Flight Controller H7A3-WING

STM32H7A3RIT6 280MHz, ICM42688P, SPL06-001, OSD, 6x UARTs, 1x I2C, 1xCAN, 11x PWM outputs, BEC5V, BEC9V,

Gallery

Specifications

MCU: STM32H7A3RIT6, 280MHz Cortex-M7, 1.4MB RAM, 2MB Flash
IMU: ICM42688P
Baro: SPL06-001
OSD: AT7456E
Blackbox: MicroSD socket
I2C digital power monitor

6x Uarts (1,2,3,4, 5, 6) with built-in inversion.
11x PWM outputs
1x I2C
1x CAN
4x ADC (VBAT, Current, VB2, Cur2)
3x LEDs for FC STATUS (Blue, Red) and 3.3V indicator(Red)
USB/Beep Extender with Type-C(USB2.0)
2x JST-GH1.25_4pin connector for CAN and I2C

9V/12V output ON/OFF switchable

Digital video OSD is supported by any spare UART

Regulators

Vbat Input: 9~30V (3~6S LiPo)
BEC 5V/4v5: 2.5A cont. /3A peak
BEC 9V/12V: 2A cont. /3A peak
BEC Vx: 8A cont. /12A Peak, output 5V Default, 6V or 7.2V option.
LDO 3.3V: Max.200mA

I2C digital power monitor

No calibration required.
Current sensing resistor: 0.00025 ohm
Load current on current sensing resistor: 100A(Continuous), 164A(Burst)
Voltage accuracy: ± 0.1%
Current accuracy: ± 2%
INA2xx I2C address: 0x45 (69)

Parameters
- BATT_MONITOR ->21 (INA2xx)
- BATT_SHUNT -> 0.00025
- BATT_MAX_AMPS -> 164
- BATT_I2C_BUS -> 0 default
- BATT_I2C_ADDR -> 0 default (or 69)

FC Firmware

ArduPilot: MATEKH7A3 (4.6 or newer)
ArduPlane https://firmware.ardupilot.org/Plane/beta/MatekH7A3/
ArduCopter https://firmware.ardupilot.org/Copter/beta/MatekH7A3/
Flashing with STM32CubeProgrammer

Physical

Mounting: 30.5 x 30.5mm, Φ4mm with Grommets Φ3mm
Dimensions: 54 x 36 x 13 mm
Weight: 30g with USB extender

Including

1x H7A3-WING
1x USB(Type-C)/Beep (Passive buzzer) Extender with 6pin cable
1x 20cm JST-SH-6P to JST-SH-6P cable for USB extender.
2x 20cm JST-GH-4P to JST-GH-4P cable for CAN & I2C port
1x Rubycon ZLH 35V 470uF capacitor
Dupont 2.54 pins (Board is shipped unsoldered)

Layout

ArduPilot mapping

ArduPilot
PWM	S1	PWM1 GPIO50	5 V tolerant I/O	TIM1_CH2	DMA/Bi-DShot	Group1
	S2	PWM2 GPIO51	5 V tolerant I/O	TIM1_CH3	DMA/Bi-DShot	Group1
	S3	PWM3 GPIO52	5 V tolerant I/O	TIM2_CH1	DMA/Bi-DShot	Group2
	S4	PWM4 GPIO53	5 V tolerant I/O	TIM2_CH2	DMA/Bi-DShot	Group2
	S5	PWM5 GPIO54	5 V tolerant I/O	TIM3_CH3	DMA/Bi-DShot	Group3
	S6	PWM6 GPIO55	5 V tolerant I/O	TIM3_CH4	DMA/Bi-DShot
	S7	PWM7 GPIO56	5 V tolerant I/O	TIM3_CH1	DMA/Bi-DShot
	S8	PWM8 GPIO57	5 V tolerant I/O	TIM3_CH2	DMA/Bi-DShot
	S9	PWM9 GPIO58	5 V tolerant I/O	TIM4_CH1	DMA/DShot	Group4
	S10	PWM10 GPIO59	5 V tolerant I/O	TIM4_CH2	DMA/DShot	Group4
	S11	PWM11 GPIO60	5 V tolerant I/O	TIM16_CH1	DMA/DShot	Group5
	PWM1~PWM11 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. That is to say. If Servo support Max. 50Hz, ESC must run at 50Hz in this group.
PINIO	9V switch	GPIO81		RELAY1_PIN		81
ADC	Vbat pad	BATT_VOLTAGE_SENS	0~36V	BATT_VOLT_PIN BATT_VOLT_MULT		10 21.0
	Curr pad	BATT_CURRENT_SENS	0~3.3V	BATT_CURR_PIN BATT_AMP_PERVLT		11 X
	VB2 Pad	BATT2_VOLTAGE_SENS	0~69V	BATT2_VOLT_PIN BATT2_VOLT_MULT		18 21.0
	CU2 Pad	BATT2_CURRENT_SENS	0~3.3V	BATT2_CURR_PIN BATT2_AMP_PERVLT		8 X
I2C	SCL/SDA	I2C3	5V tolerant I/O	on board Baro SPL06-001	I2C Address	0x76
				on board Baro INA2XX	I2C Address	0x45
				Digital Airspeed I2C MS4525 DLVR-L10D	ARSPD_BUS ARSPD_TYPE ARSPD_TYPE	0 1 9
				Magnetometer	COMPASS_AUTODEC	1
CAN	C-H/C-L	CAN2	5V tolerant I/O	CAN	CAN_D1_PROTOCOL CAN_P1_DRIVER	1 1
CAN	C-H/C-L	CAN2	5V tolerant I/O	CAN GPS CAN Compass CAN Airspeed sensor	GPS_TYPE COMPASS_TYPEMASK ARSPD_TYPE	9 0 8
UART	USB	USB		console	SERIAL0_PROTOCOL	2
	TX1 RX1	USART1 w/DMA	5 V tolerant I/O	Telemetry	SERIAL1_PROTOCOL	2
	TX2 RX2	USART2 w/DMA	5 V tolerant I/O	RC input/Receiver	SERIAL2_PROTOCOL	23
	TX3 RX3	USART3 w/DMA	5 V tolerant I/O	GPS	SERIAL3_PROTOCOL	5
	TX4 RX4	UART4 w/o DMA	5 V tolerant I/O	Spare	SERIAL4_PROTOCOL	-1
	TX5 RX5	UART5 w/o DMA	5 V tolerant I/O	Spare	SERIAL5_PROTOCOL	-1
	TX6 RX6	USART6 w/o DMA	5 V tolerant I/O	Spare	SERIAL6_PROTOCOL	-1

RC INPUT

RC input is configured on the USART2(SERIAL2). It supports all serial RC protocols. SERIAL2_PROTOCOL=23 by default.

PPM is not supported.
CRSF requires Tx2 & Rx2 connection, and set SERIAL2_OPTIONS to “0” (default).
SBUS/DSM/SRXL connects to the Rx2 pin, but SBUS requires that the SERIAL2_OPTIONS be set to “3”.
FPort requires connection to Tx2, and set SERIAL2_OPTIONS to “7”. If Telemetry doesn’t work, try set SERIAL7_OPTIONS = 135.
SRXL2 requires a connection to Tx2, and automatically provides telemetry. Set SERIAL2_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)

9V/12V output ON by default

RELAY1_FUNCTION 1
RELAY1_PIN 81 // PINIO1 GPIO
RC7_OPTION 28 //Relay1 On/Off, Use CH7 of Transmitter to set 9V/12V ON/OFF

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 & Notes