Flight Controller H743-MINI

STM32H743VIT6, ICM20602 & MPU6000, DPS310, OSD, 5.5x UARTs, 2x I2C, 1x CAN, 11x PWM outputs, BEC5V, BEC8V

Update

V1, IMU MPU6000, ICM20602, PWM 1~8, 9~10
V1.5, IMU MPU6000, ICM42605, PWM 1~8, 9~10
V3, IMU ICM42688P, ICM42605/ICM42688P, PWM 1~8, 10~11

Firmwares

Gallery

Specifications

FC Specifications

MCU: STM32H743VIT6, 480MHz , 1MB RAM, 2MB Flash
Board V1.0 IMU: MPU6000 (SPI1) & ICM20602 (SPI4)
Board V1.5 IMU: MPU6000 (SPI1) & ICM42605 (SPI4)
Board V3 IMU: ICM42688-P (SPI1) & ICM42605 (SPI4)
Baro: Infineon DPS310 (I2C2)
OSD: AT7456E (SPI2)
Blackbox: MicroSD card socket (SDIO)

5.5x Uarts (1,2,4,6,7, Rx8)
11x PWM outputs
2x I2C (I2C1/DA1 CL1 pads, no I2C2 breakout)
1x CAN (C-H, C-L pads)
5x ADC (VBAT, Current, RSSI, VB2, CU2)
3x LEDs for FC STATUS (Blue, Red) and 3.3V indicator(Red)
1x JST-SH1.0_8pin connector (Vbat/G/Curr/Rx8/S1/S2/S3/S4)

Dual Camera Inputs switch
8V power ON/OFF switch

Power

Vbat Input: 6.3~36V (2~8S LiPo)
BEC: 5V 1.5A cont. (Max.2A)
BEC: 8V 1.5A cont. (Max.2A), 8V outputs stable when Vbat>=10V, 8V outputs 80% of Vbat when Vbat< 10V
LDO 3.3V: 200mA
VB2 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
- 20 x 20mm/Φ3mm with Silicon Grommets
- 20 x 20mm/Φ2mm with Silicon & Brass Grommets
Dimensions: 36 x 28 x 6.5mm
Weight: 7g

Including

1x H743-MINI
6x Silicon grommets M4 to M3
6x Brass grommets M3 to M2
1x JST-SH1.0_8pin cable, 5cm
2x JST-SH1.0_8pin connectors

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 (V1,V1.5)	PD14	5 V tolerant I/O	PWM9 GPIO58	TIM4_CH3
	S10 (V1,V1.5)	PD15	5 V tolerant I/O	PWM10 GPIO59	TIM4_CH4
	S11 (V3)	PE5	5 V tolerant I/O	PWM11 GPIO60	TIM15_CH1	Gourp4
	S12 (V3)	PE6	5 V tolerant I/O	PWM12 GPIO61	TIM15_CH1	Gourp4
	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
	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	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


I2C	I2C1 CL1/DA1	PB6/PB7	5 V tolerant I/O	Digital Airspeed I2C	ARSPD_BUS	1
				MS4525 DLVR-L10D	ARSPD_TYPE	1 9
				Compass	COMPASS_AUTODEC	1
	I2C2 No CL2/DA2 breakout	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
	No TX3 RX3 breakout	/	/	/	/	/
	RX8	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(PINIO)

Camera-1 and 8V On by default
Make sure 2 cameras are set with identical video format, both PAL or both NTSC.

# GPIOs

PD10 PINIO1 OUTPUT GPIO(81) //8V power ON/OFF 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 //8V switch 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 //8V switch 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/INAV multi-rotor
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 (V1, V1.5)	PD14	5 V tolerant I/O	TIM4_CH3
	S10 (V1, V1.5)	PD15	5 V tolerant I/O	TIM4_CH4
	S11 (V3)	PE5	5 V tolerant I/O	TIM15_CH1	Servo
	S12 (V3)	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	BF 110, INAV 1100
	Current ADC, No pad	PC1	0~3.3V	on board current sensor	scale external
	VB2 Pad 1K:10K divider builtin	PA4	0~69V	Vbat2 ADC	BF 210, INAV 2100
	CU2 Pad	PA7	0~3.3V	Current2 ADC	scale external
	RSSI Pad	PC5	0~3.3V	RSSI ADC	Analog RSSI

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	/	/	/	/
	RX8	PE0	5 V tolerant I/O	UART8_RX	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

Tips

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(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

ArduPilot Firmware
H743 is supported by INAV3.0.1 or higher.
H743-MINI has betaflight firmware preloaded for QC
BetaFlight: Target MATEKH743 is supported since 4.3, pls download BetaFlight firmware 4.2.x from our website.
If you flash ArduPilot firmware via BetaFlight configurator. there is a known issue that flash process will freeze at 50% if “full chip erase” is selected. It is highly recommended to use STM32CubeProgrammer to erase MCU and upload firmware https://www.mateksys.com/?p=6905
INAV: SD card and MSC mode for H743 is supported by INAV 4.0 or newer.

Known issue

Motor 7 will not spin with BetaFlight 4.2.x and OCTO X8 mixer if RPM filter is enabled. Pls set dshot_bidir = OFF, or use latest BetaFlight 4.3.0

Resellers

H743-mini V1.5

What is new on the H743-mini V1.5

Use ICM42605 instead of ICM20602
Same layout and other components as previous board version.
H743-mini V1.5 has betaflight_4.3.0 preloaded for QC

ArduPilot

H743-mini-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-mini 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-mini V1.5 works with BF firmware 4.2.x downloaded from configurator.

H743-mini 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/ICM42688P(2nd)	ArduPilot 4.2 latest or newer	ICM42688P (0) ICM42605/ICM42688P (2)	INAV 5.0 or newer	ICM42688P (0) ICM42605/ICM42688P (1)	BF 4.3 or newer

What is new on the H743-mini V3

ICM42688-P+ICM42605 instead of MPU6000+ICM42605
PWM 10 & 11 instead of PWM9 & 10(V1/V1.5)
Other functions, layout and components are same as previous board version.
H743-mini 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