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MATEKSYS H7A3-SLIM

MATEKSYS H7A3-SLIM Flight Controller User Manual

Model: H7A3-SLIM

1. Introducció

The MATEKSYS H7A3-SLIM is a high-performance flight controller designed for RC FPV long-range racing drones and airplanes. Featuring an STM32H7A3RIT6 microcontroller, built-in ICM42688P IMU, and extensive connectivity options, it provides robust control and telemetry capabilities for advanced aerial platforms.

Matek H7A3-SLIM Flight Controller overview, showing top and bottom views.
Figure 1: Matek H7A3-SLIM Flight Controller overview (top and bottom).

Visual description: A blue square circuit board with various electronic components. The left side shows the top view with connectors and the main STM32H7A3RIT6 chip. The right side shows the bottom view with pin labels and the MATEKSYS H7A3-SLIM logo.

2. Especificacions

2.1. Especificacions generals

  • MCU: STM32H7A3RIT6, 280MHz Cortex-M7, 1.4MB RAM, 2MB Flash
  • IMU: ICM42688P
  • Baròmetre: SPL06-001
  • OSD: AT7456E
  • blackbox: 128MB Flash (1G-bit NAND)
  • UARTs: 6x (1,2,3,4,5,6) with built-in inversion
  • PWM Outputs: 11x
  • I2C: 1x
  • LLAUNA: 1x
  • ADC: 4x (VBAT, Current, VB2, Cur2)
  • LED: 3x for FC STATUS (Blue, Red) and 3.3V indicator (Red)
  • USB: Tipus C (USB 2.0)
  • ESC Connectors: 8x PWM outputs on 2x JST-SH1.0_8pin connectors for 2x 4in1 ESC
  • CAN Port Connector: 1x JST-GH1.25_4pin (5V/CAN-H/CAN-L/G)
  • Sortida de 9 V: ON/OFF switchable
  • Digital Video OSD: Supported by any spare UART

2.2. Poder

  • Vbat Input: 6~36V (2~8S LiPo)
  • BEC 5V: 2A continuous (Max. 3A)
  • BEC 9V: 2A continuous (Max. 3A)
  • LDO 3.3V: Màx. 200 mA
  • Sensor de corrent: No built-in current sensor
  • ADC VB2 Pad: Supports Max. 69V (voltage divider: 1K:20K)

2.3. Característiques físiques

  • Muntatge: 30.5 x 30.5mm, Φ4mm with Grommets Φ3mm
  • Dimensions: 36 x 36 x 5 mm
  • Pes: 7g
Key specifications of the Matek H7A3-SLIM Flight Controller.
Figure 2: Summary of H7A3-SLIM Flight Controller specifications.

Visual description: An image displaying a list of specifications for the Matek H7A3-SLIM, including MCU, IMU, Baro, OSD, Blackbox, UARTs, PWM outputs, I2C, CAN, ADC, LEDs, USB, BEC, and physical dimensions.

3. Contingut del paquet

The H7A3-SLIM package includes the following items:

  • 1x H7A3-SLIM Flight Controller
  • 6x Silicon grommets M4 to M3
  • 2x JST-SH1.0_8pin cables, 5cm, & 8pin connectors
  • 1x JST-GH-4P to JST-GH-4P cable for CAN port, 20cm

4. Board Layout and Pinout

Understanding the board layout and pin assignments is crucial for proper installation and wiring.

Detailed top layout and pinout diagram of the H7A3-SLIM Flight Controller.
Figure 3: Top Layout and Pinout Diagram.

Visual description: A detailed diagram of the top side of the H7A3-SLIM Flight Controller, showing labels for all pins and connectors including UARTs (Tx/Rx), PWM outputs (S1-S11), power inputs (Vbat, 5V, 9V, 3V3), CAN bus (C-H, C-L), USB (D+, D-), and debug pins (SWD, SWC). Key components like the MCU, IMU, and OSD chip are also indicated.

Detailed bottom layout and pinout diagram of the H7A3-SLIM Flight Controller.
Figure 4: Bottom Layout and Pinout Diagram.

Visual description: A detailed diagram of the bottom side of the H7A3-SLIM Flight Controller, showing labels for connectors like JST-SH-4P and JST-GH-4P, and indicating the location of the STM32H7A3RIT6 MCU, ICM42688P IMU, SPL06-001 Baro, and 128MB Blackbox NAND flash. Dimensions and packing contents are also listed.

4.1. PWM Output Pin Assignments (ArduPilot)

The following table details the PWM output pins and their configurations for ArduPilot firmware.

Table 1: PWM Output Pin Details
Funció Pin GPIO I/O Tolerance Temporitzador DMA/Bi-DShot Grup
PWM S1 PWM1 GPIO50 E/S tolerant a 5 V TIM1_CH2 DMA/Bi-DShot Grup 1
S2 PWM2 GPIO51 E/S tolerant a 5 V TIM1_CH3 DMA/Bi-DShot
S3 PWM3 GPIO52 E/S tolerant a 5 V TIM2_CH1 DMA/Bi-DShot Grup 2
S4 PWM4 GPIO53 E/S tolerant a 5 V TIM2_CH2 DMA/Bi-DShot
S5 PWM5 GPIO54 E/S tolerant a 5 V TIM3_CH3 DMA/Bi-DShot Grup 3
S6 PWM6 GPIO55 E/S tolerant a 5 V TIM3_CH4 DMA/Bi-DShot
S7 PWM7 GPIO56 E/S tolerant a 5 V TIM3_CH1 DMA/Bi-DShot
S8 PWM8 GPIO57 E/S tolerant a 5 V TIM3_CH2 DMA/Bi-DShot
S9 PWM9 GPIO58 E/S tolerant a 5 V TIM4_CH1 DMA/DShot Grup 4
S10 PWM10 GPIO59 E/S tolerant a 5 V TIM4_CH2 DMA/DShot
S11 PWM11 GPIO60 E/S tolerant a 5 V TIM16_CH1 DMA/DShot Grup 5
Nota: PWM1~PWM11 are Dshot and PWM capable. However, mixing Dshot and normal PWM operation for outputs is restricted into groups. 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 the same group, ensure this group runs at the lowest PWM frequency according to the servo specification. For example, if a servo supports Max. 50Hz, ESC must run at 50Hz in this group.

4.2. ADC Pin Assignments

Table 2: ADC Pin Details
Funció Coixinet Tipus de sensor Voltage Rang ArduPilot Parameter Valor
ADC Coixinet Vbat BATT_VOLTAGE_SENS 6~36V BATT_VOLT_PIN
BATT_VOLT_MULT		 10
21.0
Curr coixinet BATT_CURRENT_SENS 0~3.3V BATT_CURR_PIN
BATT_AMP_PERVLT		 11
X
VB2 Pad BATT2_VOLTAGE_SENS 0~69V BATT2_VOLT_PIN
BATT2_VOLT_MULT		 18
21.0
Pad CU2 BATT2_CURRENT_SENS 0~3.3V BATT2_CURR_PIN
BATT2_AMP_PERVLT		 8
X

4.3. I2C Pin Assignments

Table 3: I2C Pin Details
Funció Coixinet Bus I2C I/O Tolerance Dispositiu ArduPilot Parameter Valor
I2C SCL/SDA I2C3 E/S tolerant a 5 V on board Baro SPL06-001 Adreça 0 x 76
Digital Airspeed I2C (MS4525, DLVR-L10D) ARSPD_BUS
ARSPD_TYPE
ARSPD_TYPE		 0
1
9
Magnetòmetre COMPASS_AUTODEC 1

4.4. CAN Pin Assignments

Table 4: CAN Pin Details
Funció Coixinet Bus CAN I/O Tolerance Dispositiu ArduPilot Parameter Valor
CAN C-H/C-L CAN2 E/S tolerant a 5 V CAN CAN_D1_PROTOCOL
CAN_P1_DRIVER		 1
1
CAN GPS
CAN Brúixola
Sensor de velocitat CAN		 GPS_TYPE
COMPASS_TYPEMASK
ARSPD_TYPE		 9
0
8

4.5. UART Pin Assignments

Table 5: UART Pin Details
Funció Coixinet UART I/O Tolerance Ús ArduPilot Parameter Valor
UART USB USB consola SERIAL0_PROTOCOL 2
TX1 RX1 USART1 w/DMA E/S tolerant a 5 V Telemetria SERIAL1_PROTOCOL 2
TX2 RX2 USART2 w/DMA E/S tolerant a 5 V Entrada/Receptor RC SERIAL2_PROTOCOL 23
TX3 RX3 USART3 w/DMA E/S tolerant a 5 V GPS SERIAL3_PROTOCOL 5
TX4 RX4 UART4 w/o DMA E/S tolerant a 5 V De recanvi SERIAL4_PROTOCOL -1
TX5 RX5 UART5 w/o DMA E/S tolerant a 5 V De recanvi SERIAL5_PROTOCOL -1
TX6 RX6 USART6 w/o DMA E/S tolerant a 5 V De recanvi SERIAL6_PROTOCOL -1

5. Firmware

The H7A3-SLIM Flight Controller is designed to run ArduPilot firmware.

5.1. ArduPilot Firmware

6. RC Input Configuration

RC input is configured on the USART2 (SERIAL2) and supports all serial RC protocols. By default, SERIAL2_PROTOCOL=23.

  • PPM protocol is not supported.
  • CRSF: Requires Tx2 & Rx2 connection. Set SERIAL2_OPTIONS to "0" (default).
  • SBUS/DSM/SRXL: Connects to the Rx2 pin. For SBUS, set SERIAL2_OPTIONS to "3".
  • FPort: Requires connection to Tx2. Set SERIAL2_OPTIONS to "7". If Telemetry doesn't work, try setting SERIAL7_OPTIONS = 135.
  • SRXL2: Requires a connection to Tx2 and automatically provides telemetry. Set SERIAL2_OPTIONS to "4".
  • Any UART can be used for RC system connections in ArduPilot and is compatible with all protocols except PPM. Refer to the ArduPilot Radio Control Systems documentation per a més detalls.

7. ArduPilot Relay (PINIO)

The 9V output on the flight controller is ON by default. It can be controlled via ArduPilot Relay (PINIO) functionality.

  • 9V Power Switch GPIO: PC13 PINIO1 OUTPUT GPIO(81)
  • ArduPilot Parameter for Relay Pin: RELAY_PIN = 81 (PINIO1 GPIO)
  • Transmitter Control ExampLI: To use CH7 of your transmitter to set 9V ON/OFF, set RC7_OPTION = 28.

The configured feature will be triggered when the auxiliary switch's PWM value becomes higher than 1800 and deactivated when the value falls below 1200. Use Mission Planner's Initial Setup >> Mandatory Hardware >> Radio Calibration screen to check the PWM values from your transmitter. Adjust servo endpoints in the transmitter if values do not reach above 1800 or below 1200.

8. Esquemes de cablejat

8.1. CAN Wiring

This diagram illustrates how to connect various CAN bus peripherals to the H7A3-SLIM Flight Controller.

Wiring diagram for CAN bus peripherals with the H7A3-SLIM Flight Controller.
Figure 5: CAN Wiring Diagram (ArduPilot hwdef MATEKH7A3).

Visual description: A complex wiring diagram showing the H7A3-SLIM Flight Controller connected to multiple CAN peripherals including a TAOGLAS M10-L4-3100 GPS module, ASPD-DLVR airspeed sensor, CAN-L4-RC receiver, CAN-L4-BM battery monitor, and a CAN-FDCAN-4V board. Connections are color-coded for power (red, black), CAN-H (yellow), and CAN-L (green).

8.2. Octocopter Wiring

This diagram provides a general wiring guide for an Octocopter setup using the H7A3-SLIM, including connections for ESCs, battery, camera, and GPS.

Wiring diagram for an Octocopter setup using the H7A3-SLIM Flight Controller with 4-in-1 ESCs, battery, camera, and GPS.
Figure 6: Octocopter Wiring Diagram (ArduPilot hwdef MATEKH7A3).

Visual description: A comprehensive wiring diagram for an octocopter. It shows the H7A3-SLIM Flight Controller connected to two 4-in-1 ESCs (controlling 8 motors), a battery, an analog video system with a camera, and a GPS module. The diagram also indicates an optional USB/Beeper extension board and highlights power distribution and signal connections.

9. Guia de configuració

9.1. Connexió inicial

  1. Mount the H7A3-SLIM to your frame using the provided silicon grommets to minimize vibrations.
  2. Connect the flight controller to your computer via the USB Type-C port.
  3. Instal·leu els controladors necessaris si us ho demana el vostre sistema operatiu.

9.2. Instal·lació del firmware

  1. Download the latest ArduPilot firmware (ArduPlane or ArduCopter) for MATEKH7A3 from the official Matek or ArduPilot weblloc.
  2. Use STM32CubeProgrammer or Mission Planner to flash the firmware onto the flight controller. Follow the detailed instructions provided on the Matek website for flashing.

9.3. Basic Configuration (Mission Planner/QGroundControl)

  1. Connect the flight controller to Mission Planner or QGroundControl.
  2. Perform initial setup steps including accelerometer calibration, compass calibration, and radio calibration.
  3. Configure your RC input protocol (e.g., CRSF, SBUS, FPort) by setting the appropriate SERIAL2_PROTOCOL i SERIAL2_OPTIONS parameters as described in Section 6.
  4. Connect your ESCs to the JST-SH1.0_8pin connectors and configure PWM outputs according to your motor layout and ESC type (Dshot or PWM). Refer to Table 1 for pin assignments.
  5. Connect any external peripherals such as GPS, airspeed sensors, or CAN devices as per the wiring diagrams in Section 8 and configure their respective ArduPilot parameters.
  6. Verify power settings, including VBAT and current sensing, using the parameters listed in Table 2.

10. Instruccions de funcionament

Once the flight controller is set up and configured, you can proceed with operating your RC vehicle.

  1. Comprovacions prèvies al vol: Always perform thorough pre-flight checks, including verifying battery voltage, GPS lock (if applicable), arming status, and control surface movements.
  2. Armat: Arm your vehicle using the configured arming switch or stick command. The FC STATUS LEDs will indicate arming status.
  3. Modes de vol: Select appropriate flight modes via your transmitter. Ensure you understand the behavior of each mode before flight.
  4. Telemetry Monitoring: Monitor critical flight data (voltage, current, GPS, etc.) via telemetry if configured.
  5. Desarmament: Disarm your vehicle after landing using the configured disarming method.

11. Manteniment

  • Regularly inspect all connections for wear, corrosion, or damage.
  • Keep the flight controller clean and free from dust, moisture, and debris.
  • Ensure proper ventilation to prevent overheating, especially during intensive operations.
  • Periodically check for firmware updates to benefit from new features and bug fixes.
  • Store the flight controller in a dry, anti-static environment when not in use.

12. Solució De Problemes

  • Sense energia: Check battery connections, power input voltage, and ensure no shorts are present. Verify BEC outputs.
  • No RC Signal: Confirm correct wiring to Rx2 (or other UART), verify transmitter is bound, and check SERIAL2_PROTOCOL i SERIAL2_OPTIONS settings in ArduPilot.
  • Motors que no giren: Ensure ESCs are calibrated, PWM outputs are correctly configured (Dshot/PWM), and the flight controller is armed. Check motor direction.
  • Vol inestable: Re-calibrate accelerometers and compass. Check for excessive vibrations and ensure soft-mounting is effective. Review PID tuning.
  • El GPS no es bloqueja: Ensure GPS module is connected correctly to TX3/RX3 (or CAN port), has clear sky view, i SERIAL3_PROTOCOL (or CAN parameters) are set correctly.
  • Problemes d'actualització del firmware: Ensure correct drivers are installed and the flight controller is in DFU mode if required for flashing.

13. Consells d'usuari

  • Always double-check wiring before applying power to prevent damage.
  • Utilize the Blackbox logging feature to diagnose flight issues and fine-tune performance.
  • For complex setups, consider using a power distribution board (PDB) or 4-in-1 ESCs with integrated PDB for cleaner wiring.
  • Keep a backup of your ArduPilot parameters after successful configuration.
  • Join the ArduPilot community forums for advanced support and shared knowledge.

14. Garantia i Suport

For technical support, firmware updates, and additional resources, please visit the official MATEKSYS website or the ArduPilot documentation pages.

Please note that warranty terms may vary based on your region and retailer. Always refer to the purchase agreement for specific warranty details.

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