Matek H743-WING V3 Flight Controller

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.

Ardupilot Relay (PINIO)

• Camera-1 and Vsw On by default
• Make sure 2 cameras are set with identical video format, both PAL or both NTSC.

# GPIOs

• PD10 PINIO1 OUTPUT GPIO(81)   //Vsw pad power switch
• PD11 PINIO2 OUTPUT GPIO(82)   //Camera switch

# RCx_OPTION: RC input option

• 28   Relay On/Off
• 34   Relay2 On/Off
• 35   Relay3 On/Off
• 36   Relay4 On/Off

e.g.

• RELAY_PIN       81    //Vsw GPIO
• RC7_OPTION   28    //Relay On/Off, Use CH7 of Transmitter to switch Vsw
• RELAY_PIN2     82    //Camera switch GPIO
• RC8_OPTION   34    //Relay2 On/Off, Use CH8 of Transmitter to switch camera

or

• RELAY_PIN3       81    //Vsw GPIO
• RC9_OPTION     35    //Relay3 On/Off, Use CH9 of Transmitter to switch Vsw
• RELAY_PIN4       82    //Camera switch GPIO
• RC10_OPTION   36    //Relay4 On/Off, Use CH10 of Transmitter to switch camera

The configured feature will be triggered when the auxiliary switch’s pwm value becomes higher than 1800. It will be deactivated when the value falls below 1200.

Check the pwm value sent from the transmitter when the switch is high and low using the Mission Planner’s Initial Setup >> Mandatory Hardware >> Radio Calibration screen. If it does not climb higher than 1800 or lower than 1200, it is best to adjust the servo end points in the transmitter.

Tip and Notes:

What is new on the H743-Wing V2

1. Use ICM42605 instead of ICM20602
2. Moved PDB/current sensor from FC board to bottom plate.
3. Moved 8A BEC from top board to bottom plate.
4. JST-GH connector for CAN port instead of JST-SH connector.
5. Add a JST-GH connector for I2C2, for plug and play with ASPD-4525

ArduPilot

• H743-WING-V2 with ICM42605 is supported by ArduPilot 4.1 latest or newer,
• ICM42605 is defined as first IMU (IMU0) ,  MPU6000 is the 2nd (IMU1).
• with ArduPilot 4.1 or higher, set INS_ENABLE_MASK to 7 or default 127.
• Current sensor range is 220A on H743-WING-V2,  make sure you set the BATT_AMP_PERVLT to 66.7
• It is recommended to use STM32CubeProgrammer to erase MCU and upload firmware.  check this blog http://www.mateksys.com/?p=6905
• Known issue and solution,  H7 will not initialize with Ardupilot firmware

INAV

• Current sensor range is 220A on H743-WING-V2,  make sure you set the Current Meter Scale to 150
• 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.  download inav_3.0.2_MATEKH743.hex
  • set gyro_to_use = 2
  • set acc_hardware = icm42605
  • save
• If you stick with MPU6000 only,  H743-WING-V2 works with stable version 3.0.x downloaded from configurator also.
• SD card and MSC mode for H743 were not implemented in INAV3.x.  They are supported by INAV4.x or higher.

Others

• If the ESCs you are using don’t have enough capacitors integrated,  low ESR electrolytic capacitor is required for reducing ESC noise.