问天M9飞控Readme

ZeroOneM9 Flight Controller

The ZeroOne M9 is a flight controller manufactured by ZeroOne, which is based on the open-source FMU v6X architecture and Pixhawk Autopilot Bus open source specifications.

Features

• SCH16T&ADIS16507 powerful IMU inside
• Integrated anti-jamming dual-antenna RTK
• Integrated 439.9km/h dual-redundancy airspeed meter，Meet the requirements for measuring airspeed from low-speed to subsonic flight
• Industrial-grade aviation plug,reliable connection
• Built-in high-performance dual-fan active cooling

Processors & Sensors:

• FMU Processor:STM32H753IIK6
  32 Bit Arm® Cortex®-M7, 480MHz, 2MB flash, 1MB RAM

• IO Processor:STM32F103
  32 Bit Arm® Cortex®-M3, 72MHz, 64KB SRAM

• On-board Sensors

• IMU:
  Internal Vibration Isolation for IMUs
  IMU constant temperature heating(1 W heating power).
  With Triple Synced IMUs, BalancedGyro technology, low noise and more shock-resistant:
  IMU1-SCH16T(With vibration isolation)
  IMU2-ADIS16507(With vibration isolation)
  IMU3-IIM42653(Hard Mounted)

• barometer:Two ICP20100

• Magnetometer:Builtin RM3100 magnetometer

• RTK:

• telemetry
  Integrated long range telemetry radio Microhard P900

• airspeed sensor
  two airspeed sensors，Maximum measured airspeed 439.9km/h
  The first airspeed sensor communicates with the flight control through I2C(bus2).
  The second airspeed sensor communicates with the flight control through CAN1.

PinoutS

J30J Interface Definition

Extended Hub Interface Definition

UART Mapping

The UARTs are marked Rn and Tn in the above pinouts. The Rn pin is the receive pin for UARTn. The Tn pin is the transmit pin for UARTn.

Name	Function	MCU PINS	DMA
SERIAL0	OTG1	USB
SERIAL1	Telem1	UART7	DMA Enabled
SERIAL2	Telem2	UART5	DMA Enabled
SERIAL3	GPS1	USART1	DMA Enabled
SERIAL4	GPS1	UART8	DMA Enabled
SERIAL5	Telem3	USART2	DMA Enabled
SERIAL6	UART4	UART4	DMA Enabled
SERIAL7	DEBUG	USART3	DMA Enabled
SERIAL8	OTG-SLCAN	USB

RC Input

The remote control signal should be connected to the SBUS RC IN port or DSM/PPM RC Port.It will support ALL unidirectional RC protocols.

PWM Output

The 问天M9 flight controller supports up to 16 PWM outputs.
First first 8 outputs (labelled 1 to 8) are controlled by a dedicated STM32F103 IO controller. These 8 outputs support all PWM output formats, but not DShot.
The remaining 8 outputs (labelled 9 to 16) are the "auxiliary" outputs. These are directly attached to the STM32H753 FMU controller .
All 16 outputs support normal PWM output formats. All FMU outputs, except 15 and 16, also support DShot.

The 8 IO PWM outputs are in 4 groups:

• Outputs 1 and 2 in group1
• Outputs 3 and 4 in group2
• Outputs 5, 6, 7 and 8 in group3

The 8 FMU PWM outputs are in 4 groups:

• Outputs 1, 2, 3 and 4 in group1
• Outputs 5 and 6 in group2
• Outputs 7 and 8 in group3

Channels within the same group need to use the same output rate. If any channel in a group uses DShot then all channels in the group need to use DShot.

GPIO

All PWM outputs can be used as GPIOs (relays, camera, RPM etc). To use them you need to set the output’s SERVOx_FUNCTION to -1. The numbering of the GPIOs for PIN variables in ArduPilot is:
Io pins
M1 Mainout1:101
M2 Mainout2:102
M3 Mainout3:103
M4 Mainout4:104
M5 Mainout5:105
M6 Mainout6:106
M7 Mainout7:107
M8 Mainout8:108

FMU pins:
M9 AUXOUT1:50
M10 AUXOUT2:51
M11 AUXOUT3:52
M12 AUXOUT4:53
M13 AUXOUT5:54
M14 AUXOUT6:55
M15 56
M16 BB Blue GPO pin 3:57
FMU CAP1 58

Battery Monitoring

The 问天M9 flight controller has two six-pin power connectors, supporting CAN interface power supply.
These are set by default in the firmware and shouldn't need to be adjusted.

Compass

采用外置CAN总线的RM3100罗盘。

Analog inputs

The 问天M9 flight controller has 2 analog inputs.

• ADC Pin12 -> ADC 6.6V Sense
• ADC Pin13 -> ADC 3.3V Sense
• RSSI input pin = 103