MicoAir743v2-AIO-45A一体飞控用户手册
MicoAir743v2-AIO-45A一体飞控
MicoAir743v2-AIO-45A是由微空科技设计并生产的一款高性能高集成一体飞控，采用480M主频的STM32H743主控，BMI088+BMI270双IMU，板载SPLO6气压计，并集成了4路45A 32位AM32开源电调，电调使用超低内阻金封MOS，散热更佳，过流更稳定。
板子仅重10g，尺寸小巧易集成，极其适合2-5寸微型FPV和圈圈机（1004-2004电机）。
支持Ardupilot、PX4、Betaflight、INAV四大开源飞控固件。
电调采用开源AM32固件，支持DShot，双向DShot，可以使用网页工具配置电调参数。
飞控购买
飞控特性
- 主控芯片：STM32H743VIH6, 480MHz主频, 2MB Flash
- IMU传感器（陀螺仪&加速度计）：BMI088+BMI270 双IMU
- 气压计： SPL06
- 磁力计： 无板载磁力计，可外接
- 日志存储： TF卡槽（随板附送4G TF卡）
- DJI天空端接口： 支持DJI O3/O4/O4 Pro直插 （注意当前PX4固件不支持DJI OSD）
- 电流计：支持板载电压电流采样
- 输入电压：2S-6S锂电池（电压范围5.6-27V)
- 5V BEC输出：总电流2A
- 12V BEC输出：总电流2A（DJI天空端供电用）
- 电机输出：M1-M8 (硬件均支持DShot/双向DShot,实际视飞控固件而定）
- UART串口：7组全功能串口（UART1，UART2，UART3，UART4，UART5，UART6，UART8）
- I2C：1组
- USB接口：USB-Type-C；预留了D+，D-焊盘
- LED灯带焊盘：有，用于控制WS2812 LED灯带
- 蜂鸣器焊盘：有，B-焊盘
- BOOT按键：有，也预留了BOOT焊盘用于外接按键
- 飞控固件支持：Ardupilot；PX4；INAV；Betaflight
- 固件Target：MicoAir743v2(Ardupilot); micoair_h743-v2(PX4); MICOAIR743V2（INAV)
- 安装孔位：25.5x25.5mm，孔径3mm
- 尺寸：36x36x8mm
- 重量：10g
电调特性
- 固件：AM32_F4A_4IN1_F421_2.17
- PWM频率：48KHz
- 电调协议：PWM/DShot300/DShot600 支持双向DShot （建议使用DShot300）
- 持续工作电流：单路45A，共4路 (需有良好散热）
- 电调配置网页工具链接
注意当前仅Beteflight/INAV/Ardupilot固件支持电调直通配置功能，PX4暂不支持（PX4可以使用命令行或者在QGC地面站上直接修改电机转向）。
其中Ardupilot固件需要进行一定参数设置才能开启该功能，步骤较为复杂，且有一定概率读取失败，需要配置电调参数和升级固件建议先给飞控烧录BF或INAV。
电压电流采样
MicoAir743v2-AIO-45A集成了电流计和电压采样电路，对于不同的飞控固件，其电压电流采样参数均有所区别，具体如下所示：
| Ardupilot | PX4 | Betaflight | INAV | |
|---|---|---|---|---|
| Voltage Factor | 21.12 | 21.12 | 211 | 211 |
| Current Factor | 14.14 | 14.14 | 707 | 707 |
尺寸参数
- 定位孔间距25.5 * 25.5mm，直径3mm
- 整体尺寸： 36 * 36 * 8mm
- 重量：10g
Ardupilot串口映射
- SERIAL0 -> USB
- SERIAL1 -> UART1 (MAVLink2, DMA-enabled)
- SERIAL2 -> UART2 (DisplayPort, DMA-enabled)
- SERIAL3 -> UART3 (GPS, DMA-enabled)
- SERIAL4 -> UART4 (MAVLink2, DMA-enabled)
- SERIAL5 -> UART5 (DMA–enabled)
- SERIAL6 -> UART6 (RCIN, DMA–enabled)
- SERIAL8 -> UART8 (DMA–enabled)
PX4串口映射
- ttyACM0 -> USB
- ttyS0 -> TELEM1 -> UART1
- ttyS1 -> GPS2 -> UART2
- ttyS2 -> GPS1 -> UART3
- ttyS3 -> TELEM2-> UART4
- ttyS4 -> TELEM3-> UART5
- ttyS5 -> RC -> UART6
- ttyS7 -> TELEM4/SERIAL4 -> UART8
飞控接口说明图
注意：
- SBUS和ELRS接收机通常接入到RC口（UART6），SBUS只需要接一根信号线到RX6引脚，TX6不用接。不过对于H743而言，接收机实际上可以接入到任意一路串口。
- VBAT为电源输入接口，支持2-6S电压（5.6V-27V), 其它引脚均不能接入高电压，否则直接烧毁飞控。
飞控接线示意图
安装说明
AIO一体板通常以45°角安装于机身，板上箭头朝机头，有箭头的一面朝天空，即为默认的正方向。
另外开源飞控均可以配置方向，如果反装板子，修改IMU方向参数即可，具体方法可查看开源固件官网wiki。
飞控固件
Ardupilot
Ardupilot固件Target：MicoAir743v2
MicoAir743v2飞控已加入Ardupilot官方硬件支持列表（4.6.0版本起）: Ardupilot源代码，可以直接在官网下载固件或者使用Mission Planner地面站软件给飞控升级固件。
- 官方固件下载：
ArduPilot Firmware Download - 在线自定义固件：
ArduPilot Custom Firmware Builder - 旧版固件下载：
MicoAir743v2/Firmware/Ardupilot(v4.5.7)
PX4
PX4固件Target:micoair_h743-v2
MicoAir743v2飞控已加入PX4官方硬件支持列表：PX4源代码
- 1.14.3/1.15.2固件下载：
MicoAir743v2/Firmware/PX4
PX4固件编译
MicoAir743v2在PX4中的Target名为micoair_h743-v2。
Bootloader编译命令
make micoair_h743-v2_bootloader固件编译命令
make micoair_h743-v2_defaultINAV
INAV 固件Target:MICOAIR743V2_EXTMAG ，8.0.1RC1版本起
Betaflight
MicoAir743v2_Betaflight-4.5.1_ExtMag.hex
固件烧录教程
视频教程：如何给H743飞控烧录Ardupilot PX4 INAV Betaflight等开源固件
相关资料和软件
- Mission Planner (Ardupilot地面站软件)
- Ardupilot官方文档
- QGroundControl (PX4地面站软件)
- PX4官方文档
- Betaflight 调参软件
- INAV 调参软件
FAQ
1. PX4固件启用摇杆动作解锁
MAN_ARM_GESTURE 设置为Enabled。
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