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- ºê·£µå À̸§: GEMFAN
- ±Ù¿ø: CN (Á¤Ç°)
- Àç·á: º¹ÇÕ Àç·á
- Ãßõ ³ªÀÌ: 12 + y
- Ãßõ ³ªÀÌ: 18 +
- ¿ø°Ý Á¦¾î Àå³²°¨ ºÎÇ° ¹× ¾Ç¼¼»ç¸®: Flight Controller
- »ç¿ë: Â÷·® & ¿ø°Ý Á¦¾î Àå³°¨
- ¸ðµ¨ ¹øÈ£: Matek H743 MINI
- ¿ø°Ý Á¦¾î ÁÖº¯±â±â/ÀåÄ¡: Flight Controller
- Â÷·® À¯Çü: ºñÇà±â
H743-mini V1.5 ÀÇ »õ·Î¿î ±â´ÉICM20602 ´ë½Å ICM42605 »ç¿ë ÀÌÀü º¸µå ¹öÀü°ú µ¿ÀÏÇÑ ·¹À̾ƿô ¹× ±âŸ ±¸¼º ¿ä¼Ò. H743-mini V1.5 ÀÌ?Preloaded QC
ArduPilotIcm42605¸¦ °¡Áø H743-mini-V1.5 ArduPilot 4.1 ÀÌ»ó¿¡ ÀÇÇØ Áö¿øµË´Ï´Ù, Icm42605´Â ù¹ø° IMU (IMU0) ·Î Á¤Àǵ˴ϴÙ, mpu6000´Â Á¦ 2 (IMU1) ÀÔ´Ï´Ù. ArduPilot 4.1, 7 °úÅ 127 INS_ENABLE_MASK ¸¦ ³õÀ¸½Ê½Ã¿À. Stm32cubeprogrammer¸¦ »ç¿ëÇÏ¿© mcu¸¦ Áö¿ì°í Æß¿þ¾î¸¦ ¾÷·ÎµåÇÏ´Â °ÍÀÌ ÁÁ½À´Ï´Ù. ÀÌ ºí·Î±× ¾Ë·ÁÁø ¹®Á¦ ¹× ¼Ö·ç¼Ç,
INAVIMU icm42605´Â INAV3.0.2 ÀÌ»ó Áö¿øµË´Ï´Ù. Mpu6000´Â ù¹ø° IMU(IMU0, °úÅÂ), icm42605ÀÔ´Ï´Ù INAV MATEKH743 Ç¥Àû¿¡¼ 3rd IMU (IMU2) ÀÔ´Ï´Ù. IMUs. DownloadÀÇ »õ·Î¿î ICM-4 ½Ã¸®Á ½ÃµµÇÏ·Á´Â °æ¿ì MPU6000 ¸¸ ºÙÀ̸é H743-mini V1.5 ´Â configurator¿¡¼ ´Ù¿î·Îµå ÇÑ ¾ÈÁ¤ÀûÀÎ ¹öÀü 3.0. X¿Í ÇÔ²² ÀÛµ¿ÇÕ´Ï´Ù. H743 ¿ë SD Ä«µå¿Í MSC ¸ðµå´Â INAV3.x ¿¡¼ ±¸ÇöµÇÁö ¾Ê¾Ò½À´Ï´Ù. ±×µéÀº INAV4.x ÀÌ»ó¿¡ ÀÇÇØ Áö¿øµË´Ï´Ù
BetaFlightIMU icm42605´Â BetaFlight 4.2 ÀÌ»ó¿¡ ÀÇÇØ Áö¿øµË´Ï´Ù. Mpu6000Àº ù ¹ø° IMU (±âº»), icm42605´Â µÎ ¹ø° imuÀÔ´Ï´Ù. BetaFlight ¸ñ·Ï¿¡¼ ´ë»ó matekh743Àº icm42605¸¦ Áö¿øÇÏÁö ¾Ê½À´Ï´Ù IMUs. download BF Æß¿þ¾îÀÇ »õ·Î¿î ICM-4 ½Ã¸®Á ½ÃµµÇÏ·Á¸é?. ¼¼Æ® gyro_to_use = ÃÊ ÀúÀå
MPU6000 ¸¸ Ãæ½ÇÇÏ´Â °æ¿ì, H743-mini V1.5 ¿¡¼ ´Ù¿î·Îµå ÇÑ BF Æß¿þ¾î 4.3 ¿¡¼ ÀÛµ¿ configurator & 4.2. X¿¡¼ ´Ù¿î·Îµå?. ´ç½ÅÀÌ mpu6000¿¡ Ãæ½ÇÇÏ°í DPS310 ±â¾Ð°è¸¦ »ç¿ëÇÏÁö ¾Ê´Â °æ¿ì, H743-mini V1.5 ´Â ±¸¼ºÀÚ¿¡¼ ´Ù¿î·Îµå BF Æß¿þ¾î 4.2. X¿Í ÇÔ²² ÀÛµ¿ÇÕ´Ï´Ù.
FC ¸í¼¼ MCU: STM32H743VIT6, 480MHz , 1MB RAM, 2MB Ç÷¡½Ã IMU: MPU6000 (SPI1) ¹× ICM20602 (SPI4) Baro: Infineon DPS310 (I2C2) OSD: AT7456E (SPI2) Blackbox: MicroSD Ä«µå ¼ÒÄÏ (SDIO) 5.5x Uarts (1,2,4,6,7, Rx8) 11x PWM Ãâ·Â (S1 ~ S10, LED) 2x I2C (I2C1/DA1 CL1 Æеå, I2C2 ºê·¹ÀÌÅ© ¾Æ¿ô ¾øÀ½) 1x ±øÅë (C-H, C-L Æеå) 5x ADC (VBAT, ÇöÀç, RSSI, VB2, CU2) FC »óÅ (ÆĶõ»ö, »¡°£»ö) ¹× 3.3V Ç¥½Ã±â (»¡°£»ö) ¿ë 3x led 1x JST-SH1.0_8pin Ä¿³ØÅÍ (Vbat/G/Curr/Rx8/S1/S2/S3/S4) µà¾ó Ä«¸Þ¶ó ÀÔ·Â ½ºÀ§Ä¡ 8V Àü¿ø Äѱâ/²ô±â ½ºÀ§Ä¡
Àü¿øVbat ÀÔ·Â: 6.3 ~ 36V (2 ~ 8S LiPo) BEC: 5V 1.5A cont. (Max.2A) BEC: 8V 1.5A cont. (Max.2A), 8V Ãâ·Â ¾ÈÁ¤ Vbat>= 10V, 8V Ãâ·Â 80% Vbat ¶§ Vbat< 10V LDO 3.3V: 200mA VB2 Æеå´Â Ãִ븦 Áö¿øÇÕ´Ï´Ù. 69V (Àü¾Ð ºÐ¹è±â 1K:20K) Á¤Àû Àü·Â: 200mA @ 5V Betaflight, 150mA @ 5V ArduPilot
FC Æß¿þ¾î ¹°¸®Àû ÀåÂø Â÷¿ø: 36x28x6.5mm ¹«°Ô: 7g
Æ÷ÇÔ ArduPilot ¸ÅÇÎ PWM PWM1 ~ pwm13Àº dshot¿Í PWM °¡´ÉÇÕ´Ï´Ù. ±×·¯³ª, dshot¸¦ ¼¯°í »êÃâÀ» À§ÇÑ Á¤»óÀûÀÎ PWM °¡µ¿Àº ±×·ì, ie·Î Á¦Çѵ˴ϴÙ. ±×·ìÀÇ Ãâ·ÂÀ»À§ÇÑ dshotÀ» »ç¿ëÇϸé ÇØ´ç ±×·ìÀÇ ¸ðµç Ãâ·ÂÀÌ PWM Ãâ·Âº¸´Ù´Â dshot·Î ±¸¼ºµÇ°í »ç¿ëÇؾßÇÕ´Ï´Ù. ¼º¸ ¹× ¸ðÅÍ°¡ µ¿ÀÏÇÑ ±×·ì¿¡¼ È¥ÇÕµÇ¸é ¼º¸ »ç¾ç¿¡ µû¶ó °¡Àå ³·Àº PWM ÁÖÆļö¸¦ ½ÇÇàÇؾßÇÕ´Ï´Ù. Ie. ¼º¸ Áö¿ø ÃÖ´ë. 50Hz, esc´ÂÀÌ ±×·ì¿¡¼ 50hz¿¡¼ ½ÇÇàÇؾßÇÕ´Ï´Ù. | S1 | PB0 | 5 V °ü´ëÇÑ I/O | PWM1 GPIO50 | TIM8_CH2N | Group1 | S2 | PB1 | 3.3 V °ü´ëÇÑ I/O | PWM2 GPIO51 | TIM8_CH3N | S3 | PA0 | 5 V °ü´ëÇÑ I/O | PWM3 GPIO52 | TIM5_CH1 | Group2 | S4 | PA1 | 5 V °ü´ëÇÑ I/O | PWM4 GPIO53 | TIM5_CH2 | S5 | PA2 | 5 V °ü´ëÇÑ I/O | PWM5 GPIO54 | TIM5_CH3 | S6 | PA3 | 5 V °ü´ëÇÑ I/O | PWM6 GPIO55 | TIM5_CH4 | S7 | PD12 | 5 V °ü´ëÇÑ I/O | PWM7 GPIO56 | TIM4_CH1 | Gourp3 | S8 | PD13 | 5 V °ü´ëÇÑ I/O | PWM8 GPIO57 | TIM4_CH2 | S9 | PD14 | 5 V °ü´ëÇÑ I/O | PWM9 GPIO58 | TIM4_CH3 | S10 | PD15 | 5 V °ü´ëÇÑ I/O | PWM10 GPIO59 | TIM4_CH4 | ¾øÀ½ S11 ºê·¹ÀÌÅ© ¾Æ¿ô | / | / | / | / | Gourp4 | ¾øÀ½ S12 ºê·¹ÀÌÅ© ¾Æ¿ô | / | / | / | / | LED | PA8 | 5 V °ü´ëÇÑ I/O | PWM13 GPIO62 | TIM1_CH1 | Group5 | SERVO13_FUNCTION 120, NTF_LED_TYPES neopixel |
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| ADC | Æеå 1K:10K divider builtin | PC0 | 0 ~ 36V | º¸µå ¹èÅ͸® Àü¾Ð | BATT_VOLT_PIN BATT_VOLT_MULT | 10 11.0 | Æеå | PC1 | 0 ~ 3.3V | º¸µå Àü·ù ¼¾¼ | BATT_CURR_PIN BATT_AMP_PERVLT | 11 40 | VB2 Æеå 1K:20K divider builtin | PA4 | 0 ~ 69V | Vbat2 ADC | BATT2_VOLT_PIN BATT2_VOLT_MULT | 18 21.0 | CU2 Æеå | PA7 | 0 ~ 3.3V | Cur2 ADC | BATT2_CURR_PIN BATT2_AMP_PERVLT | 7 / | RSSI Æеå | PC5 | 0 ~ 3.3V | RSSI ADC ¾Æ³¯·Î±× RSSI | RSSI_ANA_PIN RSSI_TYPE | 8 1 |
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| I2C | I2C1 CL1/DA1 | PB6/PB7 | 5 V °ü´ëÇÑ I/O | µðÁöÅÐ ¼Óµµ I2C | ARSPD_BUS | 1 | MS4525 DLVR-L10D | ARSPD_TYPE | 1 9 | ³ªÄ§¹Ý | COMPASS_AUTODEC | 1 | I2C2 CL2/DA2 ºê·¹ÀÌÅ© ¾Æ¿ô ¾øÀ½ | PB10/PB11 | 5 V °ü´ëÇÑ I/O | º¸µå Baro DPS310 |
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| ¼ö | CAN1 | PD0/PD1 | 5 V °ü´ëÇÑ I/O | F103/F303 CAN ³ëµå | CAN_D1_PROTOCOL CAN_P1_DRIVER | 1 1 | GPS ¼ö | GPS_TYPE | 9 | ¼ö ³ªÄ§¹Ý | COMPASS_TYPEMASK | 0 | ¼ö ¼Óµµ ¼¾¼ | ARSPD_TYPE | 8 |
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| UART | USB | PA11/PA12 | 5 V °ü´ëÇÑ I/O | USB | ÄÜ¼Ö | SERIAL0 | RX7 TX7 RTS7 CTS7 | PE7/8/9/10 | 3.3 V °ü´ëÇÑ I/O | UART7 | Telem1 | SERIAL1 | TX1 RX1 | PA9/PA10 | 5 V °ü´ëÇÑ I/O | USART1 | Telem2 | SERIAL2 | TX2 RX2 | PD5/PD6 | 5 V °ü´ëÇÑ I/O | USART2 | GPS1 | SERIAL3 | ¾øÀ½ TX3 RX3 ºê·¹ÀÌÅ© ¾Æ¿ô | / | / | / | / | / | RX8 | PE0 | 5 V °ü´ëÇÑ I/O | UART8 | »ç¿ëÀÚ | SERIAL5 | TX4 RX4 | PB9/PB8 | 5 V °ü´ëÇÑ I/O | UART4 | »ç¿ëÀÚ | SERIAL6 | TX6 RX6 | PC6/PC7 | 5 V °ü´ëÇÑ I/O | USART6 | RC ÀÔ·Â/¼ö½Å±â | SERIAL7 | RX6 | SBUS/IBUS/DSM |
| RX6 | PPM |
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ArduPilot ¸±·¹ÀÌ (PINIO) # Gpio # RCx_OPTION: RC ÀÔ·Â ¿É¼Ç 28 ¸±·¹ÀÌ On/Off 34 Relay2 On/Off 35 Relay3 On/Off 36 relae4 On/Off
E. g. RELAY_PIN 81/8V ½ºÀ§Ä¡ GPIO RC7_OPTION 28 //¸±·¹ÀÌ On/Off, ¼Û½Å±âÀÇ ch7À» »ç¿ëÇÏ¿© Vsw Àüȯ RELAY_PIN2 82 //Ä«¸Þ¶ó ½ºÀ§Ä¡ GPIO RC8_OPTION 34/Relay2 On/Off, Ä«¸Þ¶ó¸¦ ÀüȯÇϱâ À§ÇØ ¼Û½Å±âÀÇ CH8 »ç¿ë
¶Ç´Â RELAY_PIN3 81/8V ½ºÀ§Ä¡ GPIO RC9_OPTION 35/Relay3 On/Off, ¼Û½Å±âÀÇ ch9¸¦ »ç¿ëÇÏ¿© Vsw Àüȯ RELAY_PIN4 82 //Ä«¸Þ¶ó ½ºÀ§Ä¡ GPIO RC10_OPTION 36/Relay4 On/Off, Ä«¸Þ¶ó¸¦ ÀüȯÇϱâ À§ÇØ ¼Û½Å±âÀÇ CH10 »ç¿ë
º¸Á¶ ½ºÀ§Ä¡ÀÇ pwm °ªÀÌ 1800 º¸´Ù ³ôÀ» ¶§ ±¸¼º µÈ ±â´ÉÀÌ Æ®¸®°ÅµË´Ï´Ù. °ªÀÌ 1200 ÀÌÇÏ·Î ¶³¾îÁú ¶§ ºñÈ°¼ºÈ µÉ °ÍÀÔ´Ï´Ù. ¹Ì¼Ç Ç÷¡³ÊÀÇ Ãʱ⠼³Á¤>> Çʼö Çϵå¿þ¾î>> ¶óµð¿À º¸Á¤ ȸéÀ» »ç¿ëÇÏ¿© ½ºÀ§Ä¡°¡ ³ô°í ³·À» ¶§ ¼Û½Å±â¿¡¼ º¸³½ pwm °ªÀ» È®ÀÎÇϽʽÿÀ. 1800 º¸´Ù ³ô°Å³ª 1200 º¸´Ù ³·Áö ¾ÊÀ¸¸é ¼Û½Å±âÀÇ ¼º¸ ¿£µå Æ÷ÀÎÆ®¸¦ Á¶Á¤ÇÏ´Â °ÍÀÌ °¡Àå ÁÁ½À´Ï´Ù. ÆÁ ArduPilot Æß¿þ¾î Inav´Â 2.6 ³â¿¡ h743À» Áö¿øÇÒ °ÍÀ¸·Î ¿¹»óµË´Ï´Ù. H743-MINI ÀÌPreloaded QC BetaFlight Ç¥ÀûÀº Github, pls¿¡ ¿ì¸®ÀÇ À¥»çÀÌÆ®¿¡¼ BetaFlight Æß¿þ¾î¸¦ ´Ù¿î·ÎµåÇÏÁö ¾Ê½À´Ï´Ù. ´ç½ÅÀÌ BetaFlight configurator¸¦ ÅëÇØ ArduPilot Æß¿þ¾î¸¦ Ç÷¡½ÃÇÏ´Â °æ¿ì. Ç÷¡½Ã ÇÁ·Î¼¼½º°¡ 50% ¿¡¼ °íÁ¤ µÉ °ÍÀ¸·Î ¾Ë·ÁÁø ¹®Á¦°¡ ÀÖ½À´Ï´Ù. "Àüü Ĩ Áö¿ì±â" °¡ ¼±ÅõǸé. ±ô¹ÚÀÓ ¶§ Àüü Ĩ Áö¿ì±â¸¦ »ç¿ëÇÏÁö ¸»°í ±ô¹ÚÀÓ ÈÄ ÀÓ¹« Ç÷¡³Ê¿¡ ±âº»ÀûÀ¸·Î Àç¼³Á¤ ÇÒ ¼ö ÀÖ½À´Ï´Ù. Stm32cubeprogrammer¸¦ »ç¿ëÇÏ¿© mcu¸¦ Áö¿ì°í Æß¿þ¾î¸¦ ¾÷·ÎµåÇÏ´Â °ÍÀÌ ÁÁ½À´Ï´Ù.
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