Flight Controller F405-HDTE

STM32F405RGT6, ICM42688-P, SPL06, OSD, 6x UARTs, 1x I2C, 12x PWM, Dual BEC, 3~12S LiPo input

Tips

With INAV firmware 6.0 or older, DSHOT can not work on S3, S5,S7 because of DMA clash, pls use ONESHOT or MULTISHOT and calibrate ESC PWM range. This DMA clash has been fixed from INAV 7.x.x.
USB type-C to USB type-C cable can’t supply power to the board. Pls use USB-A to USB type-C cable.

Firmwares

Gallery

Specifications

F405-HDTE Quick Start Guide (PDF)

Features

STM32F405 has 1MB flash which can run ArduPilot/INAV/BetaFlight
InvenSense the 3rd generation IMU ICM42688-P
9-60V(3~12S LiPo) wide input voltage and voltage sense. and a 9~16V BEC for DJI OSD or analog VTX.
8motors+3servos in INAV/BF multirotor mixer.
2x SH1.0_8pin connector for PnP with 2x 4in1 ESC
1x SH1.0_6pin connector for PnP with HD System(Caddx Vista & Air Unit)
USB pin breakout for connecting to external USB adapter.

Specifications

MCU: STM32F405RGT6
IMU: ICM42688-P
OSD: AT7456E, DJI OSD
Baro: SPL06-001 (I2C)
Blackbox: 16M-byte Flash memory
6x UARTs, 1x Softserial_Tx option
12x PWM outputs (8x Dshot)
1x I2C
4x ADC (VBAT, Current, RSSI, Airspeed)
2x PINIO
2x SH1.0_8pin connector for 4in1 ESC
1x SH1.0_6pin connector for HD System(Caddx Vista & Air Unit)
3x LEDs for FC STATUS (Blue, Green) and 3.3V indicator(Red)

9~16V(Vxs) output ON/OFF switchable
Dual analog camera signal switchable

Power

Input: 9~60V (3~12S LiPo)
BEC: 5V 1.5A
BEC: Vx, 9~16V/1~2A (3S IN/9V 2A, 4S IN/12V 2A, 6S IN/16V 2A, 8S IN/16V 1.5A, 12S IN/16V 1A)
Battery Voltage Sensor: 1K:20K (INAV scale 2100, BF scale 210)
No Current Sensor built-in, supports external current sensor of PDB/4in1

Firmware

ArduPilot: MatekF405-TE
INAV: MATEKF405TE
BetaFlight: MATEKF405TE

Physical

Mounting: 30.5 x 30.5mm, Φ4mm with Grommets Φ3mm
Dimensions: 36 x 36 x 9 mm
Weight: 7g

Including

1x FC F405-HDTE
6x Silicon grommets M4 to M3
1x SH1.0_8pin cable 5cm, 2x SH1.0_8pin connectors
1x SH1.0_6pin to GH1.25_8pin cable for DJI Air Unit (replaced by black SH1.0-6pin to black SH1.0-6pin 12cm cable since Aug 01, 2023)

Layout

Wiring

INAV/BF mapping

				INAV/BF MultiRotor	INAV Plane
PWM	S1	5 V tolerant I/O	TIM8_CH4	Motor	Motor
	S2	5 V tolerant I/O	TIM8_CH3	Motor	Motor
	S3	5 V tolerant I/O	TIM1_CH3N	Motor	Servo
	S4	5 V tolerant I/O	TIM1_CH1	Motor	Servo
	S5	5 V tolerant I/O	TIM2_CH4	Motor	Servo
	S6	5 V tolerant I/O	TIM2_CH3	Motor	Servo
	S7	5 V tolerant I/O	TIM2_CH2	Motor	Servo
	S8	5 V tolerant I/O	TIM2_CH1	Motor	Servo
	S9	5 V tolerant I/O	TIM12_CH1	Servo	Servo
	S10	5 V tolerant I/O	TIM13_CH1	Servo	Servo
	S11	5 V tolerant I/O	TIM4_CH1	Servo	Servo
	LED	5 V tolerant I/O	TIM3_CH4	2812LED	2812LED

ADC	Vbat Pad	1K:20K divider builtin 0~60V	Vbat ADC ADC_CHANNEL_1, PC4	BF scale 210, INAV scale 2100
	Curr pad	0~3.3V	Current ADC ADC_CHANNEL_2, PC5	depends on external current sensor range
	RSSI Pad	0~3.3V	RSSI ADC ADC_CHANNEL_3, PB0	Analog RSSI, Spare ADC
	ADC Pad	no divider builtin 0~3.3V	AirS ADC ADC_CHANNEL_4, PC0	Analog Airspeed(INAV) Spare ADC(BF)

I2C	I2C1	5V tolerant I/O	Compass	QMC5883 / HMC5883 /IST8310 / IST8308 / MAG3110 / LIS3MDL
			OLED	0.96″
			onboard Barometer	SPL06-001
			Digital Airspeed sensor	MS4525 (INAV)
			Temperature sensor

UART 5V tolerant I/O	USB		USB
	TX1 RX1	5V tolerant I/O	UART1	USER
	TX3 RX3		UART3	USER, ESC Telemetry
	TX4 RX4		UART4	DJI OSD
	TX5 RX5		UART5	GPS
	TX6 RX6		UART6	USER
	TX2 RX2 SBUS	5V tolerant I/O	UART2	RC input/Receiver
			SBUS pad	for SBUS receiver, SBUS pad = RX2+inverter
			RX2 pad	IBUS/DSM/PPM, INAV doesn’t support PPM
			TX2 & RX2	CRSF
			TX2 pad	SmartPort Telemetry	INAV enable Softserial_Tx1 BF “resource SERIAL_TX 11 A02”
			TX2 pad	FPORT, uninverted S.Port/F.Port signal (hacked)
			TX2 pad	SRXL2

ArduPilot mapping

ArduPilot
PWM 5V tolerant I/O	S1	PWM1 GPIO50	TIM8_CH4	DMA/DShot	Group1
	S2	PWM2 GPIO51	TIM8_CH3	DMA/DShot	Group1
	S3	PWM3 GPIO52	TIM1_CH3N	DMA/DShot	Group2
	S4	PWM4 GPIO53	TIM1_CH1	DMA/DShot	Group2
	S5	PWM5 GPIO54	TIM2_CH4	DMA/DShot	Gourp3
	S6	PWM6 GPIO55	TIM2_CH3	DMA/DShot
	S7	PWM7 GPIO56	TIM2_CH2	DMA/DShot
	S8	PWM8 GPIO57	TIM2_CH1	DMA/DShot
	S9	PWM9 GPIO58	TIM12_CH1	NO DMA	Gourp4
	S10	PWM10 GPIO59	TIM13_CH1	NO DMA	Gourp5
	S11	PWM11 GPIO60	TIM4_CH1	NO DMA	Gourp6
	LED pad	PWM12 GPIO61	TIM3_CH4	DMA/DShot	Gourp7
	LED pad	SERVO12_FUNCTION 120, NTF_LED_TYPES neopixel		DMA/DShot	Gourp7
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.

ADC	Vbat Pad	1K:20K divider builtin 0~60V	on board battery voltage	BATT_VOLT_PIN BATT_VOLT_MULT	14 21.0
	Curr pad	0~3.3V	current sensor ADC	BATT_CURR_PIN BATT_AMP_PERVLT	15 /
	RSSI Pad	0~3.3V	RSSI ADC Analog RSSI	RSSI_ANA_PIN RSSI_TYPE	8 2
	ADC	0~3.3V	AirS ADC Analog Airspeed	ARSPD_PIN ARSPD_TYPE	10 2

I2C	I2C1	5V tolerant I/O	Compass	COMPASS_AUTODEC	1
			onboard Baro SPL06-001	Address	0x76
			Digital Airspeed I2C MS4525 DLVR-L10D	ARSPD_BUS ARSPD_TYPE ARSPD_TYPE	1 1 9

UART 5V tolerant I/O	USB	USB		console	SERIAL0
	TX1 RX1	USART1	with DMA	telem1	SERIAL1
	TX3 RX3	USART3	NO DMA	telem2	SERIAL2
	TX5 RX5	UART5	NO DMA	GPS1	SERIAL3
	TX4 RX4	UART4	NO DMA	DJI OSD	SERIAL4
	TX6 RX6	USART6	TX6 with DMA	USER	SERIAL5
	TX2 RX2 SBUS	USART2	with DMA	RC input/Receiver	SERIAL6
		RX2	IBUS/DSM/PPM	BRD_ALT_CONFIG 0 Default
		Sbs pad	SBUS	BRD_ALT_CONFIG 0 Default
		TX2 & RX2	CRSF	BRD_ALT_CONFIG 1 SERIAL6_PROTOCOL 23	SERIAL6_OPTIONS 0
		TX2	uninverted FPort (hacked)		SERIAL6_OPTIONS 4
		TX2	SRXL2		SERIAL6_OPTIONS 4

If sending highspeed serial data (eg. 921600 baud) to the board, use USART1(Serial1) or USART2(Serial6).

Frsky Smartport Telemetry

non-inverted (hacked) S.Port signal

any spare Uart_TX
SERIALx_BAUD 57
SERIALx_OPTIONS 7
SERIALx_PROTOCOL 4 or 10(for yaapu)

DJI FPV OSD (ArduPilot 4.1)

https://ardupilot.org/plane/docs/common-msp-osd-overview.html

OSD_TYPE = 3
SERIAL4_PROTOCOL = 33
MSP_OPTIONS = 0 (polling mode)

Relay(PINIO)

PINIO_1, “Vxs” ON by default
PINIO_2, Camera input switch, C1 by default

# GPIOs

PA4 PINIO1 OUTPUT GPIO(81) LOW //”Vxs” power switch
PB5 PINIO2 OUTPUT GPIO(82) LOW //Camera input 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 //”Vxs” power switch PINIO
RC7_OPTION 28 //Relay On/Off, Use CH7 of Transmitter to control Vxs ON/OFF
RELAY_PIN2 82 //Camera input switch PINIO
RC8_OPTION 34 //Relay2 On/Off, Use CH8 of Transmitter to control C1 or C2 input

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.

Tips

F405-HDTE has INAV fw preloaded for QC

ArduPilot

Support musical tone alarm with 5V passive buzzer
Download latest ArduPilot firmware from HERE.

INAV

With INAV firmware, DSHOT can not work on S3, S5,S7 because of DMA clash, pls use ONESHOT or MULTISHOT and calibrate ESC PWM range. This DMA clash will be fixed from INAV 7.x.x.
Support 5V passive buzzer

BetaFlight

If using 5V passive buzzer, CLI “set beeper_frequency = 2500”
MATEKF405TE target was supported since BF4.3 RC3.
set dshot_bitbang = ON when using X6 and X8 DSHOT,
You may download BF 4.3 directly from BF configurator, BF 4.2.x from our website (click “Firmwares” button at upper right corner)
Barometer SPL06-001 is not supported by Betaflight.

Resellers