Description
AF-H7E is a modular STM32H753 flight controller based on the Pixhawk FMUv6x architecture. The CUAV variant configures BMI088, ICM-42688-P and ICM-20649 IMUs, an RM3100 compass and two ICP-20100 barometers. Eight FMU outputs and eight IOMCU outputs provide 16 channels. Seven peripheral serial interfaces, a dedicated IOMCU link, four I2C buses including internal sensors, and two CAN buses are configured. Published firmware here is novaX ArduPilot Copter and Plane; PX4 compatibility is not verified by this catalog.
Basic Specifications
MCU
STM32H753, ARM Cortex-M7, 480 MHz
RAM / Flash
1 MB / 2 MB
IMU
BMI088 (Accel/Gyro)
Secondary IMU
ICM-42688-P, ICM-20649
Magnetometer
RM3100
Barometer
2× ICP-20100
Operating Voltage
4.75 – 5.7 V (Rated 5 V)
USB Input
4.75 – 5.25 V
Servo Rail
0 – 9.9 V
PWM Output
8 FMU + 8 IOMCU channels
RC Input
S.Bus, PPM, DSM / Spektrum
RSSI Input
Analog / PWM
UART
7 peripheral serial interfaces + dedicated IOMCU link
I²C
4 configured buses including internal sensors; 3 exposed on multifunction ports
CAN
2 Port
ADC
VBat/Current + Aux Analog Input
Size
45 × 90 × 29.2 mm
Mount Hole
Pixhawk FMUv6x Standard
Weight
99 g (Core 43g + Baseboard 56g)
Operating Temp
-20 ~ +85 ℃
Supported F/W
novaX ArduPilot (Copter and Plane releases)
Ethernet
100 Mbps x 1 Port
Click any image to open full size
I2C bus numbering on the multi-function ports: the GPS & Safety port carries I2C1, the GPS2 port carries I2C2, and the UART4 port carries I2C3.
| Type | Version | Date | Size | Download |
|---|---|---|---|---|
ArduPilot Copter (.apj package) ArduPilot Copter app. Copter and Plane share the same board_id (6202) - select by file name. Upload via the USB-C bootloader (Mission Planner) or the catalog Web Updater -> Firmware Update. Buttonless software DFU is also supported (see the update guide). | 1.3.0 | 2026-08-20 | 1.7 MB | AF-H7E-v1.3.0-Copter.apj SHA-256: f22af5b791f3d85de3337e13b5977914847ddb01e6e53ad6ff615703209da69d |
ArduPilot Copter - Bootloader + App (merged HEX / DFU / SWD) Copter bootloader + application combined image based at 0x08000000. Flash a running board via the catalog Web Updater -> DFU Recovery (click Enter DFU, buttonless — the AF-H7E has no BOOT0 button); the v0.2.9 bootloader self-heals so the app auto-boots after the flash with no power cycle. A blank / non-booting board is flashed via SWD/ST-Link. Copter and Plane share board_id 6202 - select by file name. | 1.3.0 | 2026-08-20 | 5.7 MB | AF-H7E-v1.3.0-Copter_with_bl.hex SHA-256: d9a0e2f5ba127e42eb4d12b33c31f76dd0e669f0a4ccb4871715b4d3d41317fd |
ArduPilot Plane (.apj package) ArduPilot Plane app. Copter and Plane share the same board_id (6202) - select by file name. Upload via the USB-C bootloader (Mission Planner) or the catalog Web Updater -> Firmware Update. Buttonless software DFU is also supported (see the update guide). | 1.3.0 | 2026-08-20 | 1.7 MB | AF-H7E-v1.3.0-Plane.apj SHA-256: a04ad3d884c0550d0980d765ffa5d4f5c09db702e5edfc93e3ceba0c3bd8cb28 |
ArduPilot Plane - Bootloader + App (merged HEX / DFU / SWD) Plane bootloader + application combined image based at 0x08000000. Flash a running board via the catalog Web Updater -> DFU Recovery (click Enter DFU, buttonless — the AF-H7E has no BOOT0 button); the v0.2.9 bootloader self-heals so the app auto-boots after the flash with no power cycle. A blank / non-booting board is flashed via SWD/ST-Link. Copter and Plane share board_id 6202 - select by file name. | 1.3.0 | 2026-08-20 | 5.6 MB | AF-H7E-v1.3.0-Plane_with_bl.hex SHA-256: a659cbbc4275d7f39663b529b92d8e69d502b4d142c39fdc382a29ac929d43b3 |
Update over USB-C, no jumper: open the catalog Web Updater, stay on Firmware Update, click Connect, pick the Copter or Plane .apj, then Update firmware. To reflash a running board over USB DFU, use DFU Recovery, click Enter DFU (buttonless software DFU — the AF-H7E has no BOOT0 button), then flash the matching _with_bl.hex; the v0.2.9 bootloader self-heals so the app auto-boots after the flash with no power cycle. A truly blank or non-booting board (Enter DFU cannot run) is recovered via SWD/ST-Link. On Windows the DFU device needs a one-time WinUSB driver (Zadig). All releases: https://github.com/novaX-ALUX/fc/releases