AP-H743-R1

main (planned for: PX4 v1.17)

WARNING

PX4 does not manufacture this (or any) autopilot.

The AP-H743-R1 is an advanced autopilot manufactured by X-MAV^®.

The autopilot is recommended for commercial system integration, but is also suitable for academic research and any other applications. It brings you ultimate performance, stability, and reliability in every aspect.

INFO

These flight controllers are manufacturer supported.

Processors & Sensors

• FMU Processor: STM32H743VIT6
  • 32 Bit Arm® Cortex®-M7, 480MHz, 2MB flash memory, 1MB RAM
• IO Processor: STM32F103
  • 32 Bit Arm® Cortex®-M3, 72MHz, 20KB SRAM
• On-board sensors
  • Accel/Gyro: ICM-42688-P*2(Version1), BMI270*2(Version2)
  • Mag: IST8310
  • Barometer: DPS310(Version1),SPL06(Version2)

Interfaces

• 15x PWM Servo Outputs
• 1x Dedicated S.Bus Input
• 3x TELEM Ports
• 1x SERIAL4 Port
• 2x GPS Ports
• 1x USB Port (TYPE-C)
• 3x I2C Bus Ports
• 2x CAN Ports
• 2x Power Input Ports
  • ADC Power Input
  • DroneCAN/UAVCAN Power Input
• 2x Dedicated Debug Port
  • FMU Debug
  • IO Debug

Purchase Channels

Order from X-MAV.

Radio Control

A Radio Control (RC) system is required if you want to manually control your vehicle (PX4 does not require a radio system for autonomous flight modes).

You will need to select a compatible transmitter/receiver and then bind them so that they communicate (read the instructions that come with your specific transmitter/receiver).

SBUS receivers connect to the SBUS-IN input port. CRSF receiver must be wired to a spare port (UART) on the Flight Controller. Then you can bind the transmitter and receiver together.

Serial Port Mapping

UART	Device	Port
USART1	/dev/ttyS0	GPS
USART2	/dev/ttyS1	GPS2
USART3	/dev/ttyS2	TELEM1
UART4	/dev/ttyS3	TELEM2
UART7	/dev/ttyS4	TELEM3
UART8	/dev/ttyS5	SERIAL4

PWM Output

The AP-H743-R1 flight controller supports up to 15 PWM outputs. The first 8 outputs (labelled M1 to M8) are controlled by a dedicated STM32F103 IOMCU controller. The remaining 7 outputs (labelled A1 to A7) are the "auxiliary" outputs. These are directly attached to the STM32H743 FMU controller .

The 15 PWM outputs are:

M1 - M8 are connected to the IOMCU. A1 - A7 are connected to the FMU.

M1 - M8 support DShot and are in 3 groups:

• M1, M2 in group 1
• M3, M4 in group 2
• M5, M6, M7, M8 in group 3

The 7 FMU PWM outputs are in 3 groups:

• A1 - A4 are in one group.
• A5, A6 are in a 2nd group.
• A7 is in a 3nd group.

Channels within the same group need to use the same output rate. If any channel in a group uses DShot then all channels in the group need to use DShot.

Electrical data

• Voltage Ratings:
  • Max input voltage: 5.4V
  • USB Power Input: 4.75~5.25V
  • Servo Rail Input: 0~9.9V

Battery Monitoring

The board has connectors for 2 power monitors.

• POWER1 -- ADC
• POWER2 -- DroneCAN

The board is configure by default for a analog power monitor, and also has DroneCAN power monitor configured which is enabled.

Building Firmware

To build PX4 for this target, execute:

make x-mav_ap-h743r1_default

Pinouts and Size

Supported Platforms / Airframes

Any multirotor/airplane/rover or boat that can be controlled using normal RC servos or Futaba S-Bus servos. The complete set of supported configurations can be found in the Airframe Reference.

Debug Port

SWD

The SWD interface operate on the FMU-DEBUG port (FMU-DEBUG).

The debug port (FMU-DEBUG) uses a JST SM04B-GHS-TB connector and has the following pinout:

Pin	Signal	Volt
1 (red)	5V+	+5V
2 (blk)	FMU_SWDIO	+3.3V
3 (blk)	FMU_SWCLK	+3.3V
4 (blk)	GND	GND