Mateksys H743-WING V3 Flight Controller

Description MATEKSYS H743-WING V3 FLIGHT CONTROLLER Matek’s H743 WING V3 Flight Controller arrives with new features and improvements over the V2 Version. This FC features a STM32H743VIT6 MCU running at 480MHz, dual gyros ICM42688-P(SPI1) & ICM42688-P(SPI4), a DPS310 (I2C2) barometer, and much more. FC SPECIFICATION MCU: STM32H743VIT6, 480MHz , 1MB RAM, 2MB Flash IMU: ICM42688-P(SPI1) & ICM42688-P(SPI4) Baro: Infineon DPS310 (I2C2) OSD: AT7456E (SPI2) Blackbox: MicroSD card slot (SDIO) 7x Uarts (1,2,3,4,6,7,8) with built-in inversion. 13x PWM outputs(including “LED” pad) 2x I2C 1x CAN 6x ADC (VBAT, Current, RSSI, Analog AirSpeed, VB2, CU2) 3x LEDs for FC STATUS (Blue, Red) and 3.3V indicator(Red) 1x SPI3 breakout USB/Beep Extender with Type-C(USB2.0) Dual Camera Inputs switch 5V/9V(12V) for Camera/VTX power switch High-precision Current Sense (90A continuous, 220A peak) Battery Voltage Sensor: 1K:10K (Scale 1100 in INAV,  BATT_VOLT_MULT 11.0 in ArduPilot) ADC VB2 voltage divider: 1K:20K ADC AirSpeed voltage divider: 20K:20K Static power 160mA@5V FC FIRMWARE ArduPilot(ChiBiOS): MATEKH743 INAV: MATEKH743 PDB Input voltage range: 8~36V (3~8S LiPo) w/TVS protection 2x ESC power pads 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 Output 5.15  /- 0.1V DC Continuous current 2 Amps,  3A Peak BEC 9V /12V OUTPUT Designed for Video Transmitter, Camera, Gimbal ect. Continuous current 2 Amps,  3A Peak 12V option with Jumper pad BEC Vx OUTPUT Designed for Servos Voltage adjustable, 5V Default, 6V or 7.2V via jumper Continuous current 8 Amps,  10A Peak BEC 3.3V OUTPUT Linear Regulator Continuous current: 200mA PHYSICAL: Mounting: 30.5 x 30.5mm, Φ4mm with Grommets Φ3mm Dimensions: 54 x 36 x 13 mm Weight: 30g with USB extender PACKAGE CONTENTS: 1x H743-WING v3 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:10K divider builtin PC0 0~36V Vbat ADC ADC_CHANNEL_1 scale 1100 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 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:10K divider builtin PC0 0~36V Vbat ADC onboard battery voltage sense BATT_VOLT_PIN BATT_VOLT_MULT 10 11.0 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. 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 BRD_ALT_CONFIG to “1” so it becomes the SERIAL7 port’s RX input pin. With this option, SERIAL7_PROTOCOL must be set to “23”, and: PPM is not supported. SBUS/DSM/SRXL connects to the Rx6 pin, but SBUS requires that the SERIAL7_OPTIONS be set to “3”. FPort requires connection to Tx6 and SERIAL7_OPTIONS be set to “7”.  If Telemetry doesn’t work, try set  SERIAL7_OPTIONS = 135. CRSF also requires a Tx6 connection, in addition to Rx6, and automatically provides telemetry. Set SERIAL7_OPTIONS to “0”. SRXL2 requires a connection to Tx6 and automatically provides telemetry. Set SERIAL7_OPTIONS to “4”. 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. – 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)   //Vsw 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    //Vsw GPIO RC7_OPTION   28    //Relay On/Off, Use CH7 of Transmitter to switch Vsw RELAY_PIN2     82    //Camera switch GPIO RC8_OPTION   34    //Relay2 On/Off, Use CH8 of Transmitter to switch camera or RELAY_PIN3       81    //Vsw GPIO RC9_OPTION     35    //Relay3 On/Off, Use CH9 of Transmitter to switch Vsw RELAY_PIN4       82    //Camera switch GPIO RC10_OPTION   36    //Relay4 On/Off, Use CH10 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.   TIPS & NOTES H743-WING ArduPilot INAV V1 Blue PCB ICM20602(1st) MPU6000(2nd) ArduPilot 4.0 stable or newer MPU6000 (0) default ICM20602 (1) INAV 3.0 or newer V2 Purple PCB ICM42605(1st) MPU6000(2nd) ArduPilot 4.1 stable or newer MPU6000 (0) default ICM42605 (2) INAV 4.0 or newer V3 Blue PCB ICM42688P(1st) ICM42688P(2nd) ArduPilot plane 4.2.0 stable or newer ICM42688P (0) default ICM42688P(2) INAV 5.0 or newer *** V1/V2/V3 share same ArduPilot/INAV Target *** ArduPilot Current sensor range is 220A on H743-WING-V2/V3,  make sure you set the BATT_AMP_PERVLT to 66.7 with ArduPilot 4.1 or higher, set INS_ENABLE_MASK to 7 or default 127. Pls download “plane 4.2.0 or newer” ArduPilot firmware for H743-WING-V3 It is recommended to use STM32CubeProgrammer to erase MCU and upload firmware.  check this blog http://www.mateksys.com/?p=6905 INAV Current sensor range is 220A on H743-WING-V2/V3,  make sure you set the Current Meter Scale to 150 H743-WING-V3 is not supported by INAV4.1 downloaded from configurator. pls download inav_4.1.0_MATEKH743_42688 from our website. Starting with INAV5.0, they will share the same firmware. Others If the ESCs you are using don’t have enough capacitors integrated,  low ESR electrolytic capacitor is required for reducing ESC noise.