Flight Controller F405-WTE

STM32F405RGT6, ICM42688P, SPL06, OSD, ESP WIFI telemetry/ELRS 2.4G receiver, 6xUARTs, 12x PWM,1xI2C

Firmwares

Gallery

Spec.& Manual

F405-WTE Quick Start Guide PDF

FC Specifications

MCU: STM32F405RGT6, 168MHz , 1MB Flash
IMU: ICM42688-P
Baro: SPL06-001
OSD: AT7456E
Blackbox: MicroSD card slot
ESP WiFi Telemetry(MAVLink, 14dBm)
ExpressLRS 2.4G receiver(CRSF protocol, Telemetry 12dBm)
6x UARTs, 1x Softserial_Tx option(INAV)
12x PWM outputs
1x I2C
4x ADC (VBAT, Current, RSSI, Airspeed)
USB/Beep Extender with Type-C(USB2.0)
Dual Camera Inputs switch
9V(12V) for VTX power switch

FC Firmware

ArduPilot: MatekF405-TE
INAV: MATEKF405TE_SD (not available in INAV configurator 4.x)

PDB

Input voltage range: 6.8~30V (2~6S LiPo)
1x ESC power pads
Battery Voltage divider 1K:20K (Scale 2100 in INAV, BATT_VOLT_MULT 21.0 in ArduPilot)
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
Continuous current: 2 Amps, Max.3A

BEC 9V /12V output

Designed for Video Transmitter, Camera, Gimbal ect.
Continuous current: 2 Amps, Max.3A
12V option with Jumper pad
for stable 9V/12V output, input voltage should > output voltage +1V

BEC Vx output

Designed for Servos
Voltage adjustable, 5V Default, 6V or 7.2V via jumper
Continuous current: 8 Amps, Max.10A
for stable Vx output, input voltage should > Vx voltage +1V

BEC 3.3V output

Designed for Baro / Compass module and external 3.3V peripherals
Linear Regulator
Continuous current: 200mA

Physical

Mounting: 25 x 25mm, Φ2mm
Dimensions: 44 x 29 x 12.7mm
Weight: 22g w/ USB/buzzer adapter

Including

1x F405-WTE
1x USB(Type-C)/Beep (Passive buzzer) Extender + 20cm JST-SH-6P to JST-SH-6P cable for USB extender.
2x IPEX-MHF1 2.4G Antennas
1x Rubycon ZLH 35V 470uF capacitor
Dupont 2.54 pins (Board is shipped unsoldered)

Layout

Wiring

ESP WIFI TLM & ELRS

ArduPilot ESP8266 wifi telemetry

https://ardupilot.org/copter/docs/common-esp8266-telemetry.html
Tool: ESP_NodeMCU-PyFlasher.exe
Firmware: firmware-esp01_1m.bin
Flashing with ESP_NodeMCU-PyFlasher
1. Wire the ESP8285(ETx, ERx) into the USB-TTL adapter, with ETx on F405-WTE connected to the Rx on the USB-TTL, and ERx connected to the Tx of the USB-TTL. Wire 4v5 and GND of F405-WTE to 5V and GND of the USB-TTL
2. Connect USB-TTL Adapter to PC while pressing and holding the ESP8285 boot button in.
3. open ESP_NodeMCU-PyFlasher
4. select Serial port of USB-TTL module, load firmware, select “Dual Output(DOUT)” and “Yes.wipes all data“
5. click “Flash NodeMCU“
6. after flashing, Power off , then power on F405-WTE by USB or Battery.
7. Wait a few seconds, search WiFi SSID “ArduPilot”, and password is “ardupilot”
8. Tips: Red LED for ELRS receiver will not turn on if MAVESP8266 firmware is flashed in.

ExpressLRS 2.4G Receiver

https://www.expresslrs.org/2.0/quick-start/getting-started/
ExpressLRS AUX1-AUX8 are not full resolution CH. https://www.expresslrs.org/2.0/software/switch-config/
Flashing via WiFi
1. Power on F405-WTE by USB, Receiver’s LED(Red) will blink slow at first, and after 30s, it should blink fast indicating it’s on WiFi Hotspot Mode.
2. More detailed steps, pls refer this page.
3. Target: RadioMaster RP1 2.4GHz RX (or HappyModel EP1/EP2 2.4GHz RX)
Flashing via UART
1. Wire the ESP8285(ETx, ERx) into the USB-TTL adapter, with ETx on F405-WTE connected to the Rx on the USB-TTL, and ERx connected to the Tx of the USB-TTL. Wire 4v5 and GND of F405-WTE to 5V and GND of the USB-TTL.
2. Connect USB-TTL Adapter to PC while pressing and holding the ESP8285 boot button in.
3. in configurator, Select the target RadioMaster RP1 2.4GHz RX (or HappyModel EP1/EP2 2.4GHz RX) and “UART” for Flashing Method, set your bind phrase and Firmware Options and once done, click on Build and Flash.

UDP Connection with INAV configurator over WiFi

https://github.com/iNavFlight/inav-configurator/pull/1498
https://github.com/Scavanger/MSPWifiBridge
Tool: ESP_NodeMCU-PyFlasher.exe
Firmware: MSPWifiBridge_ESP-01.bin compiled based on github.com/Scavanger/MSPWifiBridge
Flashing with ESP_NodeMCU-PyFlasher
1. Wire the ESP8285(ETx, ERx) into the USB-TTL adapter, with ETx on F405-WTE connected to the Rx on the USB-TTL, and ERx connected to the Tx of the USB-TTL. Wire 4v5 and GND of F405-WTE to 5V and GND of the USB-TTL
2. Connect USB-TTL Adapter to PC while pressing and holding the ESP8285 boot button in.
3. open ESP_NodeMCU-PyFlasher
4. select Serial port of USB-TTL module, load firmware, select “Dual Output(DOUT)” and “Yes.wipes all data“
5. click “Flash NodeMCU“
6. after flashing, Power off , then power on F405-WTE by USB or Battery.
7. Wait a few seconds, search WiFi SSID “MSPWifiBridge”, and password is “123456789”
8. If there is no automatic forwarding to the configuration page, go to http://192.168.4.1 manually. Standard login data: Username: admin, Password: 123456789

INAV mapping

				INAV 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 0~30V	Vbat ADC ADC_CHANNEL_1	INAV voltage scale 2100
	Curr pad	0~3.3V	Current ADC ADC_CHANNEL_2	scale 150
	RSSI Pad	0~3.3V	RSSI ADC ADC_CHANNEL_3	Analog RSSI
	AirS Pad	no divider builtin 0~3.3V	AirS ADC ADC_CHANNEL_4	Analog Airspeed

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

UART 5V tolerant I/O	USB		USB
	TX1 RX1	5V tolerant I/O	UART1	USER
	TX3 RX3		UART3	USER
	TX4 RX4		UART4	USER
	TX5 RX5		UART5	USER
	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
			TX2 & RX2	CRSF
			TX2 pad	SmartPort Telemetry	enable Softserial_Tx1
			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 0~30V	Vbat ADC onboard battery voltage	BATT_VOLT_PIN BATT_VOLT_MULT	14 21.0
	Curr pad	0~3.3V	current sensor ADC onboard current sense	BATT_CURR_PIN BATT_AMP_PERVLT	15 66.7
	RSSI Pad	0~3.3V	RSSI ADC Analog RSSI	RSSI_ANA_PIN RSSI_TYPE	8 2
	AirS Pad	no divider builtin 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

set LOG_BACKEND_TYPE = 1 (File) for SD card logging
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
SERIALx_PROTOCOL = 33
MSP_OPTIONS = 0 (polling mode)

Relay(PINIO)

PINIO1, 9Vsw power switch, On by default
PINIO2, Camera switch, C1 ON by default

# GPIOs

PA4 PINIO1 OUTPUT GPIO(81) LOW //9Vsw pad power switch
PB5 PINIO2 OUTPUT GPIO(82) LOW //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 //9Vsw GPIO
RC7_OPTION 28 //Relay On/Off, Use CH7 of Transmitter to control 10V ON/OFF
RELAY_PIN2 82 //Camera switch GPIO
RC8_OPTION 34 //Relay2 On/Off, Use CH8 of Transmitter to control high/low level on PB5 pad

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-WTE has INAV fw preloaded for QC
Download INAV firmware 4.1.x from our website. Target MATEKF405TE_SD is not listed in INAV configurator 4.x.x, It is supported by INAV5.0 or newer
ESP8285 has ExpressLRS fw 2.x preloaded with binding phrase “123456”, the Receiver will never enter binding mode if using the traditional binding procedure. It must be flashed without a binding phrase to do traditional binding OR flashed with your binding phrase.

ArduPilot fw, “Internal errors 0x4000 l:213 spi_fail” warining, pls set LOG_BACKEND_TYPE = 1 (File) for SD card logging.

	F405-WTE	F405-WSE
IMU	ICM42688-P	MPU6000
Barometer	SPL06-001	DPS310
UARTs	6	6
I2C	1	2
PWM	11+1	9+1
ADC	4	3
Current sensor	220A/90A	132A/60A
Regulators	5V, 2A 9V/12V, 2A Vx, 8A	5V, 2A 8V, 1.5A Vx, 5A
ESP TLM / ELRS RX	built-in	/
PINIO	2 (Camera, 9Vsw)	/
INAV	MatekF405TE_SD	MatekF405SE
ArduPilot	MatekF405-TE	MatekF405-WING