MicoAir743v2-AIO-45A User Manual

Product Overview

MicoAir743v2-AIO-45A is an AIO solution from MicoAir that integrates an H743 flight controller and a four-in-one ESC on a single circuit board with a 25.5 × 25.5 mm mounting-hole pattern. The flight-controller section uses a 480 MHz STM32H743VIH6, dual BMI088 + BMI270 IMUs, an SPL06 barometer, and microSD log storage. The ESC section consists of four 45 A, 32-bit open-source AM32 ESCs.

Key Features

• STM32H743VIH6, 480 MHz, 2 MB Flash
• Dual BMI088 + BMI270 IMUs
• SPL06 barometer and microSD card slot
• 7 UARTs, 8 motor outputs, 1 I²C bus, and 1 SWD interface
• LED strip, buzzer, BOOT button, and USB Type-C
• Dual 5 V / 2 A and 12 V / 2 A BECs
• Onboard battery-voltage and current sensing
• Direct DJI O3/O4/O4 Pro interface with MSP DisplayPort support
• 4 × 45 A AM32 ESCs, 48 kHz, supporting PWM / DShot300 / DShot600 and bidirectional DShot
• Supports ArduPilot, PX4, INAV, Betaflight, and Skybrush firmware

Purchase

MicoAir Tech Store

Hardware Specifications

Flight Controller Section

ESC Section

The “45 A continuous current” rating depends on propeller airflow, ambient temperature, and cooling conditions.

Power

Voltage and Current Sensing Factors

Dimensions and Installation

The AIO must be installed at a 45° angle.

1. The arrow on the board points toward the nose by default, and the side with the component markings faces up.
2. Secure it with insulating vibration-damping standoffs to prevent screws or carbon-fiber plates from touching pads or components.
3. Keep airflow around the ESC MOS area, and do not completely cover it with foam, double-sided tape, or wiring harnesses.

Interfaces and Power

Pin Definition

Typical Wiring

Power Rules

Pin 1 of the HD video transmitter's SH1.0-6P interface is 12 V. Verify the connector orientation and pin order before connecting the video transmitter. An incorrect connection may damage both the video transmitter and flight controller.

UART connections normally follow “flight-controller TX → peripheral RX, flight-controller RX → peripheral TX,” with GND also connected. For one-way protocols, connect only the signal line required by the protocol.

Serial Port Mapping

PWM Outputs

The flight controller provides eight motor outputs, M1–M8. The hardware supports DShot and bidirectional DShot, while the final capabilities depend on the flight-control firmware. The LED pad corresponds to PWM11 in the firmware resources.

PWM Timer Groups

After PWM11 is configured for serial LEDs, PWM7 and PWM8 are subject to the same group constraints and may no longer support output settings that are incompatible with serial LEDs.

ESC Configuration

• AM32_F4A_4IN1_F421_2.19
• Start with DShot300.
• Bidirectional DShot requires support from both the flight-controller firmware and ESC firmware.
• PX4 and INAV do not currently support bidirectional DShot. If this changes in a future version, refer to the release notes for the corresponding firmware.
• Web-based ESC tool: AM32 Configurator

Remove all propellers before configuring the ESCs, testing the motors, or changing their rotation directions.

Receivers

UART6 is the default RC input. On the H743, the RC function can also be reassigned to another UART.

When moving RC input to another UART in ArduPilot, set the target SERIALn_PROTOCOL to 23 and reassign the original SERIAL6_PROTOCOL to another function.

OSD and HD Video Transmitters

This AIO does not include an AT7456E analog OSD. OSD data is output to a DJI O3/O4/O4 Pro or another HD video transmitter through MSP DisplayPort.

• The SH1.0-6P interface uses UART2 by default
• Set OSD_TYPE = 5 (MSP DisplayPort) in ArduPilot
• The video transmitter interface supplies 12 V
• PX4 support for DJI OSD varies by version; refer to the documentation for the current PX4 version

Do not connect the video transmitter interface's 12 V pin to a 5 V camera, receiver, or standard UART peripheral.

Battery Monitoring, Magnetometer, and I²C

Battery Monitoring

The flight controller integrates voltage and current sensing. Default factors are listed in the comparison table under “Hardware Specifications.” Use a multimeter and a known current load as references during calibration.

Magnetometer and I²C

• No onboard magnetometer
• An external magnetometer can be connected through SDA / SCL
• Keep the external magnetometer away from battery wires and motors

For autonomous flight and applications requiring accurate heading, use a combined GPS/magnetometer located away from the power system, and recalibrate the magnetometer after the aircraft is fully assembled.

Flight Controller Firmware

The flight-controller core of MicoAir743v2-AIO-45A uses the MicoAir743v2 firmware target and supports ArduPilot, PX4, INAV, Betaflight, and Skybrush.

MicoConfigurator is a browser-based flight-controller configuration tool for Windows, macOS, and Linux. It can configure and debug the flight controller and update firmware online, from a local file, or in DFU mode.

Open MicoConfigurator in Chrome or Edge. After entering DFU mode, select the model and firmware directly in the browser to complete flashing (the DFU driver must be installed on Windows).

ArduPilot

• Firmware target: MicoAir743v2
• Included in the official hardware support list starting with ArduPilot 4.6.0
• Flight-controller firmware can be flashed online through MicoConfigurator or Mission Planner
• Official ArduPilot hardware definition
• Official ArduPilot firmware downloads
• ArduPilot Custom Firmware Builder

MicoAir743v2-AIO and MicoAir743v2 use the same firmware. When downloading or flashing firmware, select the MicoAir743v2 target. Do not select firmware for a similarly named AIO target.

PX4

• Firmware target: micoair_h743-v2
• Included in the official hardware support list starting with PX4 1.16.0
• Official PX4 hardware definition
• PX4 releases
• PX4 firmware provided by MicoAir

Official PX4 firmware compilation guide

Compile the bootloader:

make micoair_h743-v2_bootloader

Compile the default firmware:

make micoair_h743-v2_default

INAV

• Firmware target: MICOAIR743V2_EXTMAG
• This target is available starting with INAV 8.0.1 RC1
• MicoAir743v2 INAV firmware

Betaflight

• Use the corresponding MicoAir743v2 firmware provided in the MicoAir repository
• MicoAir743v2 Betaflight firmware

Skybrush

• ArduPilot-based drone light-show firmware
• Skybrush firmware download

Troubleshooting

USB Is Not Recognized

• Replace the USB Type-C cable with one confirmed to support data transfer.
• Avoid hubs with insufficient power; connect to a primary USB port on the computer.
• Check whether the system recognizes a serial-port or DFU device.
• If it still cannot connect, enter DFU mode using the steps above to verify the hardware connection.

No Receiver Data

• Check whether TX and RX are cross-connected.
• Connect the SBUS signal to RX6; CRSF/ELRS normally uses both TX6 and RX6.
• Verify the UART protocol and baud rate, and check whether UART6 is being used by another function.
• Confirm that the receiver supply voltage is correct and that the devices share a common ground.

Motor Does Not Rotate or Rotates in the Wrong Direction During Testing

• Remove all propellers before motor testing, and connect the propulsion battery.
• Verify the motor numbering, output protocol, and ESC power supply.
• Check that the flight controller's ESC protocol is DShot300 and that the onboard AM32 ESC configuration matches the selected protocol.

Related Resources

• MicoConfigurator
• Flight Controller Firmware Flashing Tutorial
• ArduPilot Basic Configuration Tutorial
• Connect a Computer to MicoAir H743v2/Lite over Bluetooth
• Official ArduPilot documentation
• Official PX4 documentation
• QGroundControl download
• INAV Configurator
• Betaflight Configurator

Appendix A: Pinout Table