FLIGHT CONTROLLER H743-WLite

QUICK START GUIDE

MCU: STM32H743VIH6, 480MHz, 2MB Flash

IMU: ICM42688-P (SPI1)
Baro: DPS310 (I2C2)
OSD: AT7456E (SPI2)
Blackbox: MicroSD card slot (SDIO)

7x Uarts (1,2,3,4,6,7,8) with built-in inversion

13x PWM outputs
2x I2C
1x CAN
6x ADC (VBAT, Current, RSSI, Analog AirSpeed, VB2, CU2 )
1x JST-GH_4pin connector for I2C2
1x JST-GH_4pin connector for CAN
1x JST-SH_6pin connector for external USB and buzzer

Dual Camera Inputs switch

9V(12V) for VTX power switch

6.8~30V DC IN (2~6S LiPo)

High-precision Current Sense 220A Range
BEC 5V 2A for FC
BEC 9V 2A for camera/VTX, 12V option
BEC Vx 8A cont. 10A Peak for servos, 5V, 6V or 7.2V option
LDO 3.3V 200mA

INAV Target: MATEKH743

ArduPilot hwdef: MATEKH743

APR.2022 Rev 1.0 www.mateksys.com

LAYOUT
INAV AirPlane INAV Multirotor ArduPilot
S1 Motor Motor PWM1
S2 Motor Motor PWM2
S3 Servo Motor PWM3
S4 Servo Motor PWM4
S5 Servo Motor PWM5
S6 Servo Motor PWM6
S7 Servo Servo PWM7
S8 Servo Servo PWM8
S9 Servo Servo PWM9
S10 Servo Servo PWM10
S11 Servo Motor PWM11
S12 Servo Motor PWM12
LED 2812 LED 2812 LED PWM13
Vx: BEC 5V/6V/7.2V for servos, Default is 5V
8A cont. Max.10A

Rx4: UART4_RX for ESC telemetry

AirS: Analog Airspeed sensor (0~6.6V)
1: 1 voltage divider built-in DO NOT connect the ESC BEC output (Red wire in middle of connector) to Rx4 pad.
ARSPD_PIN 4 Tx4: UART4_TX
Rssi: Analog RSSI ADC, 0~3.3V
RSSI_ANA_PIN 8 TX1/RX1: UART1
VB2: Voltage divider 1K:20K, 0~69V TX8/RX8: UART8
BATT2_VOLT_PIN 18
BATT2_VOLT_MULT 21 Vbat: Battery voltage
CU2: for external current sensor, 0~3.3V onboard battery voltage sense: BATT_VOLT_PIN 10, BATT_VOLT_MULT 21
BATT2_CURR_PIN 7 INAV scale 2100

MicroSD Slot
Curr: Current signal (0~3.3V)

BlackBox
TX3/RX3: UART3 onboard current sense: BATT_CURR_PIN 11, BATT_AMP_PERVLT 66.7
TX7/RX7: UART7 INAV scale 150
CTs7/Rts7: Uart7_CTS/RTS for ArduPilot Telem1
9V: 9V output, 9V will increase to 12V if “12V” jumper on bottom PDB is bridged.
TX2/RX2: UART2 9Vsw: 9V ON/OFF can be switched via ArduPilot Relay or Modes/USER1 (INAV)
DA1 & CL1: I2C1_SDA, SCL, for compass Max.2A load on this pad. (Default ON)
5V: onboard BEC 5V 2A cont. Max.3A
RX6: UART6-RX for Serial_RX by default G: Ground
PPM share RX6 pad VTX: Video OUT for Video Transmitter
4V5
CAN-H
CAN-L
G

4V5
CL2
DA2
G

TX6: UART6-TX C1: Camera-1 video IN (Default)

C2: Camera-2 video IN
*** C1/C2 can be switched via ArduPilot Relay or Modes/USER2 (INAV)
*** Two cameras should be set with identical video format, both PAL or both NTSC
3.3: LDO3.3V 200mA CAN Port I2C2 Port
D+ & D-: USB data CAN-H/L: CAN high/low DA2 & CL2: I2C2-SDA, SCL
Bt: MCU Boot pin JST-GH-4P connector JST-GH-4P connector

4V5: 4.4~4.8V, Max.500mA LED 0: Blue, FC Status

*** the voltage is also supplied when connecting via USB LED 1: Green, FC Status
5V is not supplied when connecting USB only. LED 3.3: Red, 3.3V Status
Current Sense resistor
90A continuous
Battery & ESC - ESC + 220A peak Battery + 6.8V~30V

0.3mOhm
Curr

Curr
VBat

VBat
9V
5V

5V
9V
Vx
Vx

Vx
Vx
G
G

G
G
VBat

VBat
9V
5V

5V
9V
Vx
Vx

Vx
Vx
G

G
G

G
G

DFU Button: DFU mode

Connect USB to the PC While holding the boot button in.

Red LED, USB power indicator OSD

AT7456E
Vx= 5V (default)
TYPE-C

ICM
42688-P
DFU

4V5 Buz- Vx Reg.

G Boot
JST-SH-6P
JST-SH-6P

MCU Vx= 6V
D- 6pin wires D+ STM32H743VIH6
D+ D-
Boot G
Buzzer ON/OFF

Buz- 4V5

CAN
DPS310
Vx= 7.2V

5V Reg.

9V Reg.

Size: 44x29x14.5mm
Weight: 22g w/ USB externder
Holes: Φ2mm, 25mm mounting

9V increase to 12V

APR.2022 Rev 1.0 www.mateksys.com

Wiring INAV fw: MATEKH743
ArduPilot fw: MATEKH743

VBAT
ESC signal
ESC onboard BEC output
Signal Ground
Power Ground
DO NOT connect ESC onboard BEC output (Red wire) to Rx4 pad.

BATTERY
Camera-1 Camera-2

5V
SCL
SDA
G
0.3mOhm
Curr
VBat
5V
9V
Vx
Vx
G
G

VBat
5V
9V
Vx
Vx
G
G

JST-GH-4P Wires
BlackBox G
MicroSD Slot DA2
CL2
4V5
S3 ~ S12 Servos

Vx Reg.
G

Buzzer ON/OFF
CAN-L

JST-SH-6P Wires
CAN-H
4V5 Buz-

JST-SH-6P
Boot
D+
D-
G
4V5

DFU
5V Reg. TYPE-C
9V Reg.

G Gnd G Gnd
CL1 4V5 5V SBUS 4V5 5V CRSF
RX6 SBUS RX6 CH1
SCL
SDA DA1
TX3 SmartPort TX6 CH2
RX2
TX
RX
G TX2
5V G G FPORT/ G
Gnd Gnd
4V5 4V5 5V SRXL2 4V5 5V PPM/IBUS
TX6 FPORT/SRXL2 RX6 PPM/IBUS

*** GPS can work with any spare UART_TX & RX *** SBUS/IBUS/DSM can work with any spare UART_RX
*** Frsky FPort, SmartPort, SRXL can work with any spare UART_TX
*** PPM share RX6 pad, must disable Serial RX on UART6
*** INAV doesn’t support PPM receiver

ArduPilot 4.1

OSD_TYPE = 3
SERIAL5_PROTOCOL = 33
MSP_OPTIONS = 0 (polling mode)

9Vsw Power / Camera switch

9Vsw OFF 9Vsw ON
No USER1 definition
9Vsw ON by default

No USER2 definition C1 ON & C2 OFF C2 ON & C1 OFF

C1 (Camera-1) ON by default

APR.2022 Rev 1.0 www.mateksys.com

I/O Mapping
ArduPilot
S1 PB0 5 V tolerant I/O PWM1 GPIO50 TIM8_CH2N
Group1
S2 PB1 3.3 V tolerant I/O PWM2 GPIO51 TIM8_CH3N
S3 PA0 5 V tolerant I/O PWM3 GPIO52 TIM5_CH1
S4 PA1 5 V tolerant I/O PWM4 GPIO53 TIM5_CH2
Group2
S5 PA2 5 V tolerant I/O PWM5 GPIO54 TIM5_CH3
S6 PA3 5 V tolerant I/O PWM6 GPIO55 TIM5_CH4
S7 PD12 5 V tolerant I/O PWM7 GPIO56 TIM4_CH1
PWM
S8 PD13 5 V tolerant I/O PWM8 GPIO57 TIM4_CH2
Gourp3
S9 PD14 5 V tolerant I/O PWM9 GPIO58 TIM4_CH3
S10 PD15 5 V tolerant I/O PWM10 GPIO59 TIM4_CH4
S11 PE5 5 V tolerant I/O PWM11 GPIO60 TIM15_CH1
Group4
S12 PE6 5 V tolerant I/O PWM12 GPIO61 TIM15_CH2
PWM13 GPIO62 TIM1_CH1
LED PA8 5 V tolerant I/O Group5
SERVO13_FUNCTION 120, NTF_LED_TYPES neopixel
PWM1~PWM13 are Dshot and PWM capable. However, mixing Dshot and normal PWM operation for outputs is restricted into groups, ie. enabling Dshot for an output in
a group requires that ALL outputs in that group be configured and used as Dshot, rather than PWM outputs.
If servo and motor are mixed in same group, make sure this group run lowest PWM frequency according to the servo specification. ie. Servo supports Max. 50Hz, ESC
must run at 50Hz in this group.
Vbat pad Vbat ADC BATT_VOLT_PIN 10
PC0 0~36V
1K:20K divider builtin onboard battery voltage sense BATT_VOLT_MULT 21.0
Current ADC BATT_CURR_PIN 11
Curr pad PC1 0~3.3V
onboard current sense BATT_AMP_PERVLT 66.7
VB2 Pad BATT2_VOLT_PIN 18
PA4 0~69V Vbat2 ADC
1K:20K divider builtin BATT2_VOLT_MULT 21.0
ADC
BATT2_CURR_PIN 7
CU2 Pad PA7 0~3.3V Current2 ADC
BATT2_AMP_PERVLT /
RSSI ADC RSSI_ANA_PIN 8
RSSI Pad PC5 0~3.3V
Analog RSSI RSSI_TYPE 1
AirS Pad AirS ADC ARSPD_PIN 4
PC4 0~6.6V
20K:20K divider builtin Analog Airspeed ARSPD_TYPE 2
I2C1
PB6/PB7 5 V tolerant I/O Compass COMPASS_AUTODEC 1
CL1/DA1
on board Baro DPS310 Address 0x76
I2C
I2C2
PB10/PB11 5 V tolerant I/O Digital Airspeed I2C ARSPD_BUS 0
CL2/DA2 on JST-GH-4P
MS4525 ARSPD_TYPE 1
DLVR-L10D ARSPD_TYPE 9
CAN_D1_PROTOCOL 1
CAN Node
CAN_P1_DRIVER 1
CAN CAN1 PD0/PD1 5 V tolerant I/O CAN GPS GPS_TYPE 9
CAN Compass COMPASS_TYPEMASK 0
CAN Airspeed sensor ARSPD_TYPE 8
USB PA11/PA12 5 V tolerant I/O USB console SERIAL0
RX7 TX7 RTS7 CTS7 PE7/8/9/10 3.3 V tolerant I/O UART7 telem1 SERIAL1
TX1 RX1 PA9/PA10 5 V tolerant I/O USART1 telem2 SERIAL2
TX2 RX2 PD5/PD6 5 V tolerant I/O USART2 GPS1 SERIAL3
TX3 RX3 PD8/PD9 5 V tolerant I/O USART3 GPS2 SERIAL4
UART
TX8 RX8 PE1/PE0 5 V tolerant I/O UART8 USER SERIAL5
TX4 RX4 PB9/PB8 5 V tolerant I/O UART4 USER SERIAL6
USART6 RC input/Receiver
TX6 RX6 PC6/PC7 5 V tolerant I/O RX6 SBUS/IBUS/DSM/PPM SERIAL7
TX6 FPORT/SRXL2

INAV
S1 PB0 5 V tolerant I/O TIM3_CH3 Fixed Wing
S2 PB1 3.3 V tolerant I/O TIM3_CH4 Motor
S3 PA0 5 V tolerant I/O TIM5_CH1
S4 PA1 5 V tolerant I/O TIM5_CH2
S5 PA2 5 V tolerant I/O TIM5_CH3
S6 PA3 5 V tolerant I/O TIM5_CH4
PWM S7 PD12 5 V tolerant I/O TIM4_CH1 Fixed Wing
S8 PD13 5 V tolerant I/O TIM4_CH2 Servo
S9 PD14 5 V tolerant I/O TIM4_CH3
S10 PD15 5 V tolerant I/O TIM4_CH4
S11 PE5 5 V tolerant I/O TIM15_CH1
S12 PE6 5 V tolerant I/O TIM15_CH2
LED PA8 5 V tolerant I/O TIM1_CH1 2812LED
Vbat pad Vbat ADC
PC0 0~36V scale 2100
1K:20K divider builtin ADC_CHANNEL_1
Current ADC
Curr Pad PC1 0~3.3V scale 150
ADC_CHANNEL_2
RSSI ADC
RSSI Pad PC5 0~3.3V Analog RSSI
ADC ADC_CHANNEL_3
AirS Pad AirS ADC
PC4 0~6.6V Analog Airspeed
20K:20K divider builtin ADC_CHANNEL_4
VB2 Pad
PA4 0~69V ADC_CHANNEL_5 scale 2100
1K:20K divider builtin
CU2 Pad PA7 0~3.3V ADC_CHANNEL_6 spare
QMC5883 / HMC5883
I2C1 Compass IST8310 / IST8308
PB6/PB7 5 V tolerant I/O
CL1/DA1 MAG3110 / LIS3MDL
I2C OLED 0.96"
onboard Barometer DPS310
I2C2
PB10/PB11 5 V tolerant I/O Digital Airspeed sensor MS4525
CL2/DA2 on JST-GH-4P
Temperature sensor
USB PA11/PA12 5V tolerant I/O USB
TX1 RX1 PA9/PA10 5V tolerant I/O USART1 telem2
TX2 RX2 PD5/PD6 5V tolerant I/O USART2 GPS1
TX3 RX3 PD8/PD9 5V tolerant I/O USART3 GPS2
TX4 RX4 PB9/PB8 5V tolerant I/O UART4 USER
UART
TX6 & RX6 CRSF
TX6 RX6 PC6/PC7 5 V tolerant I/O UART6_RX SBUS/IBUS/DSM/PPM
UART6_TX FPORT/SRXL2
RX7 TX7 PE7/PE8 3.3 V tolerant I/O UART7 telem1
TX8 RX8 PE1/PE0 5 V tolerant I/O UART8 USER

APR.2022 Rev 1.0 www.mateksys.com