libraries/AP_HAL_ChibiOS/hwdef/SDMODELH7V1/README.md
above image and some content courtesy of SDMODEL
Processor
Sensors
Power
Interfaces
PADS
| Pin | Function |
|---|---|
| VTX 9v | 9V for HD System or other VTX, by default ON/OFF is controlled by RELAY2 |
| SDA, SCL | I2C connection (for peripherals) |
| 5V | 5v output (1.5A max) |
| 3v3 | 3.3v output (0.25A max) |
| Vi | Video input from FPV camera |
| Vo | Video output to video transmitter |
| CAM | To camera OSD control |
| G or GND | Ground |
| RSI | Analog RSSI (0-3.3v) input from receiver |
| R3, T3 | UART3 RX and TX |
| R4, T4 | UART4 RX and TX |
| R6, T6 | UART6 RX and TX (UART6 RX is also located in the SH plug) |
| LED | WS2182 addressable LED signal wire |
| Z- | Piezo buzzer negative leg |
Connectors
ESC PORT1 (JST-SH-8P-1)
| Pin | Function |
|---|---|
| B+ | Battery positive voltage (2S-8S) |
| R7 | UART7 RX |
| GND | Ground |
| CURRENT | CURRENT |
| M1 | Motor signal output 1 |
| M2 | Motor signal output 2 |
| M3 | Motor signal output 3 |
| M4 | Motor signal output 4 |
ESC PORT2 (JST-SH-8P-2)
| Pin | Function |
|---|---|
| B+ | Battery positive voltage (2S-8S) |
| R7 | UART7 RX |
| GND | Ground |
| CURRENT | CURRENT |
| M5 | Motor signal output 5 |
| M6 | Motor signal output 6 |
| M7 | Motor signal output 7 |
| M8 | Motor signal output 8 |
DJI Connector JST-SH-6P-3
| Pin | Function |
|---|---|
| Vtx+ | 9V for HD System or other VTX, by default ON/OFF is controlled by RELAY2 |
| G | Ground |
| T1 | UART1 TX |
| R1 | UART1 RX |
| G | Ground |
| R6 | UART6 RX |
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.
The SERIAL7 port (UART7) is normally for ESC telemetry, and has an R7 pin on both of the ESC connectors.
Any UART may be re-tasked by changing its protocol parameter.
For Copter firmware the FRAME_TYPE is already defaulted to type "12" (BetaFlight X) allowing existing BetaFlight configurations with ESCs attached to have the correct motor ordering without changes to the FRAME_TYPE and FRAME_CLASS parameters or ESC wiring.
RC input is configured on the R6 (UART6_RX) pin. It supports all RC protocols except PPM. See Radio Control Systems for details for a specific RC system. SERIAL6_PROTOCOL is set to "23", by default, to enable this.
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. FrSky Telemetry¶
FrSky Telemetry is supported using the Tx pin of any UART. You need to set the following parameters to enable support for FrSky S.PORT (example shows SERIAL2).
The SDH7V1 supports OSD using OSD_TYPE 1 (MAX7456 driver). The defaults are also setup to allow DJI Goggle OSD support on UART1. PWM Output¶
The SDH7V1 supports up to 8 PWM outputs. Outputs are available via two JST-SH connectors. All 8 outputs support DShot and bi-directional DShot, as well as all PWM types.
The PWM is in 3 groups:
Channels within the same group need to use the same output rate, whether PWM or Dshot. If any channel in a group uses DShot then all channels in the group need to use DShot.
The LED output is configured by default to support NeoPixel LED strings. Battery Monitoring¶
The board has a built-in voltage sensor via the B+ pin, but no internal current sensor. An external current sensor can be connected to the CUR pin.
The correct battery setting parameters are:
The SDMODEL SDH7V1 does not have a built-in compass, however you can attach an external compass using I2C on the SDA and SCL pads. Firmware¶
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. Later updates should be done with the *.apj firmware files.