4.7/GEPRC TAKER H7 BT

common/source/docs/common-autopilots.rst

@@ -102,6 +102,7 @@ Closed Hardware
     Foxeer Reaper F745-AIO V2/V3/V4 <common-foxeerf745aio>
     Furious FPV F-35 Lightning and Wing FC-10 <common-furiousfpv-f35>
     GEPRC Taker F745 <common-geprc-takerf745>
+    GEPRC Taker H743 BT <common-geprc-taker-h743-bt>
     HeeWing F405/F405V2 <common-heewingf405>
     Holybro Kakute F4 <common-holybro-kakutef4>
     Holybro Kakute F4 Mini <common-holybro-kakutef4-mini>

common/source/docs/common-geprc-taker-h743-bt.rst

@@ -0,0 +1,110 @@
+.. _common-geprc-taker-h743-bt:
+
+=====================================
+GEPRC TAKER H743 BT Flight Controller
+=====================================
+
+The TAKER H743 BT is a flight controller produced by `GEPRC <https://geprc.com/>`_.
+
+Features
+========
+
+* STM32H743 microcontroller
+* MPU6000+ICM42688 dual IMU
+* SPL06-001 barometer
+* microSD based 512MB flash logging
+* AT7456E OSD
+* 7 UARTs
+* 8 PWM outputs
+
+Pinout
+======
+
+.. image:: ../../../images/TAKER_H743_BT_Board_Top.jpg
+   :target: ../_images/TAKER_H743_BT_Board_Top.jpg
+
+.. image:: ../../../images/TAKER_H743_BT_Board_Bottom.jpg
+   :target: ../_images/TAKER_H743_BT_Board_Bottom.jpg
+
+UART Mapping
+============
+The UARTs are marked RXn and TXn in the above pinouts. The RXn pin is the receive pin for UARTn. The Txn pin is the transmit pin for UARTn.
+Default protocols are given below:
+
+* SERIAL0 -> USB
+* SERIAL1 -> UART1 (DisplayPort, DMA-enabled)
+* SERIAL2 -> UART2 (RCIN, DMA-enabled)
+* SERIAL3 -> UART3 (connected to internal BT module, not currently usable by ArduPilot)
+* SERIAL4 -> UART4 (GPS)
+* SERIAL6 -> UART6 (User)
+* SERIAL7 -> UART7 (User)
+* SERIAL8 -> UART8 (ESC Telemetry)
+
+Any UART may be re-tasked by changing its protocol parameter.
+
+RC Input
+========
+RC input is configured on the RX2 (UART2_RX) pin. It supports all RC protocols except PPM. See :ref:`Radio Control Systems <common-rc-systems>` for details for a specific RC system. :ref:`SERIAL2_PROTOCOL<SERIAL2_PROTOCOL>` is set to “23”, by default, to enable this.
+
+- SBUS/DSM/SRXL connects to the RX2 pin.
+- FPort requires connection to TX2 and :ref:`SERIAL2_OPTIONS<SERIAL2_OPTIONS>` be set to “7”.
+- CRSF also requires a TX2 connection, in addition to R2, and automatically provides telemetry. Set :ref:`SERIAL2_OPTIONS<SERIAL2_OPTIONS>`
+- SRXL2 requires a connecton to TX2 and automatically provides telemetry. Set :ref:`SERIAL2_OPTIONS<SERIAL2_OPTIONS>` to “4”. =3.
+
+FrSky Telemetry
+===============
+FrSky Telemetry is supported using the Tx pin of any UART excluding SERIAL3(UART3). To enable support for FrSky S.PORT (the example shows SERIAL6), you need to set the following parameters.
+
+* :ref:`SERIAL6_PROTOCOL<SERIAL6_PROTOCOL>` = 10
+* :ref:`SERIAL6_OPTIONS<SERIAL6_OPTIONS>` = 7
+
+OSD Support
+===========
+The TAKER H743 BT supports analog OSD using its internal OSD chip and simultaneously HD goggle DisplayPort OSDs via the HD VTX connector.
+
+VTX Support
+===========
+The SH1.0-6P connector supports a standard DJI HD VTX connection. Pin 1 of the connector is 12v (or VBAT selected by solder pad selection) so be careful not to connect to devices expecting 5v.
+
+PWM Output
+==========
+The TAKER H743 BT supports up to 9 PWM/DShot outputs. The pads for motor output M1 to M4 are on the esc connector, M5-M8 are solder pads, plus M9 is defaulted for serial LED strip or can be used as another PWM output.
+
+The PWM is in 4 groups:
+
+* PWM 1-4 in group1
+* PWM 5-6 in group2
+* PWM 7-8 in group3
+* PWM 9 in group4
+
+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. Channels 1-8 support Bi-Directional DShot.
+
+Battery Monitoring
+==================
+The board has a internal voltage sensor and connections on the ESC connector for an external current sensor input.
+The voltage sensor can handle up to 6S.
+LiPo batteries.
+
+The default battery parameters are:
+
+* :ref:`BATT_MONITOR<BATT_MONITOR>` = 4
+* :ref:`BATT_VOLT_PIN<BATT_VOLT_PIN__AP_BattMonitor_Analog>` = 13
+* :ref:`BATT_VOLT_MULT<BATT_VOLT_MULT__AP_BattMonitor_Analog>` = 11.1
+* :ref:`BATT_CURR_PIN<BATT_CURR_PIN__AP_BattMonitor_Analog>` = 12
+* :ref:`BATT_AMP_PERVLT<BATT_AMP_PERVLT__AP_BattMonitor_Analog>` = 28.5
+
+Compass
+=======
+The TAKER H743 BT does not have a builtin compass, but you can attach an external compass using I2C on the SDA and SCL pads.
+
+Loading Firmware
+================
+Initial firmware load can be done with DFU by plugging in USB with the
+bootloader button pressed. Then you should load the "with_bl.hex"
+firmware, using your favourite DFU loading tool.
+
+Once the initial firmware is loaded you can update the firmware using
+any ArduPilot ground station software. Updates should be done with the
+\*.apj firmware files.