diff --git a/common/source/docs/common-autopilots.rst b/common/source/docs/common-autopilots.rst index fe383c0a5d..3aa6c59e19 100644 --- a/common/source/docs/common-autopilots.rst +++ b/common/source/docs/common-autopilots.rst @@ -250,6 +250,7 @@ Closed Hardware YJUAV A6SE YJUAV A6SE H743 YJUAV-A6Ultra + VUAV-TINYV7 .. note:: due to flash memory limitations, most F4 based, and some other boards, do not include all ArduPilot features. See :ref:`Firmware Limitations ` for details. diff --git a/common/source/docs/common-vuav-tinyv7.rst b/common/source/docs/common-vuav-tinyv7.rst new file mode 100644 index 0000000000..638b399498 --- /dev/null +++ b/common/source/docs/common-vuav-tinyv7.rst @@ -0,0 +1,149 @@ +.. _common-vuav-tinyv7: + +[copywiki destination="plane,copter,rover,blimp,sub"] + +=============================== +VUAV-TinyV7 Flight Controller +=============================== + +The VUAV-TinyV7 flight controller is manufactured by `V-UAV `__. +This page summarizes the board support currently in ArduPilot for the "VUAV-TinyV7" target. + +Features +======== + +* STM32H743 microcontroller +* 2MB flash +* Dual IMUs: ICM45686 and BMI088 +* On-board barometer +* On-board compass support +* FRAM for parameter storage +* microSD card slot +* RGB status LED +* Safety switch support +* IMU heater support +* 5 UARTs plus USB +* 12 PWM outputs, with bi-directional DShot support on outputs 1 to 8 +* I2C support +* 1 CAN bus + +Pinout +====== + +.. image:: ../../../images/VUAV-TinyV7-Connectors.png + :target: ../_images/VUAV-TinyV7-Connectors.png + +.. image:: ../../../images/VUAV-TinyV7-Pinouts.png + :target: ../_images/VUAV-TinyV7-Pinouts.png + +UART Mapping +============ + +The default serial port mapping is: + +* SERIAL0 -> USB (MAVLink2) +* SERIAL1 -> USART2 (MAVLink2, Telem1, DMA-enabled) +* SERIAL2 -> UART5 (MAVLink2, Telem2, DMA-enabled) +* SERIAL3 -> USART1 (GPS1, DMA-enabled) +* SERIAL4 -> USART3 (GPS2, DMA-enabled) +* SERIAL5 -> UART7 (USER, Telem3, DMA-enabled) +* SERIAL6 -> USB OTG2 (SLCAN) + +The TELEM1 port includes RTS/CTS. The other exposed UARTs do not. + +RC Input +======== + +The dedicated RC input is on the RCIN pin and supports all unidirectional RC protocols. +For bi-directional protocols such as CRSF/ELRS, any suitable serial port can be configured with ``SERIALn_PROTOCOL = 23`` and the receiver connected to that port's TX/RX pins. +See `RC control systems `__ for protocol-specific setup details. + +PWM Output +========== + +The VUAV-TinyV7 supports up to 12 PWM outputs. +Outputs 1 to 8 support bi-directional DShot. + +The outputs are grouped as follows: + +* PWM 1 to 4 in group 1 +* PWM 5 to 8 in group 2 +* PWM 9 to 10 in group 3 +* PWM 11 to 12 in group 4 + +Channels within the same group must use the same output rate. +If any channel in a group uses DShot, then all channels in that group must use DShot. + +GPIOs +===== + +All PWM outputs can also be used as GPIOs for relays, RPM sensors, buttons, and similar functions. + +The GPIO numbers for the PWM outputs are: + +============== === +PWM Output GPIO +============== === +PWM1 50 +PWM2 51 +PWM3 52 +PWM4 53 +PWM5 54 +PWM6 55 +PWM7 56 +PWM8 57 +PWM9 58 +PWM10 59 +PWM11 60 +PWM12 61 +============== === + +Analog Inputs +============= + +The board exposes several ADC inputs, including: + +* Primary battery voltage +* Primary battery current +* Secondary battery voltage +* Two spare ADC inputs +* 5V rail sensing +* Servo rail voltage sensing + +Battery Monitoring +================== + +The board includes built-in battery monitor defaults for the primary power input: + +- :ref:`BATT_MONITOR` = 4 +- :ref:`BATT_VOLT_PIN` 4 +- :ref:`BATT_CURR_PIN` 8 +- :ref:`BATT_VOLT_MULT` 20.0 +- :ref:`BATT_AMP_PERVLT` 24.0 + +A secondary voltage-only monitor can also be enabled for the ESC power input: + +- :ref:`BATT2_MONITOR` = 3 to enable + +Preset defaults: + +- :ref:`BATT2_VOLT_PIN` = 10 +- :ref:`BATT2_VOLT_MULT` = 10.09 + +Compass +======= + +The hardware definition includes on-board compass support. +As with most compact autopilots, users operating near high-current wiring or power electronics may still get better magnetic performance from an external compass mounted away from the flight controller, while disabling the internal compass. + +Loading Firmware +================ + +Firmware for the board can be found on the `ArduPilot Firmware Server `__ in the folders named "VUAV-TinyV7" for each vehicle type. + +The board includes an ArduPilot-compatible bootloader, so firmware can be loaded with any compatible ground station using the "\.apj" files. + +Where to Buy +============ + +`V-UAV `__ diff --git a/images/VUAV-TinyV7-Connectors.png b/images/VUAV-TinyV7-Connectors.png new file mode 100644 index 0000000000..5c49eb12d6 Binary files /dev/null and b/images/VUAV-TinyV7-Connectors.png differ diff --git a/images/VUAV-TinyV7-Pinouts.png b/images/VUAV-TinyV7-Pinouts.png new file mode 100644 index 0000000000..98a4781181 Binary files /dev/null and b/images/VUAV-TinyV7-Pinouts.png differ