Полётный контроллер Matek H743-SLIM V3

The Rx6 pin, which by default is mapped to a timer input, can be used for all ArduPilot supported receiver protocols, except CRSF which requires a true UART connection. However, bi-directional protocols which include telemetry, such as SRXL2 and FPort, when connected in this manner, will only provide RC without telemetry.

To allow CRSF and embedded telemetry available in Fport, CRSF, and SRXL2 receivers, the Rx6 pin can also be configured to be used as true UART RX pin for use with bi-directional systems by setting the BRD_ALT_CONFIG to “1” so it becomes the SERIAL7 port’s RX input pin.

With this option, SERIAL7_PROTOCOL must be set to “23”, and:

• PPM is not supported.
• SBUS/DSM/SRXL connects to the Rx6 pin, but SBUS requires that the SERIAL7_OPTIONS be set to “3”.
• FPort requires connection to Tx6 and SERIAL7_OPTIONS be set to “7”.  If Telemetry doesn’t work, try set  SERIAL7_OPTIONS = 135.
• CRSF also requires a Tx6 connection, in addition to Rx6, and automatically provides telemetry. Set SERIAL7_OPTIONS to “0”.
• SRXL2 requires a connection to Tx6 and automatically provides telemetry. Set SERIAL7_OPTIONS to “4”.

Any UART can be used for RC system connections in ArduPilot also, and is compatible with all protocols except PPM. See Radio Control Systems for details.

• H743-SLIM-V1.5 with ICM42605 is supported by ArduPilot 4.1 or higher,
• ICM42605 is defined as first IMU (IMU0) ,  MPU6000 is the 2nd (IMU1).
• with ArduPilot 4.1, set INS_ENABLE_MASK to 7 or default 127.
• It is recommended to use STM32CubeProgrammer to erase MCU and upload firmware. 

• Known issue and solution,  H7 will not initialize with Ardupilot firmware

• IMU ICM42605 is supported by INAV3.0.2 or higher.
• MPU6000 is the first IMU(IMU0, default), ICM42605 is the 3rd IMU (IMU2) in INAV MATEKH743 target.
• If you want to try the new ICM-4 series of IMUs.
  
  • set gyro_to_use = 2
  • set acc_hardware = icm42605
  • save
• If you stick with MPU6000 only,  H743-SLIM V1.5 works with stable version 3.0.x downloaded from configurator.
• SD card and MSC mode for H743 were not implemented in INAV3.x.  They are supported by INAV4.x or higher

• IMU ICM42605 is supported by BetaFlight 4.2 or higher.
• MPU6000 is the first IMU(default), ICM42605 is the second IMU.
• Target MATEKH743 in BetaFlight list doesn’t support ICM42605
• If you want to try the new ICM-4 series of IMUs.  download BF firmware from HERE.
  • set gyro_to_use = second
  • save
• If you stick with MPU6000 only,  H743-SLIM V1.5 works with BF firmware 4.3 downloaded from configurator & 4.2.x downloaded from HERE.
• If you stick with MPU6000 only and don’t use DPS310 barometer also,  H743-SLIM V1.5 works with BF firmware 4.2.x & 4.3 downloaded from configurator.

• ICM42688-P+ICM42605 instead of MPU6000+ICM42605
• Other functions, layout and components are same as previous board version.
• H743-slim V3 has betaflight_4.3.0 preloaded for QC

• H743-mini-V3 with ICM42688-P is supported by ArduPilot 4.2 or higher,
• ICM42688-P is defined as first IMU (IMU0) ,  ICM42605 is the 2nd (IMU1).
• with ArduPilot 4.2, set INS_ENABLE_MASK to 7 or default 127.
• It is recommended to use STM32CubeProgrammer to erase MCU and upload firmware.

• H743-slim-V3 is not supported by INAV4.1 downloaded from configurator. pls download inav_4.1.0_MATEKH743_42688 from our website.
• Starting with INAV5.0,  V1/V1.5/V3 will share the same firmware.

• IMU ICM42688-p is supported by BetaFlight 4.3 or higher.
• icm42688-p is the first IMU(default), ICM42605 is the second IMU.
• Target MATEKH743 in BetaFlight 4.2.x list doesn’t support ICM426XX series, You need to flash it with BF4.3_RC or latest

Полезная ссылка