MicoAir743v2-AIO-35A

STM32H743VIH6, BMI088+BMI270, SPL06, 7xUART, 8xPWM, Bluejay 35A ESCx4, 2-6S

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Specifications

Ports

Diagram

Pinout

Firmware

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Specifications

Flight Controller

MCU: STM32H743VIH6, 480MHz, 2MB Flash
IMU: BMI088+BMI270
Baro: SPL06
TF Card Slot
7x UART
9x 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/O4/O4 pro)

ESC

Firmware: Bluejay 0.19.2
PWM Freq: 48KHz
ESC Protocol: DShot300/DShot600 (support Bi-DShot)
Continuous Current: 35A * 4 (Good cooling required)
Voltage Support: 2-6S LiPo Battery

Voltage&Current Monitoring

	Ardupilot	PX4	Betaflight	INAV
Voltage Factor	21.12	21.12	211	211
Current Factor	14.14	14.14	707	707

UART Mapping (Ardupilot)

SERIAL0 -> USB
SERIAL1 -> UART1 (MAVLink2, DMA-enabled)
SERIAL2 -> UART2 (DisplayPort, DMA-enabled)
SERIAL3 -> UART3 (GPS, DMA-enabled)
SERIAL4 -> UART4 (MAVLink2, DMA-enabled)
SERIAL5 -> UART5 (DMA-enabled)
SERIAL6 -> UART6 (RCIN, DMA–enabled)
SERIAL8 -> UART8 (DMA–enabled)

UART Mapping (PX4)

RC Input (Ardupilot)

The default RC input is configured on the UART6. The SBUS pin is inverted and connected to RX6. Non SBUS, single wire serial inputs can be directly tied to RX6 if SBUS pin is left unconnected. RC could be applied instead at a different UART port such as UART2, UART4 or UART8, and set the protocol to receive RC data: SERIALn_PROTOCOL=23 and change SERIAL6 _Protocol to something other than 23.

OSD Support (Ardupilot)

The MicoAir743v2-AIO supports OSD using OSD_TYPE 5 (MSP_DISPLAYPORT).

VTX Support

The SH1.0-6P connector supports a DJI Air Unit / HD VTX connection. Protocol defaults to DisplayPort. Pin 1 of the connector is 12v so be careful not to connect this to a peripheral requiring 5v.

PWM Output

The MicoAir743v2-AIO supports up to 9 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, 11are group 3

Note: PWM11 is the “LED” pin. If this is configured for serial LED use then PWM 7 and 8 can only be used as serial LED also.

Compass

The MicoAir743v2-AIO doesn’t have a built-in compass sensor, but you can attach an external compass using I2C on the SDA and SCL connector.

Physical

Mounting: 25.5 x 25.5mm, Φ3mm
Dimensions: 36 x 36 x 8 mm
Weight: 10g

Related-links

Ports

Diagram

Pinout

STM32H743VIH6
IMU	BMI270	SPI3	MOSI	PD6
			MISO	PB4
			SCLK	PB3
			BMI270_CS	PA15
		GPIO	BMI270_DR	PB7
	BMI088	SPI2	MOSI	PC3
			MISO	PC2
			SCLK	PD3
			BMI088_GYRO_CS	PD5
			BMI088_ACCEL_CS	PD4
		GPIO	BMI088_GYRO_DR	PC15
		GPIO	BMI088_ACCEL_DR	PC14
Barometer	SPL06	I2C2	SCL	PB10
		I2C2	SDA	PB11
		GPIO	SPL06_DR	PD0
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	PWM	TIM4/CH3		PD14
Buzzer-	GPIO			PD15
OSC	external	8MHz	OSC_IN	PH0
OSC	external	8MHz	OSC_OUT	PH1
LED	GPIO_OUTPUT	RED		PE3
		BLUE		PE4
		GREEN		PE2
KEY		BOOT		BOOT0

I2C		I2C1	SDA	PB9
I2C		I2C1	SCL	PB8
UART		UART1	TX	PA9
		UART1	RX	PA10
	VTX-HD	UART2	TX	PA2
	VTX-HD	UART2	RX	PA3
	GPS	UART3	TX	PD8
	GPS	UART3	RX	PD9
		UART4	TX	PA0
		UART4	RX	PA1
		UART5	TX	PB6
		UART5	RX	PB5
	RCIN	UART6	TX	PC6
	RCIN	UART6	RX	PC7
	Bluetooth Telemetry	UART8	TX	PE1
	Bluetooth Telemetry	UART8	RX	PE0
USB		USB	USB_DM	PA11
USB		USB	USB_DP	PA12
SD Card		SDMMC1	D0	PC8
			D1	PC9
			D2	PC10
			D3	PC11
			CLK	PC12
			CMD	PD2
DEBUG		SWD	SWDIO	PA13
DEBUG		SWD	SWCLK	PA14
BATTERY	(Ratio 1:21)	ADC	Voltage	PC0
BATTERY		ADC	Current	PC1

Firmware

MicoAir743v2-AIO supports Ardupilot/Skybrush/PX4/INAV/Betaflight firmware.

Tutorial

[VIDEO] Installing ArduPilot/PX4/INAV/Betaflight on H743 Flight Controller – YouTube

Basic Tutorial for Installing Firmware on Flight Controller

Getting Started Guide for Ardupilot

Tools

MicoConfigurator – Next Generation Setup Tool For ArduPilot

No installation needed. Just open and use. Works on Windows, Mac, and Linux.
All-in-one firmware update. Supports online updates, local file flashing, and DFU flashing (no need to install STM32CubeProgrammer).
One-click easy update. If your flight controller is already running ArduPilot, you can use the online update or flash a local file. It finishes automatically with one click, no extra steps needed.

Ardupilot

Ardupilot Firmware Target: MicoAir743v2

MicoAir743v2 is officially supported by Ardupilot starting from version 4.6.0, you can update the firmware through Mission Planner or download all the firmware files(Copter/Heli/Plane/Rover/etc) here:

ArduPilot Firmware Download

Also you can use the online firmware builder provided by Ardupilot to customize your firmware for MicoAir743v2:

ArduPilot Custom Firmware Builder

Old version(v4.5.7) :

MicoAir743v2/Firmware/Ardupilot