YJUAV A6SE High Performance Mini Flight Controller

Overview

The A6SE is a high-performance and cost-effective flight control product, with a small size, light weight, and easy installation.

The A6SE flight controller is manufactured and sold by YJUAV.

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Where to Buy

Order here.

Specifications

  • Processor

    • STM32H750 32-bit processor

    • 480 Mhz/ 1 MB RAM

    • 16MB Onboard Flash

    • 32KB F-RAM nonvolatile memory

  • Sensors

    • InvenSense ICM42688 accelerometer / gyroscope

    • InvenSense ICM42688 accelerometer / gyroscope

    • DPS310 barometer

    • IST8310 magnetometer

  • Power

    • Power supply: 4.5~5.5V

  • Interfaces

    • 11x PWM servo outputs

    • 5x ADC pins

    • 5x Uart ports

    • 3x I2C ports

    • 2x CAN ports

    • 1x SPI port

    • 1x microSD port

    • 1x TypeC USB port

    • 1x JST_GH1.25 USB port

    • 1x Analog battery monitor port

    • 1x RC input (suport SBUS, PPM and DSM)

    • 1x Safety switch and Buzzer port

    • 1x S.Bus servo output

  • Other

    • Weight 40g

    • Size 58mm x 38mm x 16mm

    • Operating temperature -20 ~ 85°c

Pinout

../_images/a6se_2.jpg

POWER ADC

Pin

Signal

Volt

1

VCC_IN

+5V

2

VCC_IN

+5V

3

BAT_CRRENT_ADC

+3.3V

4

BAT_VOLTAGE_ADC

+3.3V

5

GND

GND

6

GND

GND

TELEM1

Pin

Signal

Volt

1

VCC

+5V

2

UART_TX2

+3.3V

3

UART_RX2

+3.3V

4

CTS

+3.3V

5

RTS

+3.3V

6

GND

GND

TELEM2

Pin

Signal

Volt

1

VCC

+5V

2

UART_TX6

+3.3V

3

UART_RX6

+3.3V

4

CTS

+3.3V

5

RTS

+3.3V

6

GND

GND

ADC

Pin

Signal

Volt

1

VCC

+5V

2

ADC_3V3

+3.3V

3

ADC_6V6

+6.6V

4

GND

GND

SPI

Pin

Signal

Volt

1

VCC

+5V

2

SPI_SCK

+3.3V

3

SPI_MISO

+3.3V

4

SPI_MOSI

+3.3V

5

SPI_CS

+3.3V

6

GND

GND

I2C

Pin

Signal

Volt

1

VCC

+5V

2

I2C_SCL

+3.3V

3

I2C_SDA

+3.3V

4

GND

GND

CAN1&CAN2

Pin

Signal

Volt

1

VCC

+5V

2

CAN_P

+3.3V

3

CAN_N

+3.3V

4

GND

GND

GPS1

Pin

Signal

Volt

1

VCC

+5V

2

UART_TX3

+3.3V

3

UART_RX3

+3.3V

4

I2C_SCL

+3.3V

5

I2C_SDA

+3.3V

6

GND

GND

GPS2&SAFETY

Pin

Signal

Volt

1

VCC

+5V

2

UART_TX1

+3.3V

3

UART_RX1

+3.3V

4

I2C_SCL

+3.3V

5

I2C_SDA

+3.3V

6

SAFETY_SW

+3.3V

7

SAFETY_SW_LED

+3.3V

8

3V3_OUT

+3.3V

9

BUZZER

+3.3V

10

GND

GND

DEBUG

Pin

Signal

Volt

1

VCC

+5V

2

UART_TX7

+3.3V

3

UART_TX8

+3.3V

4

SWDIO

+3.3V

5

SWCLK

+3.3V

6

GND

GND

SAFETY

Pin

Signal

Volt

1

3V3_OUT

+3.3V

2

SAFETY_SW

+3.3V

3

SAFETY_SW_LED

+3.3V

4

UART8_TX(SBUS_OUT)

+3.3V

5

RSSI

+3.3V

6

GND

GND

USB

Pin

Signal

Volt

1

VCC_IN

+5V

2

DM

+3.3V

3

DP

+3.3V

4

GND

GND

UART Mapping

  • SERIAL0 -> USB (OTG1)

  • SERIAL1 -> USART2 (Telem1)

  • SERIAL2 -> USART6 (Telem2)

  • SERIAL3 -> USART3 (GPS1), NODMA

  • SERIAL4 -> USART1 (GPS2), NODMA

  • SERIAL5 -> UART8 (USER) TX only, normally used for SBUS_OUT with protocol change

  • SERIAL6 -> UART7 (USER/Debug), NODMA

  • SERIAL7 -> USB2 (OTG2)

Note

UART8 TX is output on the SAFETY connector. Its commonly used for SBUS_OUT function by setting SERIAL5_PROTOCOL = “15”. The UART8 RX input is not accessible for use.

RC Input

The RCIN pin is mapped to a timer input instead of the UART, and can be used for all ArduPilot supported receiver protocols, except CRSF/ELRS and SRXL2 which require a true UART connection. However, FPort, when connected in this manner, can provide RC without telemetry.

To allow CRSF and embedded telemetry available in Fport, CRSF, and SRXL2 receivers, a full UART must be used. For example, UART1 can have its protocol changed from the default GPS protocol for GPS2 to RX input protocol:

With this option, SERIAL4_PROTOCOL must be set to “23”, and:

PPM is not supported.

SBUS/DSM/SRXL connects to the RX1 pin.

FPort requires connection to TX1 and RX1. See FPort Receivers.

CRSF also requires a TX1 connection, in addition to RX1, and automatically provides telemetry.

SRXL2 requires a connection to TX1 and automatically provides telemetry. Set SERIAL4_OPTIONS to “4”.

Any UART can be used for RC system connections in ArduPilot also, and is compatible with all protocols except PPM. See Radio Control Systems for details.

PWM Output

The A6SE supports up to 11 PWM outputs,support all PWM protocols as well as DShot. All 11 PWM outputs have GND on the bottom row, 5V on the middle row and signal on the top row.

The 11 PWM outputs are in 3 groups:

  • PWM 1, 2, 3 and 4 in group1

  • PWM 5, 6, 7 and 8 in group2

  • PWM 9, 10, 11 in group3

Channels 1-8 support bi-directional Dshot. Channels within the same group need to use the same output rate. If any channel in a group uses DShot, then all channels in that group need to use DShot.

GPIOs

All 11 PWM channels can be used for GPIO functions (relays, buttons, RPM etc).

The pin numbers for these PWM channels in ArduPilot are shown below:

PWM Channels

Pin

PWM Channels

Pin

PWM1

50

PWM8

57

PWM2

51

PWM9

58

PWM3

52

PWM10

59

PWM4

53

PWM11

60

PWM5

54

PWM6

55

PWM7

56

Analog inputs

The A6SE flight controller has 5 analog inputs

  • ADC Pin4 -> Battery Current

  • ADC Pin2 -> Battery Voltage

  • ADC Pin8 -> ADC 3V3 Sense

  • ADC Pin10 -> ADC 6V6 Sense

  • ADC Pin11 -> RSSI voltage monitoring

Battery Monitor Configuration

The board has voltage and current sensor inputs on the POWER_ADC connector.

The correct battery setting parameters are:

Enable Battery monitor.

BATT_MONITOR =4

Then reboot.

BATT_VOLT_PIN 2

BATT_CURR_PIN 4

BATT_VOLT_MULT 18.0

BATT_AMP_PERVLT 24.0 (may need adjustment if supplied monitor is not used)

Compass

There is an on-board compass. Calibration is required (see Compass Calibration).

Note

on-board compasses are often close to battery lines and therefore subject to interference and sometimes disabled, with external compasses being located remotely to avoid this issue.

Loading Firmware

The board comes pre-installed with an ArduPilot compatible bootloader, allowing the loading of xxxxxx.apj firmware files with any ArduPilot compatible ground station.

Firmware for these boards can be found here in sub-folders labeled “YJUAV_A6SE”.