_|_x000D_ Magnetometer |_x000D_ COMPASS_AUTODEC |_x000D_ 1 |_x000D_ _x000D_|_x000D_ CAN |_x000D_ C-H/C-L |_x000D_ CAN2 |_x000D_ 5V tolerant I/O |_x000D_ CAN |_x000D_ CAN_D1_PROTOCOL _x000D_ CAN_P1_DRIVER |_x000D_ 1 _x000D_ 1 |_x000D_ _x000D_|_x000D_ CAN GPS _x000D_ CAN Compass _x000D_ CAN Airspeed sensor |_x000D_ GPS_TYPE _x000D_ COMPASS_TYPEMASK _x000D_ ARSPD_TYPE |_x000D_ 9 _x000D_ 0 _x000D_ 8 |_x000D_ _x000D_|_x000D_ UART |_x000D_ USB |_x000D_ USB |_x000D_ |_x000D_ console |_x000D_ SERIAL0_PROTOCOL |_x000D_ 2 |_x000D_ _x000D_|_x000D_ TX1 RX1 |_x000D_ USART1 w/DMA |_x000D_ 5 V tolerant I/O |_x000D_ Telemetry |_x000D_ SERIAL1_PROTOCOL |_x000D_ 2 |_x000D_ _x000D_|_x000D_ TX2 RX2 |_x000D_ USART2 w/DMA |_x000D_ 5 V tolerant I/O |_x000D_ RC input/Receiver |_x000D_ SERIAL2_PROTOCOL |_x000D_ 23 |_x000D_ _x000D_|_x000D_ TX3 RX3 |_x000D_ USART3 w/DMA |_x000D_ 5 V tolerant I/O |_x000D_ GPS |_x000D_ SERIAL3_PROTOCOL |_x000D_ 5 |_x000D_ _x000D_|_x000D_ TX4 RX4 |_x000D_ UART4 w/o DMA |_x000D_ 5 V tolerant I/O |_x000D_ Spare |_x000D_ SERIAL4_PROTOCOL |_x000D_ -1 |_x000D_ _x000D_|_x000D_ TX5 RX5 |_x000D_ UART5 w/o DMA |_x000D_ 5 V tolerant I/O |_x000D_ Spare |_x000D_ SERIAL5_PROTOCOL |_x000D_ -1 |_x000D_ _x000D_|_x000D_ TX6 RX6 |_x000D_ USART6 w/o DMA |_x000D_ 5 V tolerant I/O |_x000D_ Spare |_x000D_ SERIAL6_PROTOCOL |_x000D_ -1 |_x000D_ _x000D__x000D_
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RC INPUT
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RC input is configured on the USART2(SERIAL2). It supports all serial RC protocols. SERIAL2_PROTOCOL=23 by default.
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_x000D_* PPM is not supported. _x000D_* CRSF requires Tx2 & Rx2 connection, and set SERIAL2_OPTIONS to “0” (default). _x000D_* SBUS/DSM/SRXL connects to the Rx2 pin, but SBUS requires that the SERIAL2_OPTIONS be set to “3”. _x000D_* FPort requires connection to Tx2, and set SERIAL2_OPTIONS to “7”. If Telemetry doesn’t work, try set SERIAL7_OPTIONS = 135. _x000D_* SRXL2 requires a connection to Tx2, and automatically provides telemetry. Set SERIAL2_OPTIONS to “4”. _x000D_* Any UART can be used for RC system connections in ArduPilot also, and is compatible with all protocols except PPM. See Radio Control Systems for details. _x000D_ _x000D__x000D_
ArduPilot Relay(PINIO)
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_x000D_* 9V/12V output ON by default _x000D_ _x000D_
_x000D_* RELAY1_FUNCTION 1 _x000D_* RELAY1_PIN 81 // PINIO1 GPIO _x000D_* RC7_OPTION 28 //Relay1 On/Off, Use CH7 of Transmitter to set 9V/12V ON/OFF _x000D_ _x000D_
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.
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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.
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Tips & Notes
_x000D_* set LOG_BACKEND_TYPE = 1 (File) for SD card logging. _x000D_* set BATT_MONITOR = 21 , BATT_SHUNT = 0.00025, BATT_MAX_AMPS = 164 for using the built-in I2C digital power monitor. _x000D_ _x000D_
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