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MicoAir743-AIO-35A User Manual

Product Overview

The MicoAir743-AIO-35A combines an H743 flight controller and a 4-in-1 AM32 ESC on one board with a 25.5 × 25.5 mm mounting pattern. The flight controller uses a 480 MHz STM32H743VIH6, dual BMI088 + BMI270 IMUs, a DPS310 barometer, and a microSD card slot. The integrated ESC provides four 35 A AM32 channels.

MicoAir743-AIO-35A

Key Features

  • STM32H743VIH6, 480 MHz, 2 MB Flash
  • Dual BMI088 + BMI270 IMUs and DPS310 barometer
  • microSD card slot
  • 7 UARTs, 8 motor outputs, 1 I²C bus, and 1 SWD interface
  • LED strip, buzzer, USB Type-C, and BOOT control
  • 5 V / 2 A and 12 V / 2 A BEC outputs
  • Onboard voltage and current sensing
  • 4 × 35 A AM32 4-in-1 ESC supporting PWM, DShot300, DShot600, and bidirectional DShot
  • Supports ArduPilot, PX4, INAV, Betaflight, and Skybrush

Purchase

MicoAir Tech Store

Hardware Specifications

Flight Controller

ItemSpecification
Main MCUSTM32H743VIH6, 480 MHz, 2 MB Flash
IMUDual BMI088 + BMI270 IMUs
BarometerDPS310
MagnetometerNo onboard magnetometer; supports an external I²C magnetometer
Analog OSDNone; digital video uses MSP DisplayPort
Log storagemicroSD card slot
UART7: UART1, UART2, UART3, UART4, UART6, UART7, UART8
PWMM1–M8; hardware supports DShot / bidirectional DShot, with final capability determined by firmware
Peripheral interfaces1 I²C, 1 SWD, 2 ADC, LED strip, buzzer
USBUSB Type-C

ESC

ItemSpecification
ESC MCUAT32F421
ESC firmwareAM32_MICOAIR_743_AIO_F421_2.17
PWM frequency48 kHz
Supported protocolsPWM, DShot300, DShot600, bidirectional DShot, serial telemetry
Continuous current35 A × 4; adequate cooling is required
Battery input3–6S, approximately 10–27 V
Configuration toolAM32 Configurator

MicoAir743-AIO-35A ESC area

The 35 A continuous-current rating depends on propeller airflow, ambient temperature, and cooling conditions.

Power

ItemSpecification
Main power input3–6S, approximately 10–27 V
5 V BEC2 A maximum
12 V BEC2 A maximum, for DJI O3 / Vista and similar devices
Mounting-hole spacing25.5 × 25.5 mm
Mounting-hole diameterΦ3 mm
Dimensions36 × 36 × 8 mm
Weight10 g

Voltage and Current Scaling

ParameterArduPilotPX4BetaflightINAV
Voltage Factor21.1221.12211211
Current Factor14.1414.14707707

Dimensions and Installation

ItemSpecification
Mounting-hole spacing25.5 × 25.5 mm
Mounting-hole diameterΦ3 mm
Dimensions36 × 36 × 8 mm
Weight10 g

MicoAir743-AIO-35A dimensions

MicoAir743-AIO-35A mounting orientation

  1. The board arrow points toward the aircraft nose by default, with the component-label side facing upward.
  2. Use insulated vibration-damping standoffs. Do not allow screws or carbon-fiber plates to contact pads or components.
  3. Keep the ESC MOSFET area ventilated; do not fully cover it with foam, double-sided tape, or wiring.

Interfaces and Power

Interface Definition

MicoAir743-AIO-35A interface diagram

Typical Wiring

MicoAir743-AIO-35A wiring diagram

Power Rules

InterfaceVoltageTypical useNotes
VBAT3–6S, approximately 10–27 VMain power for the flight controller and 4-in-1 ESCNever reverse the polarity
5V5 VReceiver, GPS, optical flow, and other peripheralsTotal load must not exceed 2 A
12V12 VDJI O3 / Vista, cameras, and similar devicesDo not connect 5 V peripherals
GND0 VPower and signal reference ground

Pin 1 on the SH1.0-6P digital-video connector is 12 V. Verify connector orientation and pin order against the interface diagram.

Serial-Port Mapping

ArduPilot Serial-Port Mapping

ArduPilot portPhysical interfaceDefault use / Feature
SERIAL0USBUSB virtual serial port
SERIAL1UART1MAVLink2, DMA capable
SERIAL2UART2VTX-HD / DisplayPort, DMA capable
SERIAL3UART3GPS, DMA capable
SERIAL4UART4MAVLink2, DMA capable
SERIAL5UART6RC input, DMA capable
SERIAL6UART7Internal ESC telemetry, DMA capable
SERIAL7UART8General-purpose serial port, DMA capable

PX4 Serial-Port Mapping

PX4 devicePX4 interface namePhysical interface
ttyACM0USBUSB virtual serial port
ttyS0TELEM1UART1
ttyS1TELEM2UART2
ttyS2GPS1UART3
ttyS3TELEM3UART4
ttyS4RCUART6
ttyS5ESCUART7, internal ESC telemetry
ttyS6TELEM4UART8

PWM Outputs

All eight M1–M8 outputs support DShot and bidirectional DShot. Actual support depends on the flight-controller firmware.

GroupChannelsDescription
Group 1PWM1, PWM2, PWM3, PWM4Channels in the group normally use compatible protocols and frequencies
Group 2PWM5, PWM6Same group constraint
Group 3PWM7, PWM8Same group constraint

Outputs in one timer group cannot use arbitrary combinations of different protocols or frequencies.

Receiver

UART6 is the default RC input. Connect an SBUS signal to RX6. CRSF/ELRS normally uses both TX6 and RX6.

ProtocolRecommended wiringNotes
SBUSSignal → RX6One-way signal
CRSF / ELRSReceiver TX → RX6; receiver RX → TX6Supports telemetry
FPortSignal → TX6Single-wire bidirectional protocol
DSM / SRXLSignal → RX6Verify the supply voltage
PPMNot supportedUse a serial receiver

ArduPilot can assign RC input to another UART. Set the target SERIALn_PROTOCOL to 23, reassign the original SERIAL5_PROTOCOL, and verify failsafe operation after the change.

OSD and Digital Video

The board has no AT7456E analog OSD. Digital video uses MSP DisplayPort on UART2:

  • ArduPilot can use OSD_TYPE = 5
  • The SH1.0-6P connector provides 12 V
  • DJI OSD capability in PX4 varies by version; refer to the applicable PX4 documentation

Do not connect the 12 V pin on the video connector to a 5 V camera, receiver, or ordinary serial peripheral.

Flight Controller Firmware

MicoConfigurator is a browser-based flight-controller configuration tool for Windows, macOS, and Linux. It supports configuration and debugging, plus online, local-file, and DFU firmware updates.

MicoConfigurator interface

Open MicoConfigurator in Chrome or Edge. In DFU mode, select the board and firmware directly in the browser (Windows requires a DFU driver).

ArduPilot

PX4

Official PX4 firmware build guide

Build the bootloader:

make micoair_h743-aio_bootloader

Build the default firmware:

make micoair_h743-aio_default

MicoConfigurator PX4 DFU flashing page

INAV

MicoAir743-AIO in INAV Configurator

Betaflight

  • Firmware target: MICOAIR743
  • MicoAir743 is supported from Betaflight 4.5.0
  • The original product documentation states that the Betaflight target reserves buzzer and LED-strip resources that match this AIO
  • Betaflight MICOAIR743 configuration

Skybrush

Appendix A: Pinout Table

CategoryDevice / UseBus / PeripheralSignalMCU pin
IMUBMI270SPI2MOSIPC3
IMUBMI270SPI2MISOPC2
IMUBMI270SPI2SCLKPD3
IMUBMI270GPIOCSPA15
IMUBMI088SPI2MOSIPC3
IMUBMI088SPI2MISOPC2
IMUBMI088SPI2SCLKPD3
IMUBMI088GPIOGYRO_CSPD5
IMUBMI088GPIOACCEL_CSPD4
BarometerDPS310I²C2SCLPB10
BarometerDPS310I²C2SDAPB11
Motor outputPWMTIM1 / CH4M1PE14
Motor outputPWMTIM1 / CH3M2PE13
Motor outputPWMTIM1 / CH2M3PE11
Motor outputPWMTIM1 / CH1M4PE9
Motor outputPWMTIM3 / CH4M5PB1
Motor outputPWMTIM3 / CH3M6PB0
Motor outputPWMTIM4 / CH1M7PD12
Motor outputPWMTIM4 / CH2M8PD13
LED stripLEDTIM4 / CH3LEDPD14
BuzzerBeeperTIM4 / CH4B-PD15
External oscillatorExternal8 MHzOSC_INPH0
External oscillatorExternal8 MHzOSC_OUTPH1
Status LEDGPIO_OUTPUTRED—PE5
Status LEDGPIO_OUTPUTBLUE—PE4
Status LEDGPIO_OUTPUTGREEN—PE6
Button—BOOT—BOOT0
I²CPeripheral connectorI²C1SDAPB7
I²CPeripheral connectorI²C1SCLPB6
UARTUART1UART1TXPA9
UARTUART1UART1RXPA10
UARTVTX-HDUART2TXPA2
UARTVTX-HDUART2RXPA3
UARTGPSUART3TXPD8
UARTGPSUART3RXPD9
UARTUART4UART4TXPA0
UARTUART4UART4RXPA1
UARTRCINUART6TXPC6
UARTRCINUART6RXPC7
UARTESC telemetryUART7RXPE7
UARTUART8UART8TXPE1
UARTUART8UART8RXPE0
USBUSBUSBUSB_DMPA11
USBUSBUSBUSB_DPPA12
SD cardmicroSDSDMMC1D0PC8
SD cardmicroSDSDMMC1D1PC9
SD cardmicroSDSDMMC1D2PC10
SD cardmicroSDSDMMC1D3PC11
SD cardmicroSDSDMMC1CLKPC12
SD cardmicroSDSDMMC1CMDPD2
Debug interfaceSWDSWDSWDIOPA13
Debug interfaceSWDSWDSWCLKPA14
Battery sensingDivider ratio approximately 1:21ADCVoltagePC0
Current sensingOnboard current sensorADCCurrentPC1