AP-H743-SLIM飞控
AP-H743-SLIM采用480M主频的STM32H743主控，ICM42688P x 2 双IMU，并板载DPS310气压计和AT7456E OSD。
1. 规格
技术参数
- MCU: STM32H743VIH6, 480MHz, 2MB 闪存
- IMU: ICM42688P(SPI1) + ICM42688P(SPI4)
- 气压计：DPS310 (I2C2)
- OSD：AT7456E (SPI2)
- 黑盒子：MicroSD卡槽 (SDIO)
- 7x UART (1,2,3,4,6,7,8)
- 13x PWM输出（包含“LED”控制焊盘）
- 2x I2C
- 1x CAN
- 6x ADC (电压, 电流, RSSI, 模拟空速计, 电压2, 电流2)
- USB Type-C
- 1x JST-SH1.0_8pin连接器 (Vbat/G/Curr/Rx8/S1/S2/S3/S4)
- 1x JST-GH1.25_4pin 连接器 (5V/CAN-H/CAN-L/G)
- 双摄像头输入切换
- 5V/Vbat 滤波电源开关切换
电源
- Vbat 输入: 6~36V (2~8S LiPo)
- BEC: 5V 2A (最大3A)
- 无内置电流传感器
- ADC Vbat2 焊盘支持最大69V (分压电阻: 1K:20K)
飞控固件
- ArduPilot: MATEKH743
- BetaFlight: MATEKH743
- INAV: MATEKH743
物理参数
- 安装孔: 30.5 x 30.5mm, 直径4mm
- 整体尺寸: 36 x 36 x 5 mm
- 重量: 7g
引脚映射(Ardupilot)
|
PWM通道 |
引脚 |
电压容忍 |
功能 |
定时器通道 |
分组 |
|
S1 |
PB0 |
5V |
PWM1 GPIO50 |
TIM8_CH2N |
Group1 |
|
S2 |
PB1 |
3.3V |
PWM2 GPIO51 |
TIM8_CH3N |
Group1 |
|
S3 |
PA0 |
5V |
PWM3 GPIO52 |
TIM5_CH1 |
Group2 |
|
S4 |
PA1 |
5V |
PWM4 GPIO53 |
TIM5_CH2 |
Group2 |
|
S5 |
PA2 |
5V |
PWM5 GPIO54 |
TIM5_CH3 |
Group2 |
|
S6 |
PA3 |
5V |
PWM6 GPIO55 |
TIM5_CH4 |
Group2 |
|
S7 |
PD12 |
5V |
PWM7 GPIO56 |
TIM4_CH1 |
Group3 |
|
S8 |
PD13 |
5V |
PWM8 GPIO57 |
TIM4_CH2 |
Group3 |
|
S9 |
PD14 |
5V |
PWM9 GPIO58 |
TIM4_CH3 |
Group3 |
|
S10 |
PD15 |
5V |
PWM10 GPIO59 |
TIM4_CH4 |
Group3 |
|
S11 |
PE5 |
5V |
PWM11 GPIO60 |
TIM15_CH1 |
Group4 |
|
S12 |
PE6 |
5V |
PWM12 GPIO61 |
TIM15_CH2 |
Group4 |
|
LED |
PA8 |
5V |
PWM13 GPIO62 |
TIM1_CH1 |
Group5 |
注意：
- PWM1~13支持Dshot和PWM输出
- 同组输出必须统一使用Dshot或PWM
- 舵机和电机混用时需按最低频率配置（如50Hz）
|
ADC功能 |
引脚 |
量程 |
配置参数 |
引脚编号 |
|
板载电压 |
PC0 |
0~36V |
BATT_VOLT_PIN, MULT=11.0 |
10 |
|
板载电流 |
PC1 |
0~3.3V |
BATT_CURR_PIN, PERVLT=40 |
11 |
|
Vbat2电压 |
PA4 |
0~69V |
BATT2_VOLT_PIN, MULT=21.0 |
18 |
|
Vbat2电流 |
PA7 |
0~3.3V |
BATT2_CURR_PIN |
7 |
|
RSSI输入 |
PC5 |
0~3.3V |
RSSI_ANA_PIN, TYPE=1 |
8 |
|
空速计输入 |
PC4 |
0~6.6V |
ARSPD_PIN, TYPE=2 |
4 |
|
I2C接口 |
引脚 |
功能 |
配置参数 |
|
I2C1 |
PB6/PB7 |
数字空速计 |
ARSPD_BUS=1 |
|
|
|
支持MS4525/MS5525 |
ARSPD_TYPE=1/3/9 |
|
|
|
罗盘 |
COMPASS_AUTODEC=1 |
|
I2C2 |
PB10/PB11 |
板载气压计DPS310 |
|
|
CAN接口 |
引脚 |
功能 |
配置参数 |
|
CAN1 |
PD0/PD1 |
F103/F303 CAN节点 |
CAN_D1_PROTOCOL=1 |
|
|
|
CAN GPS |
GPS_TYPE=9 |
|
|
|
CAN 罗盘 |
COMPASS_TYPEMASK=0 |
|
|
|
CAN 空速计 |
ARSPD_TYPE=8 |
|
UART接口 |
引脚 |
功能 |
串口标识 |
|
USB |
PA11/PA12 |
USB控制台 |
SERIAL0 |
|
UART7 |
PE7/PE8 |
遥测1 |
SERIAL1 |
|
USART1 |
PA9/PA10 |
遥测2 |
SERIAL2 |
|
USART2 |
PD5/PD6 |
GPS1 |
SERIAL3 |
|
USART3 |
PD8/PD9 |
GPS2 |
SERIAL4 |
|
UART8 |
PE1/PE0 |
用户自定义 |
SERIAL5 |
|
UART4 |
PB9/PB8 |
用户自定义 |
SERIAL6 |
|
USART6 |
PC6/PC7 |
接收机输入(SBUS/IBUS) |
SERIAL7 |
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