libraries/AP_HAL_ChibiOS/hwdef/SPRacingH7RF/README.md
The SPRacingH7 RF Extreme is a flight controller produced by Seriously Pro Racing.
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.
All UARTS are DMA capable
Ardupilot does not currently support the integrated ELRS chip.
RC input is configured on the R2 pin. It supports all serial RC protocols. PPM is not supported. For protocols requiring half-duplex serial to transmit telemetry (such as FPort) you should setup SERIAL2 as an RC input serial port, with half-duplex, pin-swap and inversion enabled. For duplex protocols, like CRSF/ELRS, T2 must also be connected to the receiver.
Ardupilot does not currently support the integrated OSD chip. UART3 is setup fir use with DisplayPort goggles with OSD.
The SPRacingH7 RF supports up to 9 PWM outputs. PWM 1-8 support DShot and Bi-Directional DShot. The pads for motor output M1 to M4 on ESC connector 1, and M5 to M8 on ESC connector 2, plus M9 for LED strip or another PWM output.
The PWM is 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.
The board has a built-in voltage sensor and current sensor input from the ESC connectors. The voltage sensor can handle up to 8S LiPo batteries.
The correct battery setting parameters are:
The SPRacingH7 RF does not have a builtin compass, but you can attach an external compass using I2C on the SDA and SCL pads.
Since this board stores the flight control software on external flash the initial firmware load should be done using the SPRacing SSBL. Please follow the instructions for loading PX4 firmware to load ArduPilot. A convenience script is provided Tools/scripts/ssbl_uploader.sh to perform the required steps. It should also be possible to load the ArduPilot bootloader via DFU, but doing so will invalidate your warranty.