YanQi Flight Control Board

3 x IMU & Baro & 4 x ESC small size PX4 for MAV research.

Physical

• Mounting: 20 x 35 mm, Φ 2 mm
• Dimensions: 24 x 39 x 6 mm
• Weight: 4.9 g

Specifications

• MCU: STM32H743VIH6, 480MHz, 2MB Flash
• IMU: BMI088 + BMI088 + ICM42688P
• Baro: BMP388
• ESC: 4 x Bluejay
• MicroSD Card Slot
• 7 x UART
• 4 x PWM (DShot)
• 1 x External I2C
• 1 x External SPI
• 1 x SRGBLED neopixel
• 1 x SWD
• 2 x ADC (Battery Voltage, Current)
• 2 x AUX
• USB Type-C
• BEC 9V 3A output
• BEC 5V 3A output

UART Mapping

Debug Port

USART3 RX and TX are configured for use as the System Console.

Getting Start

Compile Locally

Follow the PX4 standard approach.

Bootloader:

make UCAS_YanQiH7_bootloader

Firmware:

make UCAS_YanQiH7_default

Burn Bootloader & Firmware

Bootloader:

Method 1：

To enter DFU mode, pull up BOOT0 while connecting the USB cable to your computer.

make UCAS_YanQiH7_bootloader upload

Method 2：

To enter DFU mode, pull up BOOT0 while connecting the USB cable to your computer.

dfu-util -a 0 --dfuse-address 0x08000000 -D ./build/UCAS_YanQiH7_bootloader/UCAS_YanQiH7_bootloader.bin

If the burning tool is not installed, install the dfu util burning toolkit first.

sudo apt install dfu-util

Firmware:

Method 1：

make UCAS_YanQiH7_default upload

Connect the flight controller directly to your computer via USB.

The firmware will then proceed through a number of upgrade steps (downloading new firmware, erasing old firmware etc.). Each step is printed to the screen.

Once the firmware has completed loading, the device/vehicle will reboot and reconnect.

Method 2：

Start QGroundControl and connect the vehicle.

Select "Q" icon > Vehicle Setup > Firmware (sidebar) to open Firmware Setup.

Connect the flight controller directly to your computer via USB.

Check Advanced settings and select the version from the dropdown list.

Select the Custom Firmware file... option to install the custom firmware for the flight controller (autodetected).

Click the OK button to start the update.

The firmware will then proceed through a number of upgrade steps (downloading new firmware, erasing old firmware etc.). Each step is printed to the screen and overall progress is displayed on a progress bar.

Once the firmware has completed loading, the device/vehicle will reboot and reconnect.

Setting Up PX4 Configuration Settings

Power

MAVLink

Receiver

TODO

• stable SRGBLED driver based on srgbled_dma