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3.9 KiB
CBUnmanned H753-SOM
:::warning PX4 does not manufacture this (or any) autopilot. Contact the manufacturer for hardware support or compliance issues. :::
The CBUnmanned H753-SOM is a System-on-Module (SoM) flight controller built around the STM32H753 microcontroller. It is intended to be mounted on a carrier board that breaks out the I/O and provides power, peripherals, and connectors for a specific vehicle integration.
::: info This flight controller is manufacturer supported. :::
Key Features
- MCU: STM32H753 (32-bit Arm® Cortex®-M7, 480 MHz, 2 MB Flash, 1 MB RAM)
- IMU: Dual InvenSense ICM-42670-P (on SPI4)
- Barometer: ST LPS22HB (on I2C1)
- Storage: microSD card (SDMMC2)
- Interfaces:
- 6x user UARTs (TEL1, TEL2, TEL3, GPS1, GPS2, RC) plus a debug console — flow control on TEL1/TEL2/TEL3
- 2x CAN (UAVCAN)
- 2x external I2C (one per GPS port for compass) and 1x internal I2C (barometer)
- 1x external SPI (the dual IMUs are on a separate internal SPI bus)
- 9x PWM outputs (DShot / Bi-Directional DShot supported)
- USB
- Ethernet optional
- Power: Powered from an external regulated 5 V supply (e.g. a BEC on the carrier board). Battery voltage (up to 65 V) and current are monitored via ADC; the voltage sense input is a separate pin behind a voltage divider and does not power the board.
::: info CAN transceivers require a 5 V supply. USB-only power (≈4.5 V after the input diode) is not sufficient to operate the CAN bus. :::
Where to Buy
Check CBUnmanned for availability.
Building Firmware
::: tip Most users will not need to build this firmware. It is pre-built and automatically installed by QGroundControl when appropriate hardware is connected. :::
To build PX4 for this target from source:
make cbunmanned_h753-som_default
Serial Port Mapping
| UART | Device | PX4 Default | Pins (TX / RX) | Flow Control (CTS / RTS) |
|---|---|---|---|---|
| USART2 | /dev/ttyS0 | TEL1 | PD5 / PA3 | PA0 / PD4 |
| USART3 | /dev/ttyS1 | GPS1 | PD8 / PD9 | — |
| UART4 | /dev/ttyS2 | GPS2 | PC10 / PC11 | — |
| UART5 | /dev/ttyS3 | Console | PC12 / PD2 | — |
| USART6 | /dev/ttyS4 | RC | PC6 / PC7 | — |
| UART7 | /dev/ttyS5 | TEL2 | PE8 / PE7 | PE10 / PE9 |
| UART8 | /dev/ttyS6 | TEL3 | PE1 / PE0 | PD14 / PD15 |
PWM Outputs
The board provides 9 PWM outputs, all of which support DShot and Bidirectional DShot.
The outputs are split across 4 timer groups:
| Outputs | Timer |
|---|---|
| 1, 2, 3 | Timer1 |
| 4, 5 | Timer2 |
| 6, 7, 8 | Timer3 |
| 9 | Timer4 |
All outputs within the same group must use the same protocol and update rate.
Debug Port
The system console runs on UART5 (PC12 / PD2). USB CDC ACM is auto-started and provides MAVLink access.
PX4 Bootloader Update
Boards that ship without the PX4 bootloader must have it flashed before PX4 firmware can be installed. Download the cbunmanned_h753-som_bootloader.bin bootloader binary and follow the DFU Bootloader Update instructions.
Once the PX4 bootloader is flashed, firmware can be installed normally via QGroundControl.