Flight Controller H743-WING V2/V3

Flight Controller H743-WING V2 & V3

STM32H743VIT6, ICM42688P & ICM42688P, DPS310, OSD, 7x UARTs, 2x I2C, 1xCAN, 13x PWM outputs, 3x BEC, PDB, current sensor

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Firmwares

Gallery

Spec. & Manual

H743-WING-V2 Quick Start Guide

FC Specifications

MCU: STM32H743VIT6, 480MHz , 1MB RAM, 2MB Flash
IMU: MPU6000 (SPI1) & ICM42605 (SPI4)
Baro: Infineon DPS310 (I2C2)
OSD: AT7456E (SPI2)
Blackbox: MicroSD card slot (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, VB2, CU2)
3x LEDs for FC STATUS (Blue, Red) and 3.3V indicator(Red)
1x SPI3 breakout
USB/Beep Extender with Type-C(USB2.0)
Dual Camera Inputs switch
5V/9V(12V) for Camera/VTX power switch
High-precision Current Sense (90A continuous, 220A peak)
Battery Voltage Sensor: 1K:10K (Scale 1100 in INAV, BATT_VOLT_MULT 11.0 in ArduPilot)
ADC VB2 voltage divider: 1K:20K
ADC AirSpeed voltage divider: 20K:20K
Static power 160mA@5V

FC Firmware

ArduPilot(ChiBiOS): MATEKH743
INAV: MATEKH743

PDB

Input voltage range: 8~36V (3~8S LiPo) w/TVS protection
2x ESC power pads
Current Senor: 220A, 3.3V ADC (Scale 150 in INAV, 66.7 A/V in ArduPilot)
Sense resistor: 90A continuous, 220A peak.

BEC 5V output

Designed for Flight controller, Receiver, OSD, Camera, Buzzer, 2812 LED_Strip, Buzzer, GPS module, AirSpeed
Output 5.15 +/- 0.1V DC
Continuous current 2 Amps, 3A Peak

BEC 9V /12V output

Designed for Video Transmitter, Camera, Gimbal ect.
Continuous current 2 Amps, 3A Peak
12V option with Jumper pad

BEC Vx output

Designed for Servos
Voltage adjustable, 5V Default, 6V or 7.2V via jumper
Continuous current 8 Amps, 10A Peak

BEC 3.3V output

Linear Regulator
Continuous current: 200mA

Physical

Mounting: 30.5 x 30.5mm, Φ4mm with Grommets Φ3mm
Dimensions: 54 x 36 x 13 mm
Weight: 30g with USB extender
H743-WING-V3 3d step file

Including

1x H743-WING
1x USB(Type-C)/Beep (Passive buzzer) Extender
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

Wiring

INAV mapping

INAV
PWM	S1	PB0	5 V tolerant I/O	TIM3_CH3	Fixed Wing Motor
	S2	PB1	3.3 V tolerant I/O	TIM3_CH4	Fixed Wing Motor
	S3	PA0	5 V tolerant I/O	TIM5_CH1	Fixed Wing Servo
	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
	S11	PE5	5 V tolerant I/O	TIM15_CH1
	S12	PE6	5 V tolerant I/O	TIM15_CH2
	LED	PA8	5 V tolerant I/O	TIM1_CH1	2812LED
ADC	Vbat pad 1K:10K divider builtin	PC0	0~36V	Vbat ADC ADC_CHANNEL_1	scale 1100
	Curr Pad	PC1	0~3.3V	Current ADC ADC_CHANNEL_2	scale 150
	RSSI Pad	PC5	0~3.3V	RSSI ADC ADC_CHANNEL_3	Analog RSSI
	AirS Pad 20K:20K divider builtin	PC4	0~6.6V	AirS ADC ADC_CHANNEL_4	Analog Airspeed
	VB2 Pad 1K:20K divider builtin	PA4	0~69V	ADC_CHANNEL_5	scale 2100
	CU2 Pad	PA7	0~3.3V	ADC_CHANNEL_6	spare
I2C	I2C1 CL1/DA1	PB6/PB7	5 V tolerant I/O	Compass	QMC5883 / HMC5883 IST8310 / IST8308 MAG3110 / LIS3MDL
	I2C1 CL1/DA1	PB6/PB7	5 V tolerant I/O	OLED	0.96″
	I2C2 CL2/DA2 on JST-GH-4P	PB10/PB11	5 V tolerant I/O	onboard Barometer	DPS310
				Digital Airspeed sensor	MS4525
				Temperature sensor
UART	USB	PA11/PA12	5 V tolerant I/O	USB
	TX1 RX1	PA9/PA10	5 V tolerant I/O	USART1	telem2
	TX2 RX2	PD5/PD6	5 V tolerant I/O	USART2	GPS1
	TX3 RX3	PD8/PD9	5 V tolerant I/O	USART3	GPS2
	TX4 RX4	PB9/PB8	5 V tolerant I/O	UART4	USER
	TX6 RX6	PC6/PC7	5 V tolerant I/O	TX6 & RX6	CRSF
				UART6_RX	SBUS/IBUS/DSM/PPM
				UART6_TX	FPORT/SRXL2
	RX7 TX7	PE7/PE8	3.3 V tolerant I/O	UART7	telem1
	TX8 RX8	PE1/PE0	5 V tolerant I/O	UART8	USER

ArduPilot mapping

ArduPilot
PWM	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
PWM1~PWM13 are Dshot and PWM capable. However, mixing Dshot and normal PWM operation for outputs is restricted into groups. That is to say, 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 supports Max. 50Hz, ESC must run at 50Hz in this group.
ADC	Vbat pad 1K:10K divider builtin	PC0	0~36V	Vbat ADC onboard battery voltage sense	BATT_VOLT_PIN BATT_VOLT_MULT	10 11.0
	Curr pad	PC1	0~3.3V	Current ADC onboard current sense	BATT_CURR_PIN BATT_AMP_PERVLT	11 66.7
	VB2 Pad 1K:20K divider builtin	PA4	0~69V	Vbat2 ADC	BATT2_VOLT_PIN BATT2_VOLT_MULT	18 21.0
	CU2 Pad	PA7	0~3.3V	Current2 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 20K:20K 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	Compass	COMPASS_AUTODEC	1
	I2C2 CL2/DA2 on JST-GH-4P	PB10/PB11	5 V tolerant I/O	on board Baro DPS310	Address	0x76
	I2C2 CL2/DA2 on JST-GH-4P	PB10/PB11	5 V tolerant I/O	Digital Airspeed I2C MS4525 DLVR-L10D	ARSPD_BUS ARSPD_TYPE ARSPD_TYPE	0 1 9
CAN	CAN1	PD0/PD1	5 V tolerant I/O	CAN Node	CAN_D1_PROTOCOL CAN_P1_DRIVER	1 1
CAN	CAN1	PD0/PD1	5 V tolerant I/O	CAN GPS CAN Compass CAN Airspeed sensor	GPS_TYPE COMPASS_TYPEMASK ARSPD_TYPE	9 0 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/PPM
				TX6	FPORT/SRXL2

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.

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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

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.

Tips & Notes

H743-WING	ArduPilot		INAV
V1 Blue PCB	ICM20602(1st) MPU6000(2nd)	ArduPilot 4.0 stable or newer	MPU6000 (0) default ICM20602 (1)	INAV 3.0 or newer
V2 Purple PCB	ICM42605(1st) MPU6000(2nd)	ArduPilot 4.1 stable or newer	MPU6000 (0) default ICM42605 (2)	INAV 4.0 or newer
V3 Blue PCB	ICM42688P(1st) ICM42688P(2nd)	ArduPilot plane 4.2.0 stable or newer	ICM42688P (0) default ICM42688P(2)	INAV 5.0 or newer

*** V1/V2/V3 share same ArduPilot/INAV Target ***

ArduPilot

Current sensor range is 220A on H743-WING-V2/V3, make sure you set the BATT_AMP_PERVLT to 66.7
with ArduPilot 4.1 or higher, set INS_ENABLE_MASK to 7 or default 127.
Pls download “plane 4.2.0 or newer” ArduPilot firmware for H743-WING-V3
It is recommended to use STM32CubeProgrammer to erase MCU and upload firmware. check this blog https://www.mateksys.com/?p=6905

INAV

Current sensor range is 220A on H743-WING-V2/V3, make sure you set the Current Meter Scale to 150
Starting with INAV5.0, they will share the same firmware.

Others

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