KiwiH743-Wing Flight Controller

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Overview

The KiwiH743-Wing is a Pixhawk-format flight controller system consisting of two boards: a Flight Controller and a Power Distribution Board (PDB). Designed for expendable quadcopters and long-range fixed-wing drones. Ready to use with Rover, Wing, Quadcopter, and Hexacopter configurations.

Premium features: GPS-less takeoff, IRC Tramp VTX control, VRX integration (TBS Fusion, Skyzone Steadyview).

Firmware

The noclkin build is an A/B test control with the external 32.768 kHz IMU clock disabled — IMUs run on their internal oscillators. Same APJ_BOARD_ID, loads with the same bootloader.

Both 4.5 (Plane-4.5.7 LTS) and 4.6 (current) ArduPilot branches are maintained in parallel. Pick the one that matches your fleet.

Previous versions

Features

• STM32H743 MCU (480 MHz, 2 MB flash)
• 12S power supply
• 5V, 6/7V, 9/12V 5A BECs
• ICM-42688P and ICM-45686 with power and hardware signal filtering
• BMP388 barometer
• Dual camera input, switchable
• 8 motors + 7 servos (15 PWM outputs)
• 5 UARTs, UART7 with flow control
• 1 SPI, 1 I2C, FDCAN
• 5 GPIOs, 2 relay outputs, 9/12V switch
• Analog + digital VTX output
• STM32G4 OSD
• SD card via SDMMC
• 40 x 42 mm board, 36 x 39 mm mounting holes

Technical Specifications

Processor

Sensors

Power

Mechanical

Serial Ports

Ports without DMA fall back to interrupt + FIFO and are not deterministic at high baud.

High-baud MAVLink ports

For peripherals that need >115 k baud (e.g. ELRS+MAVLink, RTK GPS+MAVLink), use the DMA-backed UARTs:

Default firmware already sets SERIAL7_PROTOCOL = MAVLink2 on the Wing, so for a second high-baud link just set SERIAL7_BAUD = 460.

Connectors and Wire Colors

Port connection diagram for cable assembly. Pin order in each connector matches the silkscreen labels on the board, read left to right.

Wire Color Legend

Note: Wire colors are intended to simplify cable assembly and connector identification. Signal names printed on the PCB always take precedence over wire color. On the VTX cable, 5V is the video 5V rail (blue) — distinct from 12V (red).

GPIOs, Relays, and AUX

Dedicated GPIO Pads

Note: RELAY1_PIN defaults to GPIO 100 (Camera Switch, PE2). RELAY6_PIN defaults to GPIO 104 (VIDEO_NRST, PE3 — STM32G4 OSD reset, active low). RELAY 1/2 pads are 9/12V switched outputs.

PWM Outputs

PWM pins can be reassigned to GPIO via SERVOn_FUNCTION=0 + RELAYn_PIN=<gpio>.

Relay Usage

MAVProxy:

param set RELAY2_PIN 101
param set RELAY2_FUNC 1
relay set 0 1    # RELAY1 ON (CAM SW HIGH)
relay set 0 0    # RELAY1 OFF
relay set 1 1    # RELAY2 ON (RELAY1 pad HIGH)

Mission waypoint: DO_SET_RELAY — relay number 0-based (0=RELAY1), setting 1=ON / 0=OFF.

Lua:

relay:toggle(0)  -- toggle RELAY1 (CAM SW)
relay:on(1)      -- RELAY2 ON (RELAY1 pad)
relay:off(1)     -- RELAY2 OFF

All GPIO pads default LOW on boot. Use RELAY_DEFAULT params to set initial state.

OSD Reset (RELAY6):

RELAY6 controls the STM32G4 OSD reset line (VID NRST). Active low — set RELAY6_INVERTED=1 so that “relay on” pulls the line low (reset) and “relay off” releases it.

param set RELAY6_PIN 104
param set RELAY6_FUNCTION 1
param set RELAY6_INVERTED 1
relay set 5 1   # reset OSD
relay set 5 0   # release reset

Power Monitoring

Sensor Calibration

Battery Voltage Thresholds (ArduPilot)

Buses

SPI

I2C

FDCAN

SDMMC (SD Card)

Premium Features

GPS-less Takeoff (ArduPlane)

KIWI firmware supports autonomous takeoff without a GPS fix. Useful for hand launch or catapult deployment in GPS-denied environments.

Parameters:

Procedure:

1. Power on, wait for EKF convergence
2. Set home (from GPS before loss, or manually via MAVLink)
3. Arm in FBWA mode
4. Switch to TAKEOFF mode

IRC Tramp VTX Control

Full IRC Tramp protocol support under ArduPilot. Change VTX power, band, channel, and pit mode directly from your GCS or OSD — no need for SmartAudio.

Works with TBS Unify, Rush Tank, and other Tramp-compatible VTXs.

VRX Integration (TBS Fusion / Skyzone)

Working video receiver control under ArduPilot. Supports:

• TBS Fusion — band/channel tracking via CRSF
• Skyzone Steadyview — auto channel sync

Camera Gimbal Support

KiwiH743-Wing supports camera gimbals out of the box — both servo-based and MAVLink protocol gimbals (CADDX GM3 V2 and compatible).

MAVLink Gimbal

Wire gimbal UART to any free serial port (gimbal TX → FC RX, gimbal RX → FC TX, GND).

RC Control

Assign RC channels to control gimbal axes:

Example: with MNT1_RC_RATE=60, moving the RC6 stick deflects pitch at 60°/s. Set MNT1_RC_RATE=0 for direct angle control (stick position = gimbal angle).

Gimbal firmware must be V2.0 or higher.

Servo Gimbal

Connect pitch/yaw servos to any Servo PWM outputs (SERVO 9–SERVO 15).

Displayport OSD

HD OSD via MSP Displayport on SERIAL8 (OSD UART). Compatible with DJI O3, HDZero, Walksnail.

param set OSD_TYPE 5
param set OSD_UNITS 0
param set MSP_OPTIONS 4
param set MSP_OSD_NCELLS 0
param set SERIAL8_BAUD 115
param set SERIAL8_OPTIONS 0
param set SERIAL8_PROTOCOL 42

Flight Controller

Built around the STM32H743, the flight controller provides dual IMUs with hardware signal filtering, dual switchable camera inputs, and relay-controlled power outputs.

Power Distribution Board (PDB)

Features

• 4S–12S power input
• 5V 5A output
• 5/6/7/9V 5A adjustable output
• 12V 5A output
• 3.3V 1A output
• 0.1 mOhm current sensor
• 36 x 39 mm mounting holes
• 42 x 75 mm board dimensions

Other

Full Pinout Reference

Port A (PA)

Port B (PB)

Port C (PC)

Port D (PD)

Port E (PE)