Flight Controller H743-SLIM V3

STM32H743VIH6, ICM42688P & ICM42688P, DPS310, OSD, 7x UARTs, 2x I2C, 1xCAN, 13x PWM outputs, BEC5V,

Update

V1, IMU MPU6000, ICM20602, discontinued since Oct.2021
V1.5, IMU MPU6000, ICM42605, discontinued since Apr.2022
V3, IMU ICM42688P, ICM42605/42688p

Firmwares

Gallery

Specifications

FC Specifications

MCU: STM32H743VIH6, 480MHz , 1MB RAM, 2MB Flash
Board V1.0 IMU: MPU6000 (SPI1) & ICM20602 (SPI4)
Board V1.5 IMU: MPU6000 (SPI1) & ICM42605 (SPI4)
Baro: Infineon DPS310 (I2C2)
OSD: AT7456E (SPI2)
Blackbox: MicroSD card socket (SDIO)

7x Uarts (1,2,3,4,6,7,8) with built-in inversion.
13x PWM outputs(including “LED” pad)
2x I2C
1x CAN
6x ADC (VBAT, Current, RSSI, Analog AirSpeed, Vbat2, Cur2)
3x LEDs for FC STATUS (Blue, Red) and 3.3V indicator(Red)
1x SPI3 breakout
USB Type-C(USB2.0)
1x JST-SH1.0_8pin connector (Vbat/G/Curr/Rx8/S1/S2/S3/S4)
1x JST-GH1.25_4pin connector (5V/CAN-H/CAN-L/G)

Dual Camera Inputs switch
5V/Vbat filtered power ON/OFF switch

DJI FPV OSD is supported by any spare UART

Power

Vbat Input: 6~36V (2~8S LiPo)
BEC: 5V 2A cont. (Max.3A)
LDO 3.3V: Max.200mA
No Current Sensor built-in
ADC Vbat2 pad supports Max. 69V (voltage divider: 1K:20K)
Static power: 200mA@5V with Betaflight, 150mA@5V with ArduPilot

FC Firmware

ArduPilot(ChiBiOS): MATEKH743
BetaFlight: MATEKH743
INAV: MATEKH743

Physical

Mounting: 30.5 x 30.5mm, Φ4mm with Grommets Φ3mm
Dimensions: 36 x 36 x 5 mm
Weight: 7g

Including

1x H743-SLIM
6x Silicon grommets M4 to M3
1x JST-SH1.0_8pin cable, 5cm
2x JST-SH1.0_8pin connectors
1x JST-GH-4P to JST-GH-4P cable for CAN port, 20cm

Layout

Wiring

ArduPilot mapping

PWM PWM1~PWM13 are Dshot and PWM capable. However, mixing Dshot and normal PWM operation for outputs is restricted into groups, ie. enabling Dshot for an output in a group requires that ALL outputs in that group be configured and used as Dshot, rather than PWM outputs. If servo and motor are mixed in same group, make sure this group run lowest PWM frequency according to the servo specification. ie. Servo supports Max. 50Hz, ESC must run at 50Hz in this group.	S1	PB0	5 V tolerant I/O	PWM1 GPIO50	TIM8_CH2N	Group1
	S2	PB1	3.3 V tolerant I/O	PWM2 GPIO51	TIM8_CH3N	Group1
	S3	PA0	5 V tolerant I/O	PWM3 GPIO52	TIM5_CH1	Group2
	S4	PA1	5 V tolerant I/O	PWM4 GPIO53	TIM5_CH2
	S5	PA2	5 V tolerant I/O	PWM5 GPIO54	TIM5_CH3
	S6	PA3	5 V tolerant I/O	PWM6 GPIO55	TIM5_CH4
	S7	PD12	5 V tolerant I/O	PWM7 GPIO56	TIM4_CH1	Gourp3
	S8	PD13	5 V tolerant I/O	PWM8 GPIO57	TIM4_CH2
	S9	PD14	5 V tolerant I/O	PWM9 GPIO58	TIM4_CH3
	S10	PD15	5 V tolerant I/O	PWM10 GPIO59	TIM4_CH4
	S11	PE5	5 V tolerant I/O	PWM11 GPIO60	TIM15_CH1	Group4
	S12	PE6	5 V tolerant I/O	PWM12 GPIO61	TIM15_CH2	Group4
	LED	PA8	5 V tolerant I/O	PWM13 GPIO62	TIM1_CH1	Group5
	LED	PA8	5 V tolerant I/O	SERVO13_FUNCTION 120, NTF_LED_TYPES neopixel		Group5

ADC	No pad 1K:10K divider builtin	PC0	0~36V	on board battery voltage	BATT_VOLT_PIN BATT_VOLT_MULT	10 11.0
	No pad	PC1	0~3.3V	on board current sensor	BATT_CURR_PIN BATT_AMP_PERVLT	11 40
	Vbat2 Pad 1K:20K divider builtin	PA4	0~69V	Vbat2 ADC	BATT2_VOLT_PIN BATT2_VOLT_MULT	18 21.0
	Cur2 Pad	PA7	0~3.3V	Cur2 ADC	BATT2_CURR_PIN BATT2_AMP_PERVLT	7 /
	RSSI Pad	PC5	0~3.3V	RSSI ADC Analog RSSI	RSSI_ANA_PIN RSSI_TYPE	8 1
	AirS Pad 10K:10K divider builtin	PC4	0~6.6V	AirS ADC Analog Airspeed	ARSPD_PIN ARSPD_TYPE	4 2

I2C	I2C1 CL1/DA1	PB6/PB7	5 V tolerant I/O	Digital Airspeed I2C	ARSPD_BUS	1
				MS4525 MS5525 DLVR-L10D	ARSPD_TYPE	1 3 9
				Compass	COMPASS_AUTODEC	1
	I2C2 CL2/DA2	PB10/PB11	5 V tolerant I/O	on board Baro DPS310

CAN	CAN1	PD0/PD1	5 V tolerant I/O	F103/F303 CAN Node	CAN_D1_PROTOCOL CAN_P1_DRIVER	1 1
				CAN GPS	GPS_TYPE	9
				CAN Compass	COMPASS_TYPEMASK	0
				CAN Airspeed sensor	ARSPD_TYPE	8

UART	USB	PA11/PA12	5 V tolerant I/O	USB	console	SERIAL0
	RX7 TX7 RTS7 CTS7	PE7/8/9/10	3.3 V tolerant I/O	UART7	telem1	SERIAL1
	TX1 RX1	PA9/PA10	5 V tolerant I/O	USART1	telem2	SERIAL2
	TX2 RX2	PD5/PD6	5 V tolerant I/O	USART2	GPS1	SERIAL3
	TX3 RX3	PD8/PD9	5 V tolerant I/O	USART3	GPS2	SERIAL4
	TX8 RX8	PE1/PE0	5 V tolerant I/O	UART8	USER	SERIAL5
	TX4 RX4	PB9/PB8	5 V tolerant I/O	UART4	USER	SERIAL6
	TX6 RX6	PC6/PC7	5 V tolerant I/O	USART6	RC input/Receiver	SERIAL7
				RX6	SBUS/IBUS/DSM
				RX6	PPM

RC INPUT

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

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

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.

BF mapping

					BetaFlight
PWM	S1	PB0	5 V tolerant I/O	TIM3_CH3	Motor
	S2	PB1	3.3 V tolerant I/O	TIM3_CH4
	S3	PA0	5 V tolerant I/O	TIM5_CH1
	S4	PA1	5 V tolerant I/O	TIM5_CH2
	S5	PA2	5 V tolerant I/O	TIM5_CH3
	S6	PA3	5 V tolerant I/O	TIM5_CH4
	S7	PD12	5 V tolerant I/O	TIM4_CH1
	S8	PD13	5 V tolerant I/O	TIM4_CH2
	S9	PD14	5 V tolerant I/O	TIM4_CH3
	S10	PD15	5 V tolerant I/O	TIM4_CH4 NO DMA
	S11	PE5	5 V tolerant I/O	TIM15_CH1	Servo
	S12	PE6	5 V tolerant I/O	TIM15_CH2	Servo
	LED	PA8	5 V tolerant I/O	TIM1_CH1	2812LED
	RX4	PB8	5 V tolerant I/O	TIM16_CH1
	TX4	PB9	5 V tolerant I/O	TIM17_CH1

ADC	Vbat ADC, No pad 1K:10K divider builtin	PC0	0~36V	on board battery voltage	scale 110
	Current ADC, No pad	PC1	0~3.3V	on board current sensor	scale external
	Vbt2 Pad 1K:20K divider builtin	PA4	0~69V	Vbat2 ADC	scale 210
	Cur2 Pad	PA7	0~3.3V	Current2 ADC	scale external
	RSSI Pad	PC5	0~3.3V	RSSI ADC	Analog RSSI
	AirS Pad 10K:10K divider builtin	PC4	0~6.6V	AirS ADC	Analog Airspeed

I2C	I2C1 CL1/DA1	PB6/PB7	5 V tolerant I/O	Digital Airspeed I2C	MS4525
	I2C1 CL1/DA1	PB6/PB7	5 V tolerant I/O	Compass
	I2C2 CL2/DA2	PB10/PB11	5 V tolerant I/O	on board Barometer	DPS310

UART	USB	PA11/PA12	5 V tolerant I/O	USB
	RX7 TX7 RTS7 CTS7	PE7/8/9/10	3.3 V tolerant I/O	UART7	USER
	TX1 RX1	PA9/PA10	5 V tolerant I/O	USART1	USER
	TX2 RX2	PD5/PD6	5 V tolerant I/O	USART2	USER
	TX3 RX3	PD8/PD9	5 V tolerant I/O	USART3	USER
	TX8 RX8	PE1/PE0	5 V tolerant I/O	UART8	USER
	TX4 RX4	PB9/PB8	5 V tolerant I/O	UART4	USER
	TX6 RX6	PC6/PC7	5 V tolerant I/O	UART6_RX	PPM & Serial RX
	TX6 RX6	PC6/PC7	5 V tolerant I/O	UART6_TX	FPORT

H743-slim V1.5

What is new on the H743-SLIM V1.5

Use ICM42605 instead of ICM20602
Same layout and other components as previous board version.
H743-SLIM has betaflight_4.3.0 preloaded for QC

ArduPilot

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. check this blog https://www.mateksys.com/?p=6905

INAV

IMU ICM42605/42688 is supported by INAV3.0.2 or higher.
SD card and MSC mode for H743 were not implemented in INAV3.x. They are supported by INAV4.x or higher

BetaFlight

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.

H743-slim V3

H743-mini	ArduPilot		INAV		BetaFlight
V1	ICM20602(1st) MPU6000(2nd)	ArduPilot 4.0 stable or newer	MPU6000 (0) ICM20602 (1)	INAV 3.0 or newer	MPU6000 (0) ICM20602 (1)	BF 4.2 or newer
V1.5	ICM42605(1st) MPU6000(2nd)	ArduPilot 4.1 stable or newer	MPU6000 (0) ICM42605 (2)	INAV 4.0 or newer	MPU6000 (0) ICM42605 (1)	BF 4.2 or newer
V3	ICM42688P(1st) ICM42605/42688P(2nd)	ArduPilot 4.2 latest or newer	ICM42688P (0) ICM42605 (2)	INAV 5.0 or newer	ICM42688P (0) ICM42605 (1)	BF 4.3 or newer

What is new on the H743-slim V3

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

ArduPilot

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. check this blog https://www.mateksys.com/?p=6905

INAV

Starting with INAV5.0, V1/V1.5/V3 will share the same firmware.

BetaFlight

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

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