GOKU F405 HD 1-2S 12A ELRS AIO V2

The Flywoo Goku F405HD is a small autopilot for 1-2S tiny whoop quadcopter applications with integrated 12A(25A peak) ESC and ELRS receiver.

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Note

Due to flash memory limitations, this board does not include all ArduPilot features. See Firmware Limitations for details.

Specifications

  • Processor

    • STM32F405 ARM (168MHz)

    • 8MByte flash for logging

  • Sensors

    • ICM-42688P IMU or MPU6000(accel, gyro)

    • DPS-310 or SPL06 barometer

    • Voltage & 180A current sensor

  • Power

    • 1S - 2S Lipo input voltage with voltage monitoring

    • 5V, 2A BEC for internal and peripherals including air unit power

    • 9V, 2A on/off controlled BEC for video

  • Interfaces

    • 4 Motor outputs

    • SBUS input with inversion for optional use instead of internal ELRS RX

    • 6x UARTs/serial for GPS and other peripherals, 1st UART internally tied to ELRS board

    • USB-C port on remote dongle

  • Size and Dimensions

    • 20.5 x 20.5 mounting holes, 30 x 30mm overall

    • 4.9g

Where to Buy

Flywoo

Pinout

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Default UART order

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

  • SERIAL0 -> USB

  • SERIAL1 -> USART1 (Internally connected to ELRS module) (DMA capable)

  • SERIAL2 -> USART2 (MAVlink Telem) (DMA on RX only)

  • SERIAL3 -> UART3 (USER) (DMA capable)

  • SERIAL4 -> UART4 (GPS)

  • SERAIL5 -> UART5 (not pinned out)

  • SERIAL6 -> UART6 (DisplayPort)

Serial protocols shown are defaults, but can be adjusted to personal preferences.

Servo/Motor Outputs

Internally connected to integrated 4in1 ESC with BLHELI_S firmware. Bi-Directional DShot capable and are configured as such by default.

Note

for users migrating from BetaflightX quads, the first four outputs M1-M4 have been configured for use with existing motor wiring using these default parameters:

RC Input

UART1 is tied internally to a 2.4GHz ELRS receiver module and defaulted to that protocol.

There are two pins provided for SBUS input also, one being inverted and applied to UART3 RX, and another to UART5 RX on the DJI connector. To use either, the SERIAL1_PROTOCOL would have to be changed to something other than “23”, and the SERIAL3_PROTOCOL set to “23”, for use of its SBUS pin, or SERIAL5_PROTOCOL set to “23”, in order tho use the SBUS input on the DJI Connector.

OSD Support

The autopilot supports HD air units with telemetry using UART4 RX/TX on the DJI connector. See MSP OSD for more info.

Battery Monitor Configuration

These settings are set as defaults when the firmware is loaded . However, if they are ever lost, you can manually set the parameters:

Enable Battery monitor.

BATT_MONITOR =4

Then reboot.

BATT_VOLT_PIN 13

BATT_CURR_PIN 12

BATT_VOLT_MULT 11.0

BATT_AMP_PERVLT 60.2

Compass

The Flywoo Goku F405HD does not have a builtin compass but it does have an external I2C pads to allow its addition.

NeoPixel LED

The board includes a NeoPixel LED pad and is preconfigured for serial leds.

VTX Power Switch

The JST-GH-6P connector supports a standard DJI HD VTX connection. Pin 1 of the connector is 9v so be careful not to connect this to a peripheral requiring 5v. The 9v supply is controlled by a RELAY set to GPIO 81 and is on by default. It can be configured to be operated by an RC switch or via GCS command (Mission Planner AUX tab)

Firmware

This board does not come with ArduPilot firmware pre-installed. Use instructions here to load ArduPilot the first time Loading Firmware onto boards without existing ArduPilot firmware.

Firmware (Copter/Heli only)for this board can be found here in sub-folders labeled “FlywooF405HD-AIOv2”.