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136 lines
7.0 KiB
Markdown
136 lines
7.0 KiB
Markdown
# AEDROX AEDROXH7
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<Badge type="tip" text="PX4 v1.18" />
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::: warning
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PX4 does not manufacture this (or any) autopilot.
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Contact the [manufacturer](https://www.aedrox.com/) for hardware support.
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:::
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The AEDROXH7 is an STM32H743-based FPV / racing flight controller from AEDROX.
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For full hardware documentation and pinouts, see the [manufacturer documentation](https://aedrox.gitbook.io/docs).
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::: info
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This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
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:::
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## Key Features
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- MCU: STM32H743VIM6 32-bit processor running at 480 MHz
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- IMU: ICM-42688-P
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- Barometer: DPS310 (some revisions ship DPS368, supported by the same driver)
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- 128 MB W25N NAND flash for logging (mounted as littlefs at `/fs/flash`)
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- MAX7456 analog OSD
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- 6 UARTs (TEL1, GPS1, RC, TEL2, ESC telemetry, DJI/MSP HD OSD / debug console)
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- 1 internal I2C bus (barometer), 1 external I2C bus (user connector)
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- 1 CAN bus (CAN1) with silent-pin control
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- 8 PWM motor outputs (Bidirectional DShot capable)
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- 1 addressable LED strip pad, 2 general GPIO
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- Battery voltage and current monitoring
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- USB Type-C
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No on-board magnetometer; PX4 runs with `SYS_HAS_MAG=0` and EKF2 gravity fusion enabled by default.
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## Where to Buy {#store}
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- [aedrox.com](https://www.aedrox.com/).
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## Connectors and Pins
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### UARTs
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| Port | MCU peripheral | Device | Function |
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| --------- | -------------- | ---------- | ---------------------------- |
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| `SERIAL1` | USART1 | /dev/ttyS0 | TELEM1 (MAVLink) |
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| `SERIAL2` | USART2 | /dev/ttyS1 | GPS1 |
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| `SERIAL3` | USART3 | /dev/ttyS2 | RC input |
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| `SERIAL4` | UART4 | /dev/ttyS3 | TELEM2 |
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| `SERIAL7` | UART7 | /dev/ttyS4 | ESC telemetry (RX only) |
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| `SERIAL8` | UART8 | /dev/ttyS5 | Debug shell (system console) |
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`SERIAL7` is wired RX-only by the vendor (intended for ESC telemetry).
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`SERIAL8` is the system console at 57600 8N1 (device: `/dev/ttyS5`).
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::: info
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The vendor brings `SERIAL8` out on the HD VTX connector (intended for DJI / MSP DisplayPort), but the default PX4 config uses it as the system console. To use it for MSP DisplayPort instead, move the console off UART8, then start the [msp_osd](../modules/modules_driver.md#msp-osd) driver on `/dev/ttyS5`.
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:::
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### PWM Outputs {#pwm_outputs}
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8 PWM motor outputs (M1-M8), all [DShot](../peripherals/dshot.md) and [Bidirectional DShot](../peripherals/dshot.md#bidirectional-dshot-telemetry) (RPM telemetry) capable.
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The M5-M8 motor connector additionally exposes two user-controllable GPIOs (`GPIO1` / `GPIO2`, on PA2 / PA3) alongside the motor signals.
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Toggle them at runtime with the `gpio` command (see "User GPIOs" below).
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A separate addressable-LED-strip pad is brought out; currently driven as a plain GPIO in this port .
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### Status LEDs
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| Silkscreen | MCU pin | Color | Function |
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| ---------- | ------- | ----- | ---------------------------------------------------------------------------- |
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| LED1 | PE2 | Blue | MCU activity, solid when armed |
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| LED2 | - | Green | IMU power-supply indicator |
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| LED3 | - | Green | MCU / baro / OSD power-supply indicator |
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| LED4 | PE5 | Green | MCU activity, blinks based on flight state (preflight / disarmed / failsafe) |
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| LED5 | - | - | 10v VTX rail indicator (lit when VTX power is enabled) |
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### Other I/O
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| Function | MCU pin | Notes |
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| --------------- | --------- | ------------------------------------------------------------------------------------------------------------------------------------- |
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| Buzzer | PA7 | Drives an NPN low-side switch, use a basic 2-pin active buzzer (e.g. TMB12A05) |
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| VTX power | PB1 | Active high |
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| Camera switch | PD15 | Active high, currently hard-coded to camera 1 at boot (no runtime control yet); use `gpio write D15 1` from nsh to switch to camera 2 |
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| PINIO 1 / 2 | PA2 / PA3 | User-controllable GPIOs via `gpio` command |
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| CAN1 silent | PD12 | Driven low to enable CAN bus |
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| Battery V sense | PC0 | ADC1 IN10, calibrate `BAT1_V_DIV` per build |
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| Battery I sense | PC1 | ADC1 IN11, calibrate `BAT1_A_PER_V` per ESC, or use DShot telemetry for current (`BAT1_SOURCE`) |
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| USB VBUS sense | PC15 | Non-standard pin for VBUS sense |
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### Analog OSD (MAX7456)
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The MAX7456 driver is built in but disabled by default. To enable, set [`OSD_ATXXXX_CFG`](../advanced_config/parameter_reference.md#OSD_ATXXXX_CFG) to `1` (NTSC) or `2` (PAL) and reboot. The `atxxxx` driver auto-starts and overlays PX4 status on top of the camera video.
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## PX4 Bootloader Update
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Before PX4 firmware can be installed, the PX4 bootloader must be flashed.
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Download the [aedrox_aedroxh7_bootloader.bin](https://github.com/PX4/PX4-Autopilot/blob/main/boards/aedrox/aedroxh7/extras/aedrox_aedroxh7_bootloader.bin) bootloader binary and follow the [bootloader update from Betaflight / DFU](../advanced_config/bootloader_update_from_betaflight.md) flashing instructions.
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## Building Firmware
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To [build PX4](../dev_setup/building_px4.md) for this target:
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```sh
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make aedrox_aedroxh7_default
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```
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## Installing PX4 Firmware
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Firmware can be installed in any of the normal ways:
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- Build and upload the source:
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```sh
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make aedrox_aedroxh7_default upload
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```
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- [Load the firmware](../config/firmware.md) using _QGroundControl_.
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You can use either pre-built firmware or your own custom firmware.
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### Flash Storage Troubleshooting
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The AEDROXH7 uses a 128 MB NAND flash (W25N) with a littlefs filesystem for [logging](../dev_log/logging.md).
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If the flash filesystem becomes corrupted, you can reformat it from the [System Console](../debug/system_console.md):
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```sh
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mklittlefs /dev/mtd0 /fs/flash
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```
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This will erase all data on the flash and create a fresh littlefs filesystem.
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The filesystem is immediately available after the command completes.
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### System Console
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UART8 is configured for use as the [System Console](../debug/system_console.md) at 57600 8N1.
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