FC ¸í¼¼
MCU: STM32H743VIH6, 480MHz , 1MB RAM, 2MB Ç÷¡½Ã
IMU ICM42688P, ICM42605
Baro: ÀÎÇǴϾð DPS310 (I2C2)
OSD: AT7456E (SPI2)
Blackbox: MicroSD Ä«µå ¼ÒÄÏ (SDIO)
¹ÝÀü ³»Àå 7x Uarts (1,2,3,4,6,7,8).
13x PWM Ãâ·Â ("LED" Æеå Æ÷ÇÔ)
2x I2C
1x ¼ö
6x ADC (VBAT, Àü·ù, RSSI, ¾Æ³¯·Î±× ´ë±â ¼Óµµ, Vbat2, Cur2)
FC »óÅ (ÆĶõ»ö, »¡°£»ö) ¹× 3.3V Ç¥½Ã±â (»¡°£»ö) ¿ë led 3 °³
1x SPI3 ºê·¹ÀÌÅ© ¾Æ¿ô
USB ŸÀÔ-C(USB2.0)
1x JST-SH1.0_8pin Ä¿³ØÅÍ (Vbat/G/Curr/Rx8/S1/S2/S3/S4)
1x JST-GH1.25_4pin Ä¿³ØÅÍ (5V/CAN-H/CAN-L/G)
µà¾ó Ä«¸Þ¶ó ÀÔ·Â ½ºÀ§Ä¡
5V/Vbat ÇÊÅÍ Àü¿ø Äѱâ/²ô±â ½ºÀ§Ä¡
DJI FPV osd´Â ¿©ºÐÀÇ uart¿¡¼ Áö¿øµË´Ï´Ù.
Àü¿ø
Vbat ÀÔ·Â: 6 ~ 36V (2 ~ 8S LiPo), Vbat ÀÔ·Â
BEC: 5V 2A °è¼Ó. (Max.3A)
LDO 3.3V: ÃÖ´ë 200ma
Àü·ù ¼¾¼ ³»Àå ¾øÀ½
ADC Vbat2 Æеå´Â ÃÖ´ë 69V (Àü¾Ð ºÐ¹è±â: 1K:20K) ¸¦ Áö¿øÇÕ´Ï´Ù.
Á¤·Â: 200mA @ 5V, º£Å¸ÇöóÀÌÆ® Æ÷ÇÔ, 150mA @ 5V, ArduPilot Æ÷ÇÔ
FC Æß¿þ¾î
ArduPilot(ChiBiOS): MATEKH743
BetaFlight: MATEKH743
INAV: MATEKH743
¹°¸®Àû
¸¶¿îÆÃ: 30.5x30.5mm, tms4mm, ±×·Î¹Ô tms3mm
Å©±â: 36x36x5mm
¹«°Ô: 7g
Æ÷ÇÔ
1x H743-SLIM
6x ½Ç¸®ÄÜ ±×·Î¸ä M4 to M3
1x JST-SH1.0_8pin ÄÉÀ̺í, 5cm
2x JST-SH1.0_8pin Ä¿³ØÅÍ
1x JST-GH-4P-JST-GH-4P ÄÉÀ̺í (CAN Æ÷Æ® ¿ë), 20cm
PWM PWM1 ~ PWM13 Àº Dshot ¹× PWM °¡´É. ±×·¯³ª Ãâ·Â¿ë Dshot È¥ÇÕ ¹× ÀÏ¹Ý PWM ÀÛ¾÷Àº ±×·ìÀ¸·Î Á¦Çѵ˴ϴÙ. ±×·ì¿¡¼ Ãâ·ÂÀ» À§ÇØ dshot¸¦ È°¼ºÈÇÏ·Á¸é ÇØ´ç ±×·ìÀÇ ¸ðµç Ãâ·ÂÀÌ PWM Ãâ·ÂÀÌ ¾Æ´Ñ dshot·Î ±¸¼ºµÇ°í »ç¿ëµÇ¾î¾ßÇÕ´Ï´Ù. ¼º¸¿Í ¸ðÅÍ°¡ µ¿ÀÏÇÑ ±×·ì¿¡ È¥ÇÕ µÈ °æ¿ìÀÌ ±×·ìÀº ¼º¸ »ç¾ç¿¡ µû¶ó °¡Àå ³·Àº PWM ÁÖÆļö¸¦ ÀÛµ¿ÇÏ´ÂÁö È®ÀÎÇϽʽÿÀ. Ie. ¼º¸´Â ÃÖ´ë Áö¿ø 50Hz, esc´ÂÀÌ ±×·ì¿¡¼ 50 hz·Î ½ÇÇàµÇ¾î¾ßÇÕ´Ï´Ù. | S1 | PB0 | 5 V ³»¼º I/O | PWM1 GPIO50 | TIM8_CH2N | Group1 |
S2 | PB1 | 3.3 V ³»¼º I/O | PWM2 GPIO51 | TIM8_CH3N |
S3 | PA0 | 5 V ³»¼º I/O | PWM3 GPIO52 | TIM5_CH1 | Group2 |
S4 | PA1 | 5 V ³»¼º I/O | PWM4 GPIO53 | TIM5_CH2 |
S5 | PA2 | 5 V ³»¼º I/O | PWM5 GPIO54 | TIM5_CH3 |
S6 | PA3 | 5 V ³»¼º I/O | PWM6 GPIO55 | TIM5_CH4 |
S7 | PD12 | 5 V ³»¼º I/O | PWM7 GPIO56 | TIM4_CH1 | Gourp3 |
S8 | PD13 | 5 V ³»¼º I/O | PWM8 GPIO57 | TIM4_CH2 |
S9 | PD14 | 5 V ³»¼º I/O | PWM9 GPIO58 | TIM4_CH3 |
S10 | PD15 | 5 V ³»¼º I/O | PWM10 GPIO59 | TIM4_CH4 |
S11 | PE5 | 5 V ³»¼º I/O | PWM11 GPIO60 | TIM15_CH1 | Group4 |
S12 | PE6 | 5 V ³»¼º I/O | PWM12 GPIO61 | TIM15_CH2 |
LED | PA8 | 5 V ³»¼º I/O | PWM13 GPIO62 | TIM1_CH1 | Group5 |
SERVO13_FUNCTION 120, nt? led_types neopixel |
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ADC | Æеå 1K:10K ºÐ¹è±â ³»Àå | 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 |
Vbat2 Æеå 1K:20K ºÐ¹è±â ³»Àå | PA4 | 0 ~ 69V | Vbat2 ADC | BATT2_VOLT_PIN BATT2_VOLT_MULT | 18 21.0 |
Cur2 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 |
AirS Æеå 10K:10K ºÐ¹è±â ³»Àå | PC4 | 0 ~ 6.6V | AirS ADC ¾Æ³¯·Î±× ¼Óµµ | ARSPD_PIN ARSPD_TYPE | 4 2 |
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I2C | I2C1 CL1/DA1 | PB6/PB7 | 5 V ³»¼º I/O | µðÁöÅÐ ¼Óµµ I2C | ARSPD_BUS | 1 |
MS4525 MS5525 DLVR-L10D | ARSPD_TYPE | 1 3 9 |
³ªÄ§¹Ý | COMPASS_AUTODEC | 1 |
I2C2 CL2/DA2 | PB10/PB11 | 5 V ³»¼º I/O | º¸µå Baro DPS310 |
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¼ö | CAN1 | PD0/PD1 | 5 V ³»¼º I/O | F103/F303 ³ëµå °¡´É | 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 ³»¼º I/O | USB | ÄÜ¼Ö | SERIAL0 |
RX7 TX7 RTS7 CTS7 | PE7/8/9/10 | 3.3 V ³»¼º I/O | UART7 | Telem1 | SERIAL1 |
TX1 RX1 | PA9/PA10 | 5 V ³»¼º I/O | USART1 | Telem2 | SERIAL2 |
TX2 RX2 | PD5/PD6 | 5 V ³»¼º I/O | USART2 | GPS1 | SERIAL3 |
TX3 RX3 | PD8/PD9 | 5 V ³»¼º I/O | USART3 | GPS2 | SERIAL4 |
TX8 RX8 | PE1/PE0 | 5 V ³»¼º I/O | UART8 | »ç¿ëÀÚ | SERIAL5 |
TX4 RX4 | PB9/PB8 | 5 V ³»¼º I/O | UART4 | »ç¿ëÀÚ | SERIAL6 |
TX6 RX6 | PC6/PC7 | 5 V ³»¼º I/O | USART6 | RC ÀÔ·Â/¼ö½Å±â | SERIAL7 |
RX6 | SBUS/IBUS/DSM |
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RX6 | PPM |
Ä«¸Þ¶ó-1 ¹× Vsw ÄÑÁü, ±âº»ÀûÀ¸·Î
2 ´ëÀÇ Ä«¸Þ¶ó°¡ PAL ¶Ç´Â ntsc¿Í µ¿ÀÏÇÑ ºñµð¿À Çü½ÄÀ¸·Î ¼³Á¤µÇ¾î ÀÖ´ÂÁö È®ÀÎÇϽʽÿÀ.
# Gpio
# RCx_OPTION: RC ÀÔ·Â ¿É¼Ç
28 ¸±·¹ÀÌ Äѱâ/²ô±â
34 ¸±·¹ÀÌ 2 Äѱâ/²ô±â
35 ¸±·¹ÀÌ 3 Äѱâ/²ô±â
36 ¸±·¹ÀÌ 4 Äѱâ/²ô±â
E. g.
RELAY_PIN 81 // Vsw GPIO
RC7_OPTION 28 // ¸±·¹ÀÌ On/Off, ¼Û½Å±â CH7 »ç¿ë, Vsw Àüȯ
RELAY_PIN2 82 // Ä«¸Þ¶ó ½ºÀ§Ä¡ GPIO
RC8_OPTION 34 // Relay2 On/Off, Ä«¸Þ¶ó ÀüȯÀ» À§ÇØ ¼Û½Å±âÀÇ CH8 »ç¿ë
¶Ç´Â
RELAY_PIN3 81 // Vsw GPIO
RC9_OPTION 35 // Relay3 On/Off, ¼Û½Å±â CH9 ¸¦ »ç¿ëÇÏ¿© Vsw Àüȯ
RELAY_PIN4 82 // Ä«¸Þ¶ó ½ºÀ§Ä¡ GPIO
RC10_OPTION 36 // Relay4 On/Off, ¼Û½Å±â CH10 »ç¿ë, Ä«¸Þ¶ó Àüȯ
±¸¼ºµÈ ±â´ÉÀº º¸Á¶ ½ºÀ§Ä¡ÀÇ pwm °ªÀÌ 1800 º¸´Ù ³ô¾ÆÁö¸é Æ®¸®°ÅµË´Ï´Ù. ±×°ÍÀº ºñÈ°¼ºÈ ¶§ °ª ÆøÆ÷ ¾Æ·¡ 1200.
¹Ì¼Ç Ç÷¡³ÊÀÇ Ãʱ⠼³Á¤>> Çʼö Çϵå¿þ¾î>> ¹«¼± 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 ÀÌÇÏ·Î ¿À¸£Áö ¾ÊÀ¸¸é ¼Û½Å±âÀÇ ¼º¸ ³¡Á¡À» Á¶Á¤ÇÏ´Â °ÍÀÌ °¡Àå ÁÁ½À´Ï´Ù.
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| BetaFlight |
PWM | S1 | PB0 | 5 V ³»¼º I/O | TIM3_CH3 | ¸ðÅÍ |
S2 | PB1 | 3.3 V ³»¼º I/O | TIM3_CH4 |
S3 | PA0 | 5 V ³»¼º I/O | TIM5_CH1 |
S4 | PA1 | 5 V ³»¼º I/O | TIM5_CH2 |
S5 | PA2 | 5 V ³»¼º I/O | TIM5_CH3 |
S6 | PA3 | 5 V ³»¼º I/O | TIM5_CH4 |
S7 | PD12 | 5 V ³»¼º I/O | TIM4_CH1 |
S8 | PD13 | 5 V ³»¼º I/O | TIM4_CH2 |
S9 | PD14 | 5 V ³»¼º I/O | TIM4_CH3 |
S10 | PD15 | 5 V ³»¼º I/O | TIM4_CH4 ¾øÀ½ DMA |
S11 | PE5 | 5 V ³»¼º I/O | TIM15_CH1 | ¼º¸ |
S12 | PE6 | 5 V ³»¼º I/O | TIM15_CH2 |
LED | PA8 | 5 V ³»¼º I/O | TIM1_CH1 | 2812LED |
RX4 | PB8 | 5 V ³»¼º I/O | TIM16_CH1 |
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TX4 | PB9 | 5 V ³»¼º I/O | TIM17_CH1 |
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ADC | Vbat ADC, ÆÐµå ¾øÀ½ 1K:10K ºÐ¹è±â ³»Àå | PC0 | 0 ~ 36V | º¸µå ¹èÅ͸® Àü¾Ð | ½ºÄÉÀÏ 110 |
ÇöÀç ADC, ÆÐµå ¾øÀ½ | PC1 | 0 ~ 3.3V | º¸µå Àü·ù ¼¾¼ | ½ºÄÉÀÏ ¿ÜºÎ |
VB2 Æеå 1K:20K ºÐ¹è±â ³»Àå | PA4 | 0 ~ 69V | Vbat2 ADC | ½ºÄÉÀÏ 210 |
CU2 Æеå | PA7 | 0 ~ 3.3V | Current2 ADC | ½ºÄÉÀÏ ¿ÜºÎ |
RSSI Æеå | PC5 | 0 ~ 3.3V | RSSI ADC | ¾Æ³¯·Î±× RSSI |
AirS Æеå 10K:10K ºÐ¹è±â ³»Àå | PC4 | 0 ~ 6.6V | AirS ADC | ¾Æ³¯·Î±× ¼Óµµ |
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I2C | I2C1 CL1/DA1 | PB6/PB7 | 5 V ³»¼º I/O | µðÁöÅÐ ¼Óµµ I2C | MS4525 |
³ªÄ§¹Ý |
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I2C2 CL2/DA2 | PB10/PB11 | 5 V ³»¼º I/O | º¸µå ±â¾Ð°è | DPS310 |
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UART | USB | PA11/PA12 | 5 V ³»¼º I/O | USB |
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RX7 TX7 RTS7 CTS7 | PE7/8/9/10 | 3.3 V ³»¼º I/O | UART7 | »ç¿ëÀÚ |
TX1 RX1 | PA9/PA10 | 5 V ³»¼º I/O | USART1 | »ç¿ëÀÚ |
TX2 RX2 | PD5/PD6 | 5 V ³»¼º I/O | USART2 | »ç¿ëÀÚ |
TX3 RX3 | PD8/PD9 | 5 V ³»¼º I/O | USART3 | »ç¿ëÀÚ |
TX8 RX8 | PE1/PE0 | 5 V ³»¼º I/O | UART8 | »ç¿ëÀÚ |
TX4 RX4 | PB9/PB8 | 5 V ³»¼º I/O | UART4 | »ç¿ëÀÚ |
TX6 RX6 | PC6/PC7 | 5 V ³»¼º I/O | UART6_RX | PPM ¹× Á÷·Ä RX |
UART6_TX | FPORT |