4.7:BetafpvF405 updates

common/source/docs/common-betafpvf405.rst

@@ -1,23 +1,52 @@
 .. _common-betafpvf405 :
 
-========================
-BETAFPV F4 1S 12A AIO V3 
-========================
+===================
+BETAFPV F405 Family
+===================
+
+The BETAFPV F405 family are autopilots intended for smaller size ("Whoop") multicopters. ArduPilot supports the following units:
+
+* `BETAFPV F4 1S 12A AIO Brushless Flight Controller V3 <https://betafpv.com/collections/brushless-flight-controller/products/f4-1s-12a-aio-brushless-flight-controller-v3-0>`__. Referred to hereafter as the " Whoop AIO" for brevity.
+* `BETAFPV F4 2-3S 20A AIO FC V1 <https://betafpv.com/collections/flight-controller-1/products/f4-2-3s-20a-aio-fc-v1>`__. Referred to hereafter as the "AIO" for brevity.
+* `BETAFPV F405 4S 20A Toothpick Brushless Flight Controller V5 <https://betafpv.com/collections/flight-controller-1/products/f405-4s-20a-toothpick-brushless-flight-controller-v5-blheli_s-icm42688>`__. Referred to hereafter as the "Toothpick" for brevity.
 
-The BETAFPV F4 1S 12A AIO V3 is a small autopilot for 1-2S tiny whoop quadcopter applications with integrated 12A(25A peak) ESC and ELRS receiver.
+Whoop AIO
+=========
 
 .. image:: ../../../images/betafpvf405.png
     :target: ../_images/betafpvf405.png
     :width: 450px
 
+AIO
+===
+
+.. image:: ../../../images/betafpvF405-AIO.png
+    :target: ../_images/betafpvF405-AIO.png
+    :width: 450px
+
+Toothpick
+=========
+
+.. image:: ../../../images/betafpvf405-tootpick.png
+    :target: ../_images/betafpvf405-tootpick.png
+    :width: 450px
+
 the above image and some content courtesy of `BETAFPV <http://betafpv.com/>`__
 
-.. note::
+.. note:: Due to flash memory limitations, this board does not include all ArduPilot features. See :ref:`Firmware Limitations<common-limited_firmware>` for details. In addition, it is being built only for Copter on the `Firmware server <https://firmware.ardupilot.org>`__. Also note, that with the exception of a special firmware version of the AIO variant that allows disabling the integrated ELRS receiver to allow an external compass to be used along with a GPS, it is recommended that only ACRO, STABILIZE, and ALTHOLD (requires Baro) modes of Copter are used for safest operation.
 
-	Due to flash memory limitations, this board does not include all ArduPilot features.
-        See :ref:`Firmware Limitations <common-limited_firmware>` for details.
+.. warning:: this firmware only applies to the F405 variants of the autopilot.
 
-.. warning:: this firmware only applies to the F405 variant of the autopilot.
+Functional Differences
+======================
+
+============ ================= ============== ======================
+Unit         Integrated ELRS    Baro?          Size/Weight
+============ ================= ============== ======================
+Whoop        Yes                BMP280         26mmx26mm mtg/4.23g
+AIO          Yes                BMP210/DPS310  26mmx26mm mtg/5.58g
+Toothpick    No                 No             25.5mmx25.5mm mtg/8.35g
+============ ================= ============== ======================
 
 Specifications
 ==============
@@ -31,60 +60,95 @@ Specifications
 -  **Sensors**
 
    -  ICM-42688P IMU (accel, gyro)
-   -  BMP-280 barometer
    -  Voltage & 234A current sensor
 
 
 -  **Power**
 
-   -  1S - 2S Lipo input voltage with voltage monitoring
+   -  Whoop: 1S - 2S Lipo input voltage with voltage monitoring
+   -  AIO:   2S - 3S Lipo input voltage with voltage monitoring
+   -  Totthpick: 2s -4s Lipo input voltage with voltage monitoring
    -  5V, 2A BEC for internal and peripherals including air unit power
 
 -  **Interfaces**
 
-   -  4 Motor outputs
+   -  Integrated 4 in 1 ESC with current monitoring and telemetry
+       - Whoop: 12A
+       - AIO: 20A
+       - Toothpick: 20A
    -  SBUS input with inversion for optional use instead of internal ELRS RX
-   -  3x UARTs/serial for GPS and other peripherals, 4th UART internally tied to ELRS board
+   -  UARTs/serial for GPS and other peripherals
+       - Whoop: 3
+       - AIO: 4
+       - Toothpick: 4
    -  USB-C port on remote dongle
 
-
--  **Size and Dimensions**
-
-   - 20.5 x 20.5 mounting holes
-   - 4.68g
-
 Where to Buy
 ============
 
-`BETAFPV <https://betafpv.com/collections/brushless-flight-controller/products/f4-1s-12a-aio-brushless-flight-controller-v3-0>`__
+`BETAFPV <https://betafpv.com/collections/brushless-flight-controller>`__
 
 Pinout
 ======
+Whoop
+-----
 
 .. image:: ../../../images/betafpvf405_top.png
     :target: ../_images/betafpvf405_top.png
 
 .. image:: ../../../images/betafpvf405_bottom.png
     :target: ../_images/betafpvf405_bottom.png
 
-Wiring Diagram
-==============
+AIO
+---
 
-.. image:: ../../../images/betafpvf405_wiring.png
-    :target: ../_images/betafpvf405_wiring.png
+.. image:: ../../../images/betafpvf405-AIO-top.png
+    :target: ../_images/betafpvf405_top.png
+
+.. image:: ../../../images/betafpvf405-AIO-bottom.png
+    :target: ../_images/betafpvf405_bottom.png
+
+Toothpick
+---------
 
+.. image:: ../../../images/betafpvf405-Toothpick-top.png
+    :target: ../_images/betafpvf405_top.png
+
+.. image:: ../../../images/betafpvf405-Toothpick-bottom.png
+    :target: ../_images/betafpvf405_bottom.png
 
 Default UART order
 ==================
 
 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.
 
+Whoop
+-----
  - SERIAL0 -> USB
  - SERIAL1 -> USART1 (GPS) (DMA capable)
- - SERIAL3 -> UART3 (Internally connected to ELRS module)
- - SERIAL4 -> UART4 (DJI)
- - SERIAL6 -> UART6 (RX pin only USER/SBUS alternate) (via inverter from SBUS pin, DMA capable) 
+ - SERIAL3 -> UART3 (RCin,ELRS internal module)
+ - SERIAL4 -> UART4 (DisplayPort)
+ - SERIAL5 -> UART5 (not pinned out)
+ - SERIAL6 -> UART6 (USER,SBUS pin inverted and tied to RX6 as alternate RC input,DMA capable)
+
+AIO
+---
+ - SERIAL0 -> USB
+ - SERIAL1 -> USART1 (GPS) (DMA capable)
+ - SERIAL3 -> UART3 (RCin,ELRS internal module - can be freed up through board modifications, see https://betafpv.com/products/f4-2-3s-20a-aio-fc-v1?_pos=1&_sid=a0000be76&_ss=r))
+ - SERIAL4 -> UART4 (DisplayPort)
+ - SERIAL5 -> UART5 (USER, RX pin only via inverter from SBUS pin)
+ - SERIAL6 -> UART6 (USER, DMA capable)
+
+Toothpick
+---------
+ - SERIAL0 -> USB
+ - SERIAL1 -> USART1 (GPS) (DMA capable)
+ - SERIAL3 -> UART3 (RCin,SBUS pin inverted and tied to RX6 as alternate RC input,DMA capable)
+ - SERIAL4 -> UART4 (DisplayPort)
+ - SERIAL5 -> UART5 (not pinned out)
+ - SERIAL6 -> UART6 (USER, DMA capable)
 
 Serial protocols shown are defaults, but can be adjusted to personal preferences.
 
@@ -102,18 +166,19 @@ Internally connected to integrated 4in1 ESC with BlueJay firmware. Bi-Directiona
 RC Input
 ========
 
-UART3 is tied internally to a 2.4GHz ELRS receiver module and defaulted to that protocol.
+On the Whoop and AIO versions, UART3 is tied internally to a 2.4GHz ELRS receiver module and defaulted to that protocol. On the Toothpick the SBUS pin is inverted and tied to UART3 RX and supports all ArduPilot unidirectional protocols except PPM.
 
-There is a pin provided for SBUS input also, but the :ref:`SERIAL3_PROTOCOL<SERIAL3_PROTOCOL>` would have to be changed to something other than "23", and the :ref:`SERIAL6_PROTOCOL<SERIAL6_PROTOCOL>` set to "23", instead.
+All units have an SBUS input which is inverted and tied to a UART:
 
-.. note:: UART1 is configured by default for GPS but can be re-tasked for RC input for CRSF.etc. by changing its :ref:`SERIAL1_PROTOCOL<SERIAL1_PROTOCOL>` to "23". You can also have more than one receiver in the system at a time (usually used for long range hand-offs to a remote TX). See :ref:`common-multiple-rx` for details.
+* Whoop would need :ref:`SERIAL6_PROTOCOL<SERIAL6_PROTOCOL>` set to "23" and :ref:`SERIAL3_PROTOCOL<SERIAL3_PROTOCOL>` set to some other protocol in order to function as a unidirectional RC input.
+* AIO would need :ref:`SERIAL5_PROTOCOL<SERIAL5_PROTOCOL>` set to "23" and :ref:`SERIAL3_PROTOCOL<SERIAL3_PROTOCOL>` set to some other protocol in order to function as a unidirectional RC input.
+* Toothpick uses this as it main RCinput by default since it has no internal ELRS module.
 
 Any UART can be used for RC system connections in ArduPilot also, and is compatible with all protocols except PPM (SBUS requires external inversion on other UARTs). See :ref:`common-rc-systems` for details.
 
 OSD Support
 ===========
-
-The BETAFPV F4 1S 12A AIO V3  supports DJI HD air units with telemetry using UART4 RX/TX. See :ref:`common-msp-osd-overview-4.2` for more info.
+The units supports HD air units with telemetry using UART4 RX/TX. See :ref:`common-msp-osd-overview-4.2` for more info.
 
 
 Battery Monitor Configuration
@@ -137,16 +202,16 @@ Then reboot.
 Connecting a GPS/Compass module
 ===============================
 
-This board does not include a GPS so an :ref:`external GPS <common-positioning-landing-page>` can be connected to allow operation of position holding/tracking modes (ie LOITER,etc.).
+This board does not include a GPS and compass so an :ref:`external GPS <common-positioning-landing-page>` can be connected to allow operation of position holding/tracking modes (ie LOITER,etc.). However, only the AIO has the ability to disconnect its ELRS module to provide the required access to the UART3 RX/TX pins to attach an I2C compass. This also requires special firmware (see below) be installed to convert these pins from UART use to I2C use with RX3 becoming SDA and TX3 becoming SCL.
 
-.. warning:: since a compass cannot be attached, yaw information can only be determined with a GPS attached and using ArduPilot's internal GSF yaw estimator. This yaw estimator is particularly sensitive to vibration and could result in erratic operation, or even a crash, if vibration is moderate or severe. Therefore, using positioning modes is not recommended.
+.. warning:: since a compass cannot be normally attached, only ACRO, STABILIZE, and ALTHOLD (if the unit has a BARO) modes are recommended. GSF (:ref:`common-compassless`)can be used, but requires pre-flight actions to converge it before taking off, and it is susceptible to failures in flight.
 
 Firmware
 ========
-This board does not come with ArduPilot firmware pre-installed. Use instructions here to load ARduPilot the first time :ref:`common-loading-firmware-onto-chibios-only-boards`.
+This board does not come with ArduPilot firmware pre-installed. Use instructions here to load ArduPilot the first time :ref:`common-loading-firmware-onto-chibios-only-boards`.
 
 Firmware for this board can be found `here <https://firmware.ardupilot.org>`_ in  sub-folders labeled
-"BETAFPV-F405".
+"BETAFPV-F405". For the AIO version, a firmware labeled "BETAFPV-F405-I2C" is provided to allow I2C devices to be attached if the hardware modification metioned above is made to disconnect the ELRS module from those signals.
 
 [copywiki destination="plane,copter,rover,blimp"]