BF, INAV, ArduPilot Firmwares for Matek Flight controllers

Firmwares for Flight Controllers

CLI “defaults” after reflashing. Firmwares can also be downloaded from BF/INAV configurator

Drivers & Github

***** Make sure the soldering iron you are using is ESD-safe. some iron tips may float at arbitrary voltages unless an additional grounding wire is used. you can easily kill chips when soldering if soldering iron is not grounded properly. *****

Installing Betaflight/INAV/ArduPilot(ChibiOS)

BF WIKI – DFU flashing under Windows
Identical theory for INAV/ArduPilot
If GPS or other peripherals are connected to UART1 or UART3 of F4/F7/H7 chip and these peripherals are powered ON while connecting USB. FC can’t enter DFU mode. It is related to DFU protocol used in the STM32 bootloader, not hardware and PC driver issue.
Make sure INAV firmware version is compatible with configurator version, e.g. use configurator 3.0 for fw 3.0.x, use configurator 2.6 for fw 2.6.x
Always reset to default with defaults in CLI after reflashing, “full chip erase” can not erase old data completely.
DFU mode can’t be bricked.

Install DFU Drivers (DFU mode)

—Use one or the other of two—

Zadig 2.4

Connect the FC USB to the PC While holding the boot button in. (DO NOT power on FC via external 5V or Vbat)
Open Zadig
Choose Options > List All Devices
Select STM32 BOOTLOADER in the device list (if instead you see STM32 Virtual Com Port you are not in DFU mode – don’t replace the driver!)
Choose WinUSB (v6.x.x.x) in the box on the right side of the green arrow and click Replace Driver
Unplug FC from the computer
Restart BF/INAV configurator
Connect the FC USB to the PC While holding the boot button in.
BF/INAV configurator should show it’s connected in DFU mode in the top right corner
Choose the latest hex file for your FC and then “Load Firmware Online/local”. Once loaded, click “Flash Firmware”.

ImpulseRC Driver Fixer

Start ImpluseRC Driver Fixer
Connect the FC USB to the PC While holding the boot button in. (DO NOT power on FC via external 5V or Vbat)
The ImpulseRC Driver Fixer should then see and load the proper driver
Start BF/INAV configurator
Connect the FC USB to the PC while holding the boot button in.
BF/INAV configurator should show it’s connected in DFU mode in the top right corner (DO NOT click the CONNECT button)
Choose the latest hex file for your FC and then “Load Firmware Online/local”. Once loaded, click “Flash Firmware”.

Install STM32 VCP Drivers (COM mode)

STM32 Virtual Com Port driver (Windows)
STM32 Virtual Com Port driver X64 (Windows)
PC devices manager should show “STMicroelectronics Virtual COM Port (COMxx)” if VCP drivers is installed successful.
“FS Mode” is not suitable.
If PC drivers manager doesn’t show right COM port, uninstall it.
Restart your computer. reinstall STM VCP drivers without FC connected. then connect FC USB to the PC to see if COM port can be detected.

Flashing BF/INAV/ArduPilot firmware with STM32CubeProgrammer

FAQ

Click FAQ

BetaFlight

INavFlight

ArduPilot

STM32CubeProgrammer

en.stm32cubeprog_v2-3-0.zip

F405-CTR, F405-STD, F405-mini

Barometer DPS310

BetaFlight firmwares 4.2.x in “Release” branch don’t support barometer DPS310, pls downoad latest 4.3.x from “development” branch.
or download customized betaflight 4.2.x from here
betaflight_4.2.8_MATEKF405STD.hex
betaflight_4.2.9_MATEKF405STD.hex

with ArduPilot firmware, you might set the onboard DPS310 as external barometer, GND_EXT_BUS ->0, GND_PROBE_EXT ->64
INAV2.5.1 downloaded from configurator don’t support new barometer DPS310. Pls use INAV2.6 or higher version and new configurator.

BetaFlight Unified Target since 4.1.2

F405-CTR MATEKF405CTR(MTKS)
F405-STD/F405-OSD MATEKF405STD (MTKS)
F405-mini MATEKF405MINI(MTKS)
F405-AIO MATEKF405AIO (MTKS)

BetaFlight legacy Target “MATEKF405” for F405-CTR/F405-STD/F405-mini/F405-AIO/F405-OSD

Betaflight legacy target is not released any more in pull-down list of configurator, it has been superseded by the Unified Target since 4.1.2

Betaflight_3.5.7_MATEKF405

INAV Target MATEKF405

inav_2.5.1_MATEKF405
inav_2.6.1_MATEKF405
inav_3.0.2_MATEKF405
Softserial_TX1 is on TX4 pad & Softserial_TX2 is on TX2 pad if CPU based serial port is enabled since 2.0.1

Wiki INAV MATEKF405 family

ArduPilot(ChibiOSD) Mateksys F405-STD and variants

http://firmware.ardupilot.org/
ArduPilot (ChibiOS) Target MatekF405 for F405-CTR
ArduPilot (ChibiOS) Target MatekF405-STD for F405-STD and F405-mini

F405-WING, F405-SE

Flight controller F405-SE and F405-WING share same target/hwdef.

INAV Target MATEKF405SE

Betaflight unified Target MATEKF405SE

betaflight_4.2.8_MATEKF405SE
betaflight_4.2.9_MATEKF405SE
BetaFlight 4.2.x downloaded from configurator don’t support DPS310.

ArduPilot (ChibiOS) hwdef MatekF405-WING

http://firmware.ardupilot.org/

ArduPilot(ChibiOSD) Mateksys F405-WING

F411-mini, F411-WING

BetaFlight Unified Target

F411-mini MTKS-MATEKF411

BetaFlight Target MATEKF411

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INAV Target MATEKF411

inav_2.5.1_MATEKF411
inav_2.6.1_MATEKF411
inav_3.0.2_MATEKF411
Set OSD video format to “AUTO”, Do not have it set to PAL or NTSC, otherwise F411 could hang after rebooting.

http://www.mateksys.com/Downloads/FW/inav_2.4.0_MATEKF411_S5S6_SS2.hex

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INAV Target variant

MATEKF411_SFTSRL2

if you want to use two softserials (TX only) at the same time. Eg. VTX control + S. Port
softserial_tx1 on ST1 pad, softserial_tx2 on LED pad

MATEKF411_RSSI

if you want to have analog RSSI input on ST1 pad. softserial_tx1 will be available on the LED pad.

MATEKF411_FD_SFTSRL

if you need the softserial to be full-duplex (TX = ST1 pad, RX = LED pad), at the cost of losing the LED output.

MATEKF411_S5S6_SS2

inav_2.6.1_MATEKF411_S5S6_SS2.hex
inav_3.0.2_MATEKF411_S5S6_SS2.hex
If you use 2 servos outputs only. e.g. flying wing. you might use this firmware to get Softserial2_TX on S5 pad, Softserial2_RX on S6 pad.

F411-ONE

F722-STD

F722-SE, F722-mini, F722-WING

BetaFlight Unified Target

F722-SE MATEKF722SE(MTKS)
F722-mini, F722-miniSE MATEKF722MINI(MTKS)
F722-WING MATEKF722SE(MTKS)

BetaFlight Legacy Target MATEKF722SE

Betaflight_3.5.7_MATEKF722SE
Betaflight_4.1.5_MATEKF722SE
S5 doesn’t work for Hex/Octo motor due to normal DMA confliction if RPM filter is enabled
Betaflight legacy target is not released any more in pull-down list of configurator, it has been superseded by the Unified Target since 4.1.2

Customized BetaFlight 4.2.x for new barometer DPS310

betaflight_4.2.9_MATEKF722MINI.hex F722-miniSE
betaflight_4.2.9_MATEKF722SE.hex F722-SE

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INAV Target MATEKF722SE for F722-SE & F722-WING

INAV Target MATEKF722MINI for F722-mini & F722-miniSE

INAV Target Variant MATEKF722SE_8MOTOR

support 8 motors in multirotor mixer, S7 & S8 are defined as multirotor servo in normal target
inav_2.6.1_MATEKF722SE_8MOTOR.hex
inav_3.0.2_MATEKF722SE_8MOTOR.hex

INAV Target Tips

S5 doesn’t work for Hex & Octo copter due to normal DMA confliction if Dshot is selected
Use multishot for Hex & Octo copter
BF without RPM filter uses burst DMA, no confliction between S1 ~S8 with Dshot, BF with RPM filter uses normal DMA.

F411-WSE, F411-miniSE

INAV Target MATEKF411SE

inav_2.6.1_MATEKF411SE
inav_3.0.2_MATEKF411SE
Set OSD video format to “AUTO”, Do not have it set to PAL or NTSC, otherwise F411 could hang after rebooting.

Variant:

MATEKF411SE Stock target. LED control and have SS1 on ST1 pad, SS2 on TX2 pad.
MATEKF411SE_PINIO Adds USER 2 PINIO support on the LED pad.
MATEKF411SE_FD_SFTSRL1 Adds full duplex SS1 by putting the RX on the LED pad.
MATEKF411SE_SS2_CH6 SS2 moved to Ch6 pad. This keeps UART 2 as a full UART (for example, for use with Crossfire) and SS2 support.

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BetaFlight unified Target MATEKF411SE(MTKS)

betaflight_3.5.7_MATEKF411SE legacy target
betaflight_4.1.5_MATEKF411SE legacy target

F765-WING

F722-PX, F722-HD, F722-WPX

*** F722-PX, F722-HD, F722-WPX has INAV firmware preloaded for QC in factory ***

Barometer DPS310

BetaFlight firmwares 4.2.x in “Release” branch don’t support barometer DPS310, pls downoad latest 4.3.x from “development” branch.
or download customized betaflight 4.2.x from here
betaflight_4.2.8_MATEKF722HD.hex
betaflight_4.2.9_MATEKF722HD.hex

INAV2.5.1 downloaded from configurator don’t support new barometer DPS310. Pls use INAV2.6 and new configurator.

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INAV Target MATEKF722PX

F722-PX, F722-HD share same INAV target MATEKF722PX

INAV Target MATEKF722WPX

F722-WPX uses INAV target MATEKF722WPX since 2.6

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BetaFlight Unified Target MATEKF722HD

F722-PX and F722-HD share same Betaflight unified target MATEKF722HD

Select “MATEKF722HD” in pull-down list of configurator
BetaFlight configurator 10.7 has supported FrskyOSD protocol, You need to enable “OSD(Frsky Protocol)” on Uart6.

F722-WPX can be flashed with Betaflight unified target MATEKF722HD also, DPS310 has been supported by Betaflight 4.3.0

Type CLI command

resource SDCARD_CS 1 C15
set sdcard_mode = SPI
set sdcard_spi_bus = 2
set blackbox_device = SDCARD
serial 5 65536 115200 57600 0 115200
save

H743-WING, H743-SLIM, H743-mini

M9N-F4

F765-WSE

Tutorial

Acknowledgements

Step By Step Guide | Arduplane/Chibios On Matek F405-Wing Board

INAV Documentation, support and learning resources

https://github.com/DzikuVx/inav#documentation-support-and-learning-resources

Firmwares for Flight Controllers

Installing Betaflight/INAV/ArduPilot(ChibiOS)

BF WIKI – DFU flashing under Windows

Install DFU Drivers (DFU mode)

Zadig 2.4

ImpulseRC Driver Fixer

Install STM32 VCP Drivers (COM mode)

Flashing BF/INAV/ArduPilot firmware with STM32CubeProgrammer

FAQ

BetaFlight

INavFlight

ArduPilot

STM32CubeProgrammer