diff --git a/common/source/docs/common-ark-fpv-overview.rst b/common/source/docs/common-ark-fpv-overview.rst deleted file mode 100644 index 9b03c83910..0000000000 --- a/common/source/docs/common-ark-fpv-overview.rst +++ /dev/null @@ -1,57 +0,0 @@ -.. _common-ark-fpv-overview: - -================================== -ARK FPV Flight Controller Overview -================================== - -.. image:: ../../../images/arkflow/ark_fpv.jpg - :target: ../_images/ark_v6x.jpg - :width: 450px - -The ARK FPV NDAA compliant flight controller is based on the `ARKV6X `__ in a 30.5mm standard mounting pattern. It supports a 3-12s battery input with a regulated 12V 2A output for video transmitters and payloads. - - -Specifications -============== - -- **Sensors** - - - `Invensense IIM-42653 Industrial IMU `__ - - `Bosch BMP390 Barometer `__ - - `ST IIS2MDC Magnetometer `__ - -- **Microprocessor** - - - `STM32H743IIK6 MCU `__ - - - 480Mhz / 1MB RAM / 2MB Flash - -- **Power** - - - 5.5V - 54V - - 500mA - - - 300ma for main system - - 200ma for heater - -- **Other** - - - LED Indicators - - MicroSD Slot - - USA Built - - Designed with a 1W heater. Keeps sensors warm in extreme conditions - -- **Additional Information** - - - Weight: 7.5 g with MicroSD card - - Dimensions: 3.6 × 3.6 × 0.8 cm - - -More Information -================ - -* `ARK FPV Flight Controller `_ - -* `ARK FPV documentation `_ - -[copywiki destination="plane,copter,rover,blimp"] diff --git a/common/source/docs/common-ark-fpv.rst b/common/source/docs/common-ark-fpv.rst new file mode 100644 index 0000000000..c7cff08dc8 --- /dev/null +++ b/common/source/docs/common-ark-fpv.rst @@ -0,0 +1,394 @@ +.. _common-ark-fpv: +[copywiki destination="plane,copter,rover,blimp"] +========================= +ARK FPV Flight Controller +========================= + +Where to Buy +============ +https://arkelectron.com/product/ark-fpv-flight-controller/ + +Features +======== + +* STM32H743 32-bit processor +* 480MHz +* 2MB Flash +* 1MB RAM +* Invensense IIM-42653 Industrial IMU with heater resistor +* Bosch BMP390 Barometer +* ST IIS2MDC Magnetometer +* 9x PWM Bidirectional-DSHOT capable +* 5x UARTS, one with hardware flow control +* 1x CAN +* 1x SPI, 1x I2C +* 5.5V - 54V (2S - 12S) input +* 12V, 2A output for video systems +* 5V, 2A output. 300ma for main system, 200ma for heater, 1.5A peripherals +* Micro SD +* USB-C + +Dimensions +---------- +* Size: 3.6 × 3.6 × 0.8 cm +* Weight: 7.5g with MicroSD card + +Pinout +====== + +.. image:: ../../../images/ark_fpv_top.png + :target: ../_images/ark_fpv_top.png + +.. image:: ../../../images/ark_fpv_bottom.png + :target: ../_images/ark_fpv_bottom.png + +Connectors +========== +PWM UART4 - 8 Pin JST-GH +------------------------ + +.. list-table:: + :header-rows: 1 + + * - Pin + - Signal Name + - Voltage + * - 1 + - VBAT IN + - 5.5V-54V + * - 2 + - CURR_IN + - 3.3V + * - 3 + - UART4_RX + - 3.3V + * - 4 + - FMU_CH1 + - 3.3V + * - 5 + - FMU_CH2 + - 3.3V + * - 6 + - FMU_CH3 + - 3.3V + * - 7 + - FMU_CH4 + - 3.3V + * - 8 + - GND + - GND + + +RC - 4 Pin JST-GH +----------------- + +.. list-table:: + :header-rows: 1 + + * - Pin + - Signal Name + - Voltage + * - 1 + - 5.0V + - 5.0V + * - 2 + - USART6_RX_IN + - 3.3V + * - 3 + - USART6_TX_OUTPUT + - 3.3V + * - 4 + - GND + - GND + + +PWM AUX - 6 Pin JST-SH +---------------------- + +.. list-table:: + :header-rows: 1 + + * - Pin + - Signal Name + - Voltage + * - 1 + - FMU_CH5 + - 3.3V + * - 2 + - FMU_CH6 + - 3.3V + * - 3 + - FMU_CH7 + - 3.3V + * - 4 + - FMU_CH8 + - 3.3V + * - 5 + - FMU_CH9 + - 3.3V + * - 6 + - GND + - GND + + +POWER AUX - 3 Pin JST-GH +------------------------ + +.. list-table:: + :header-rows: 1 + + * - Pin + - Signal Name + - Voltage + * - 1 + - 12.0V + - 12.0V + * - 2 + - GND + - GND + * - 3 + - VBAT IN/OUT + - 5.5V-54V + + +CAN - 4 Pin JST-GH +------------------ + +.. list-table:: + :header-rows: 1 + + * - Pin + - Signal Name + - Voltage + * - 1 + - 5.0V + - 5.0V + * - 2 + - CAN1_P + - 5.0V + * - 3 + - CAN1_N + - 5.0V + * - 4 + - GND + - GND + + +GPS - 6 Pin JST-GH +------------------ + +.. list-table:: + :header-rows: 1 + + * - Pin + - Signal Name + - Voltage + * - 1 + - 5.0V + - 5.0V + * - 2 + - USART1_TX_GPS1 + - 3.3V + * - 3 + - USART1_RX_GPS1 + - 3.3V + * - 4 + - I2C1_SCL_GPS1 + - 3.3V + * - 5 + - I2C1_SDA_GPS1 + - 3.3V + * - 6 + - GND + - GND + + +TELEM - 6 Pin JST-GH +-------------------- + +.. list-table:: + :header-rows: 1 + + * - Pin + - Signal Name + - Voltage + * - 1 + - 5.0V + - 5.0V + * - 2 + - UART7_TX_TELEM1 + - 3.3V + * - 3 + - UART7_RX_TELEM1 + - 3.3V + * - 4 + - UART7_CTS_TELEM1 + - 3.3V + * - 5 + - UART7_RTS_TELEM1 + - 3.3V + * - 6 + - GND + - GND + + +VTX - 6 Pin JST-GH +------------------ + +Note: connector pinout not in same order as standard HD VTX cabling + + ===== ====================== ========= + Pin Signal Name Voltage + ===== ====================== ========= + 1 12.0V 12.0V + 2 GND GND + 3 UART5_TX_DisplayPort 3.3V + 4 UART5_RX_DisplayPort 3.3V + 5 USART2_RX_(SBUS) 3.3V + 6 GND GND + ===== ====================== ========= + +SPI (OSD or IMU) - 8 Pin JST-SH +------------------------------- + +.. list-table:: + :header-rows: 1 + + * - Pin + - Signal Name + - Voltage + * - 1 + - 5.0V + - 5.0V + * - 2 + - SPI6_SCK + - 3.3V + * - 3 + - SPI6_MISO + - 3.3V + * - 4 + - SPI6_MOSI + - 3.3V + * - 5 + - SPI6_nCS1 + - 3.3V + * - 6 + - SPI6_DRDY1 + - 3.3V + * - 7 + - SPI6_nRESET + - 3.3V + * - 8 + - GND + - GND + + +Flight Controller Debug - 6 Pin JST-SH +-------------------------------------- + +.. list-table:: + :header-rows: 1 + + * - Pin + - Signal Name + - Voltage + * - 1 + - 3V3_FMU + - 3.3V + * - 2 + - USART4_TX_DEBUG + - 3.3V + * - 3 + - USART4_RX_DEBUG + - 3.3V + * - 4 + - FMU_SWDIO + - 3.3V + * - 5 + - FMU_SWCLK + - 3.3V + * - 6 + - GND + - GND + + +UART Mapping +============ +.. list-table:: + :header-rows: 1 + + * - Name + - Function + * - SERIAL0 + - USB + * - SERIAL1 + - UART7 (Telem) + * - SERIAL2 + - UART5 (DisplayPort HD VTX) + * - SERIAL3 + - USART1 (GPS1) + * - SERIAL4 + - USART2 (User, SBUS pin on HD VTX, RX only) + * - SERIAL5 + - UART4 (ESC Telem, RX only) + * - SERIAL6 + - USART6 (RC Input) + * - SERIAL7 + - OTG2 (SLCAN) + + +All UARTS support DMA. Any UART may be re-tasked by changing its protocol parameter. + +RC Input +======== +RC input is configured on the RX6 (UART6_RX) pin. It supports all RC protocols except PPM. See :ref:`Radio Control Systems ` for details for a specific RC system. :ref:`SERIAL6_PROTOCOL` is set to “23”, by default, to enable this. + + +* SBUS/DSM/SRXL connects to the RX6 pin. +* FPort requires connection to TX6 and :ref:`SERIAL6_OPTIONS` be set to “7”. +* CRSF also requires a TX6 connection, in addition to RX6, and automatically provides telemetry. Set :ref:`SERIAL6_OPTIONS` +* SRXL2 requires a connecton to TX6 and automatically provides telemetry. Set :ref:`SERIAL6_OPTIONS` to “4”. + +Battery Monitoring +================== +The board has a internal voltage sensor and connections on the ESC connector for an external current sensor input. The board supports up to 12S LiPo batteries. + +The default battery parameters are: + +* :ref:`BATT_MONITOR` = 4 +* :ref:`BATT_VOLT_PIN` = 9 +* :ref:`BATT_CURR_PIN` = 12 +* :ref:`BATT_VOLT_MULT` = 21 +* :ref:`BATT_AMP_PERVLT` = 120 + +Compass +======= +This autopilot has a built-in IIS2MDC compass.Due to potential interference, the autopilot is usually used with an external I2C compass as part of a GPS/Compass combination. + +OSD Support +=========== +This flight controller has an MSP-DisplayPort output on a 6-pin DJI-compatible JST SH. + +Motor Output +============ +All outputs are capable of PWM and DShot. Motors 1-4 are capable of Bidirectional-DSHOT. All outputs in the motor groups below must be either PWM or DShot: + + +* Motors 1-4 Group1 (TIM5) +* Motors 5-8 Group2 (TIM8) +* Motor 9 Group3 (TIM4) + +Firmware +======== +Firmware for this board can be found `here `__ in sub-folders labeled “ARK_FPV” + +Loading Firmware +================ +Initial firmware load can be done with DFU by plugging in USB with the +BOOT button pressed. You can then load the bootloader using your favorite DFU tool. +The bootloader can be found at https://firmware.ardupilot.org/Tools/Bootloaders/ + +Once the initial firmware is loaded you can update the firmware using +any ArduPilot ground station software. Updates should be done with the +\*.apj firmware files. + diff --git a/common/source/docs/common-autopilots.rst b/common/source/docs/common-autopilots.rst index 372ea8f2e5..75feb25259 100644 --- a/common/source/docs/common-autopilots.rst +++ b/common/source/docs/common-autopilots.rst @@ -46,7 +46,6 @@ Open Hardware :maxdepth: 1 ARKV6X DS-10 Pixhawk6 - ARK FPV CUAV V5 Plus CUAV V5 Nano CUAV Nora @@ -83,6 +82,7 @@ Closed Hardware :maxdepth: 1 3DR Control Zero H7 OEM + ARK FPV Aerotenna Ocpoc-Zynq Airvolute DroneCore AET-H743-Basic diff --git a/images/ark_fpv_bottom.png b/images/ark_fpv_bottom.png new file mode 100644 index 0000000000..9dd6c01ad9 Binary files /dev/null and b/images/ark_fpv_bottom.png differ diff --git a/images/ark_fpv_top.png b/images/ark_fpv_top.png new file mode 100644 index 0000000000..9e7c3e4548 Binary files /dev/null and b/images/ark_fpv_top.png differ