MicoAir743-AIO-35A
STM32H743VIH6, BMI088+BMI270, DPS310, 7xUART, 8xPWM, AM32 35A ESCx4
MicoAir743-AIO-35A
A highly integrated H743 AIO that supports multiple firmware: Ardupilot/PX4/Betaflight/INAV
Flight Controller
- MCU: STM32H743VIH6, 480MHz, 2MB Flash
- IMU: BMI088+BMI270
- Baro: DPS310
- TF Card Slot
- 7x UART
- 8x PWM
- 1x I2C
- 1x SWD
- 2x ADC (VBAT, Current)
- 1x LED Strip
- 1x Beeper
- USB Type-C
- BEC 5V 2A output (for controller, receiver, GPS, optical flow or other devices)
- BEC 12V 2A output (for DJI O3/Vista)
ESC
- Firmware: AM32 2.12
- PWM Freq: 48KHz
- ESC Protocol: PWM/DShot300/DShot600 (support BDShot)
- Continuous Current: 35A * 4
Voltage&Current Monitoring
| Ardupilot | PX4 | Betaflight | INAV | |
| Voltage Factor | 21.12 | 21.12 | 2112 | 211 |
| Current Factor | 14.14 | 14.14 | 707 | 707 |
UART Mapping (Ardupilot)
- SERIAL0 -> USB
- SERIAL1 -> UART1 (MAVLink2, DMA-enabled)
- SERIAL2 -> UART2 (VTX-HD, DMA-enabled)
- SERIAL3 -> UART3 (GPS, DMA-enabled)
- SERIAL4 -> UART4 (MAVLink2, DMA-enabled)
- SERIAL5 -> UART6 (RCIN, DMA–enabled)
- SERIAL6-> UART7 (ESC Telemetry, DMA-enabled)
- SERIAL7 -> UART8 (DMA–enabled)
UART Mapping (PX4)
- ttyACM0 -> USB
- ttyS0 -> TELEM1 -> UART1
- ttyS1 -> TELEM2 -> UART2
- ttyS2 -> GPS1 -> UART3
- ttyS3 -> TELEM3-> UART4
- ttyS4 -> RC -> UART6
- ttyS5 -> ESC -> UART7
- ttyS6 -> TELEM4 -> UART8
RC Input (Ardupilot)
23.OSD Support (Ardupilot)
VTX Support
PWM Output
The MicoAir743-AIO supports up to 8 PWM outputs.
Channels 1-8 support DShot/bi-directional DShot.
(currently PX4&INAV not support BDShot function)
PWM output share grouped and every group must use the same output protocol:
1,2,3,4 are group 1
5, 6 are group 2
7,8 are group 3
Compass
Physical
- Mounting: 25.5 x 25.5mm, Φ3mm
- Dimensions: 36 x 36 x 8 mm
- Weight: 10g
| STM32H743VIH6 | ||||
|---|---|---|---|---|
| IMU | BMI270 | SPI2 | MOSI | PC3 |
| MISO | PC2 | |||
| SCLK | PD3 | |||
| BMI270_CS | PA15 | |||
| BMI088 | SPI2 | MOSI | PC3 | |
| MISO | PC2 | |||
| SCLK | PD3 | |||
| BMI088_GYRO_CS | PD5 | |||
| BMI088_ACCEL_CS | PD4 | |||
| Barometer | DPS310 | I2C2 | SCL | PB10 |
| SDA | PB11 | |||
| Motor | PWM | TIM1/CH4 | M1 | PE14 |
| TIM1/CH3 | M2 | PE13 | ||
| TIM1/CH2 | M3 | PE11 | ||
| TIM1/CH1 | M4 | PE9 | ||
| TIM3/CH4 | M5 | PB1 | ||
| TIM3/CH3 | M6 | PB0 | ||
| TIM4/CH1 | M7 | PD12 | ||
| TIM4/CH2 | M8 | PD13 | ||
| LED Strip | TIM4/CH3 | LED Strip | PD14 | |
| Beeper | TIM4/CH4 | Beeper | PD15 | |
| OSC | external | 8MHz | OSC_IN | PH0 |
| OSC_OUT | PH1 | |||
| LED | GPIO_OUTPUT | RED | PE5 | |
| BLUE | PE4 | |||
| GREEN | PE6 | |||
| KEY | BOOT | BOOT0 | ||
| I2C | I2C1 | SDA | PB7 | |
| SCL | PB6 | |||
| UART | UART1 | TX | PA9 | |
| RX | PA10 | |||
| VTX-HD | UART2 | TX | PA2 | |
| RX | PA3 | |||
| GPS | UART3 | TX | PD8 | |
| RX | PD9 | |||
| UART4 | TX | PA0 | ||
| RX | PA1 | |||
| RCIN | UART6 | TX | PC6 | |
| RX | PC7 | |||
| ESC_Telemetry | UART7 | RX | PE7 | |
| UART8 | TX | PE1 | ||
| RX | PE0 | |||
| USB | USB | USB_DM | PA11 | |
| USB_DP | PA12 | |||
| SD Card | SDMMC1 | D0 | PC8 | |
| D1 | PC9 | |||
| D2 | PC10 | |||
| D3 | PC11 | |||
| CLK | PC12 | |||
| CMD | PD2 | |||
| DEBUG | SWD | SWDIO | PA13 | |
| SWCLK | PA14 | |||
| BATTERY | (Ratio 1:21) | ADC | Voltage | PC0 |
| Current | PC1 | |||
MicoAir743 supports Ardupilot/PX4/INAV/Betaflight.
The flight controller part of MicoAir743-AIO is almost the same as MicoAir743, except for:
- Change M9(TIM4->CH3) to LED Strip control pin
- Change M10(TIM4->CH4) to Beep- control pin
- Delete IST8310 (on board compass)
- Delete AT7456E (on board osd)
MicoAir743-AIO can share the same firmware with MicoAir743, unless LED strip control and beeper are required.
Ardupilot
MicoAir743 is officially supported by Ardupilot starting from version 4.6, you can update the firmware through Mission Planner or download all the firmware files(Copter/Heli/Plane/Rover/etc) here:
Also you can use the online firmware builder provided by Ardupilot to customize your firmware for MicoAir743:
ArduPilot Custom Firmware Builder
Old version(v4.5.1) firmware can be download here:
MicoAir743/Firmware/Ardupilot(v4.5.1)
PX4
MicoAir743 is officially supported by PX4 from version 1.15.0.
You can also download the firmware and bootloader build by us (1.13.3&1.14.3).
The board target in PX4 is “micoair_h743”.
Compile locally
Bootloader:
make micoair_h743_bootloaderFirmware:
make micoair_h743_default
Betaflight
MicoAir743 is officially supported by Betaflight from version 4.5.0.
INAV
MicoAir743 is officially supported by INAV from version 8.0.0.
Do not use INAV Configurator to flash 7.1.2 online firmware into MicoAir743, as it still has a bug which cause IMU work abnormaly.
You can also download the old version firmware build by us.