libraries/AP_HAL_ChibiOS/hwdef/MambaF405-2022/README.md
The Mamba Basic line of flight controllers are produced by Diatone.
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 | PPM/RX1/SBUS/TX1 | UART1 (RC Input) |
| SERIAL2 | TX2/RX2 | UART2 (DMA-enabled) |
| SERIAL3 | TX3/RX3 | UART3 (Telem1) |
| SERIAL4 | TX4/RX4 | UART4 (Empty) |
| SERIAL6 | TX6/RX6 | UART6 (GPS, DMA-enabled) |
RC input is configured on the PPM (UART1_RX) pin. It supports all RC protocols.
The Mamba F405 MK4 supports OSD using OSD_TYPE 1 (MAX7456 driver).
The Mamba F405 MK4 supports up to 7 PWM outputs. The pads for motor output ESC1 to ESC4 on the above diagram are for the 4 outputs. All outputs support DShot as well as all PWM types. Motors 1-4 support bi-directional DShot.
The PWM is in 4 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.
The board has a built-in voltage sensor. The voltage sensor can handle up to 6S LiPo batteries.
The correct battery setting parameters are:
The Mamba Basic flight controllers do not have a builtin compass, but you can attach an external compass using I2C on the SDA and SCL pads.
It is possible to set alternate configurations with the BRD_ALT_CONFIG parameter.
| BRD_ALT_CONFIG | RX1 function |
|---|---|
| ALT 0(default) | RCININT |
| ALT 1 | RX1/TX1 |
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.