Processors & Sensors

FMU Processor:STM32H743VIT6 – 32-bit Arm® Cortex®-M7, 480 MHz, 2 MB Flash, 1 MB RAM
IO Processor:STM32F103C8T7 – 32-bit Arm® Cortex®-M3, 72 MHz, 64 KB Flash, 20 KB SRAM, LQFP-48

On-board Sensors

Triple-IMU configuration

•
BMI088 – vibration-robust 6-axis; stable bias for primary attitude.
•
ICM-42688-P – ultra-low-noise 6-axis; fast interrupts for tight loops.
•
ICM-20649 – high-g 6-axis; avoids saturation in aggressive maneuvers.

Dual barometers (redundant)

•
MS5611 – high-resolution pressure for precise altitude hold.
•
BMP388 – temperature-stable cross-check/fault tolerance.

Magnetometer

•
BMM150 – 3-axis geomagnetic heading reference.

Peripherals & I/O (Core)

  • TELEM1 (UART)
  • TELEM2 (UART)
  • TELEM3 (UART)
  • GPS1 (UART + PPS)
  • GPS2 (UART + PPS)
  • CAN1 / CAN2 / CAN3 (DroneCAN, 120 Ω selectable)
  • I²C1 (EXT) – supports external mag / airspeed / flow
  • PWM AUX OUT 1-8 (3.3 V logic)
  • ETH (RMII, 10/100)
  • USB-C (device)
  • microSD (logging)

Electrical Specifications

Voltage ratings

Max input voltage (5 V rail):5 V
USB power input:4.75–5.25 V

Current ratings

TELEM1 & GPS2 (combined):1.5 A
All other ports (combined):1.5 A

Mechanical

Standard Baseboard:53 × 102 × 16.7 mm

Logging & Storage – Dual-Path Recorder

Primary:microSD (SDMMC 4-bit) – full-rate logs.
Secondary:32 MiB QSPI NOR (W25Q256JVFIM) – always-on ring buffer from power-up.
Policy:SD present → SD is primary, QSPI mirrors last N s (configurable). On disarm, QSPI tail is auto-appended to the SD log. If SD is absent/error → log to QSPI (reduced set).
Retention (QSPI):~0.9-3.6 min (rate-dependent).
Retrieval:remove SD or download QSPI via GCS.
Benefit:preserves pre-arm and post-flight tail data most often lost.

Firmware Support

ArduPilotPX4