diff --git a/common/source/docs/common-autopilots.rst b/common/source/docs/common-autopilots.rst index ac9e88e824..fc6e9a5121 100644 --- a/common/source/docs/common-autopilots.rst +++ b/common/source/docs/common-autopilots.rst @@ -102,6 +102,7 @@ Closed Hardware Foxeer Reaper F745-AIO V2/V3/V4 Furious FPV F-35 Lightning and Wing FC-10 GEPRC Taker F745 + GEPRC Taker H743 BT HeeWing F405/F405V2 Holybro Kakute F4 Holybro Kakute F4 Mini diff --git a/common/source/docs/common-geprc-taker-h743-bt.rst b/common/source/docs/common-geprc-taker-h743-bt.rst new file mode 100644 index 0000000000..9e58ed5730 --- /dev/null +++ b/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 `_. + +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 ` for details for a specific RC system. :ref:`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` be set to “7”. +- CRSF also requires a TX2 connection, in addition to R2, and automatically provides telemetry. Set :ref:`SERIAL2_OPTIONS` +- SRXL2 requires a connecton to TX2 and automatically provides telemetry. Set :ref:`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` = 10 +* :ref:`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` = 4 +* :ref:`BATT_VOLT_PIN` = 13 +* :ref:`BATT_VOLT_MULT` = 11.1 +* :ref:`BATT_CURR_PIN` = 12 +* :ref:`BATT_AMP_PERVLT` = 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. diff --git a/images/TAKER_H743_BT_Board_Bottom.jpg b/images/TAKER_H743_BT_Board_Bottom.jpg new file mode 100644 index 0000000000..e25a71a2bd Binary files /dev/null and b/images/TAKER_H743_BT_Board_Bottom.jpg differ diff --git a/images/TAKER_H743_BT_Board_Top.jpg b/images/TAKER_H743_BT_Board_Top.jpg new file mode 100644 index 0000000000..6c37cf13a7 Binary files /dev/null and b/images/TAKER_H743_BT_Board_Top.jpg differ