libraries/AP_HAL_ChibiOS/hwdef/FlywooF745/README.md
The Flywoo GOKU GN 745 AIO is a flight controller produced by Flywoo.
MCU: STM32F745 32-bit processor, 216MHz, 1M Flash
IMU: MPU6000 or ICM42668P (SPI)
Barometer: BMP280
Onboard LED: WS2812*4
USB VCP Driver (all UARTs usable simultaneously; USB does not take up a UART)
7 hardware UARTS (UART1, 2, 3, 4, 5, 6, 7; only RX in UART1 in v3)
Supports serial receivers (SBUS, iBus, Spektrum, Crossfire) only.
PPM and PWM receivers are not supported.
Onbord 8 Mbytes (versions 1.0 and 1.2) or 16 MBytes (version 3) for Blackbox logging
9V Power Out: 1.5A max
5V Power Out: 2.0A max
3.3V Power Out: 0.5A max
Dimensions: 33.5x33.5mm
Mounting Holes: Standard 25.5/26.5mm square to center of holes
Weight: 8.5g
Built-in 40A BL_32 4in1 ESC (45A in v3)
Support BLHeli_32 (or AM32 in v3 options)
Support PWM, Oneshot125, Oneshot42, Multishot, Dshot150, Dshot300, Dshot600, Dshot1200
Input Voltage: 2-6S Lipo
Continuous Current: 40A (45A in v3)
Firmware: BLHELI_32 or AM32
This board had three versions produced, with different pinouts. This is the original v1.0 board.
The newer v1.2 board is shown below. Unfortunately, due to the reduced number of pads, some features, such as motors 5-8, are no longer available.
The newest v3 revision is shown below. For certain peripherals, soldering pads were replaced with connectors.
The UARTs are marked Rn and Tn in the above pinouts. The Rn pin is the receive pin for UARTn. The Tn pin is the transmit pin for UARTn.
| Name | Pin | Function |
|---|---|---|
| SERIAL0 | COMPUTER | USB |
| SERIAL1 | RX1/TX1 | UART1 (TELEM-MAVLink2), only RX in v3 |
| SERIAL2 | TX2/RX2 | UART2 (TELEM-MAVLink2), RC in v3 |
| SERIAL3 | TX3/RX3 | UART3 (RC Input/Output) |
| SERIAL4 | TX4/RX4 | UART4 (User) |
| SERIAL5 | TX5/RX5 | UART5 (User) |
| SERIAL6 | TX6/RX6 | UART6 (GPS) |
| SERIAL7 | TX7/RX7 | UART7 (User) |
UART3 supports RX and TX DMA. UART1, UART2, UART4, and UART6 supports TX DMA. UART5 and UART7 do not support DMA.
In versions 1.0 and 1.2, RC input is usually configured on the UART3, which supports serial RC protocols. This board does not support PPM. In version 3, the connector intended for RC input is on the UART2, so the default protocol will need to be changed for SERIAL 2 to "23" and SERIAL 33 protocol changed to something else.
The GOKU GN 745 AIO supports OSD using OSD_TYPE 1 (MAX7456 driver).
The GOKU GN 745 AIO supports up to 8 PWM outputs. The pads for motor output ESC1 to ESC4 on the above diagram are the first 4 outputs, there are four additional pads for PWM 5-8. All 8 outputs support DShot as well as all PWM types.
The PWM are in 5 groups:
Channels within the same group need to use the same output rate. If any channel in a group uses DShot then all channels in the group need to use DShot. PWM 1-4 support bidirectional dshot.
ESC outputs are in the Betaflight order, which would work out of the box with the following settings (set by default):
The board has a builtin voltage sensor. The voltage sensor can handle 2S to 6S LiPo batteries.
The correct battery setting parameters are:
These are set by default in the firmware and shouldn't need to be adjusted. Current calibration, on the other hand, is required for best results. Here are some parameters found experimentally with some of the boards:
for version 1.2:
for version 3.0:
For version 3, the orientation needs to be changed:
The GOKU GN 745 AIO does not have a builtin compass but it does have an external I2C connector.
The board includes a NeoPixel LED pad.
Firmware for this board can be found on the ArduPilot firmware server, in folders labeled "FlywooF745".
Initial firmware load can be done with DFU by plugging in USB with the bootloader button pressed. Then you should load the "with_bl.hex" firmware, using your favourite DFU loading tool.
Once the initial firmware is loaded you can update the firmware using any ArduPilot ground station software. Updates should be done with the *.apj firmware files.