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docs/en/flight_controller/narinfc_h7.md

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+# [NarinFC-H7 VOLOLAND Inc.](https://vololand.com/pages/product/computer "NarinFC-H7")
+
+## Introduction
+
+The NarinFC-H7 is a flight controller produced by [VOLOLAND Inc.](https://vololand.com "VOLOLAND Inc.")
+
+NarinFC-H7 is an advanced autopilot family designed in-house by VOLOLAND Inc..
+
+It uses a higher-performance STM32H7 processor and integrates industrial-grade sensors.
+
+Compared with previous autopilots, it has better performance and higher reliability.
+
+![NarinFC-H7](../../assets/flight_controller/narinfc-h7/NarinFC_Header.jpg "NarinFC")
+
+## Features/Specifications
+
+-  **Processor**
+    - STM32H743
+
+-  **Sensors**
+    - Accelerometer/Gyroscope: ADIS16470
+    - Accelerometer/Gyroscope: ICM-20649
+	- Accelerometer/Gyroscope: BMI088
+	- Magnetometer: RM3100
+	- Barometer: MS5611*2
+
+-  **Interfaces**
+    - 14 PWM servo outputs
+	- Support multiple RC inputs (SBus / CPPM / DSM)
+    - Analog/PWM RSSI input
+	- 2 GPS ports (GPS and UART4 ports)
+	- 4 ⅹ I2C buses
+	- 2 ⅹ CAN bus ports
+	- 2 ⅹ Power ports
+	- 2 ⅹ ADC ports
+	- 1 ⅹ USB port
+
+-  **Power**
+    - Power 4.3V ~ 5.4V
+    - USB Input 4.75V ~ 5.25V
+
+-  **Size and Dimensions**
+    - 93.4mm x 46.4mm x 34.1mm
+    - 106g
+
+## Where to Buy
+
+[VOLOLAND Inc.](https://vololand.com "VOLOLAND Inc.")
+
+## Outline Dimensions
+
+![Outline Dimensions](../../assets/flight_controller/narinfc-h7/2.Outline_Dimensions.png "Outline Dimensions")
+
+## Wiring Diagram
+
+![Wire Diagram](../../assets/flight_controller/narinfc-h7/3.Wire_Diagram.png "Wire Diagram")
+
+## UART Mapping (Port Diagram & Pin outs)
+
+ UART corresponding to each SERIAL port, and its default protocol, are shown below:
+
+  - SERIAL0 = USB (MAVLink2 default)
+  - SERIAL1 = USART2,Telemetry1 (MAVlink2 default,DMA-enabled) 
+  - SERIAL2 = USART6,Telemetry2 (MAVlink2 default,DMA-enabled) 
+  - SERIAL3 = USART1,GPS1 (GPS default, DMA-enabled)
+  - SERIAL4 = UART4,GPS2 (GPS2 default)
+  - SERIAL5 = UART8 (not available except on custom carrier boards)(USER default,DMA-enabled)
+  - SERIAL6 = UART7,DEBUG (USER)
+  - SERIAL7 = USB2 (MAVLink2 default)
+
+  Serial protocols can be adjusted to personal preferences.
+
+![Port Diagram & Pin outs](../../assets/flight_controller/narinfc-h7/4.Port_Diagram_Pin_outs_Diagram-A.png "Port Diagram-A")
+
+#### 1. TELEM1, TELEM2 Port
+
+![TELEM Pinout](../../assets/flight_controller/narinfc-h7/4.1.TELEM1,TELEM2_Port_JST_GH_6P_Connector.png "TELEM Pinout")
+
+  - JST GH 6P connector
+  - TELEMETRY Port
+
+#### 2. CAN1, CAN2 Port
+
+![CAN Port](../../assets/flight_controller/narinfc-h7/4.2.CAN1,CAN2_Port_JST_HG_4P_Connector.png "CAN Port")
+
+  - JST GH 4P connector
+  - Communication Protocol: UAVCAN v0 (default), UAVCAN v1 (limited support)
+  - Power Supply: Typically provides 5V or 12V output
+  - Pin Configuration: Usually includes CAN_H, CAN_L, VCC, and GND
+
+#### 3. I2C, I2C2, I2C3, I2C4 Port
+
+![I2C Port](../../assets/flight_controller/narinfc-h7/4.3.I2C1,I2C2,I2C3,I2C4_Port_JST_GH_4P_Connector.png "I2C Port")
+
+  - JST GH 4P connector
+
+#### 4. UART4 Port
+
+![UART Port](../../assets/flight_controller/narinfc-h7/4.4.UART4_Port_JST_GH_6P_Connector.png "UART Port")
+
+  - JST GH 6P connector
+
+
+#### 5. RSSI Port
+  - RSSI input
+
+![SPI Port](../../assets/flight_controller/narinfc-h7/13.RSSI.png "RSSI input")
+
+
+#### 6. GPS & Safety Port
+
+![GPS & Safety Port](../../assets/flight_controller/narinfc-h7/4.5.GPS_Safety_Port_JST_GH_10P_Connector.png "GPS & Safety Port")
+
+  - JST GH 10P connector
+  - GPS NODMA
+
+![Port Diagram & Pin outs](../../assets/flight_controller/narinfc-h7/4.Port_Diagram_Pin_outs_Diagram-B.png "Port Diagram-B")
+
+#### 7. PWM & RC_IN
+
+The NarinFC-H7 supports up to 14 PWM outputs. Outputs are grouped and all outputs within their group must be the same protocol.
+
+![PWM Out](../../assets/flight_controller/narinfc-h7/4.6.PWM_Out_M1-M14.png "PWM Out")
+
+  - 2.54mm pitch DuPont connector
+  - RC_IN : Remote control receiver
+
+#### 8. Power Input
+
+![Power Input](../../assets/flight_controller/narinfc-h7/4.7.Power_Input.png "Power Input")
+
+  - 2mm pitch DuPont connector
+
+
+#### 9. ADC Port
+  - ADC input
+
+![SPI Port](../../assets/flight_controller/narinfc-h7/12.ADC.png "ADC input")
+
+#### 10. DEBUG/UART7 Port
+UART7(SERIAL6) is labeled DEBUG RX/TX below
+
+![DEBUG Port](../../assets/flight_controller/narinfc-h7/4.8.DEBUG_Port_JST_HG_6P_Connector.png "DEBUG Port")
+
+  - JST GH 6P connector
+  - DEBUG NODMA
+
+#### 11. USB Port
+  - USB C Type
+
+#### 12. SPI Port
+
+![SPI Port](../../assets/flight_controller/narinfc-h7/4.10.SPI_Port_JST_GH_7P_Connector.png "SPI Port")
+
+  - JST GH 7P connector
+  - SPI Port
+
+#### 13. SD CARD
+  - SD CARD
+
+## PWM Output
+
+The NarinFC-H7 supports up to 14 PWM outputs. All outputs except M13 and M14 support DShot. Outputs 1-8 support Bi-Directional DShot.
+
+The 14 PWM outputs are in 4 groups:
+  - Outputs 1, 2, 3 and 4 in group1
+  - Outputs 5, 6, 7 and 8 in group2
+  - Outputs 9, 10, 11 and 12 in group3
+  - Outputs 13 and 14 in group4
+
+ALL outputs within the same group need to use the same output rate and protocol.
+
+## GPIOs
+
+The 14 outputs can be used as GPIOs (relays, buttons, RPM etc). To use them you need to set the output’s ``SERVOx_FUNCTION`` to -1. See GPIOs page for more information.
+
+The numbering of the GPIOs for use in the PIN parameters in PX4 is:
+
+- PWM1(M1) 50
+- PWM2(M2) 51
+- PWM3(M3) 52
+- PWM4(M4) 53
+- PWM5(M5) 54
+- PWM6(M6) 55
+- PWM7(M7) 56
+- PWM8(M8) 57
+- PWM9(M9) 58
+- PWM10(M10) 59
+- PWM11(M11) 60
+- PWM12(M12) 61
+- PWM13(M13) 62
+- PWM14(M14) 63
+
+## Analog inputs
+
+The NarinFC-H7 has 2 analog inputs, one 6V tolerant and one 3.3V tolerant
+
+- ADC Pin16 -> BATT_VOLTAGE_SENS
+- ADC Pin17 -> BATT_CURRENT_SENS
+- ADC Pin14 -> BATT2_VOLTAGE_SENS
+- ADC Pin2  -> BATT2_VOLTAGE_SENS
+- ADC Pin4  -> SPARE1_ADC1(6.6V)
+- ADC Pin18 -> SPARE2_ADC1(3.3V)
+- ADC Pin6  -> RSSI_IN_ADC1(3.3V)
+- ADC Pin8  -> VDD_5V_SENS
+- ADC Pin11 -> SCALED_V3V3
+
+## Battery Monitor
+The board has two dedicated power monitor ports on 6 pin connectors. The correct battery setting parameters are dependent on the type of power brick which is connected. By default, use of a CAN battery monitor is enabled.
+
+## RC Input
+
+The RCIN pin, which by default is mapped to a timer input, can be used for all PX4 supported unidirectional receiver protocols. Bi-directional protocols such as CRSF/ELRS and SRXL2 require a full UART connection. FPort, when connected to RCIN, will only provide RC without telemetry. 
+
+To allow CRSF and embedded telemetry available in Fport, CRSF, and SRXL2 receivers, a full UART, such as SERIAL6 (UART7) would need to be used for receiver connections. Below are setups using Serial6.
+
+- :ref:`SERIAL6_PROTOCOL<SERIAL6_PROTOCOL>` should be set to "23".
+- FPort would require :ref:`SERIAL6_OPTIONS<SERIAL6_OPTIONS>` be set to "15".
+- CRSF would require :ref:`SERIAL6_OPTIONS<SERIAL6_OPTIONS>` be set to "0".
+- SRXL2 would require :ref:`SERIAL6_OPTIONS<SERIAL6_OPTIONS>` be set to "4" and connects only the TX pin.
+
+Any UART can also be used for RC system connections in PX4, and is compatible with all protocols except PPM. See :ref:`common-rc-systems` for details.
+The power rail associated with this connector position is powered via USB or PMU.
+
+## Loading Firmware
+
+This board comes with PX4 firmware pre-installed and other vehicle/revision PX4 firmware can be loaded using most Ground Control Stations.
+
+The board comes pre-installed with an PX4 bootloader, allowing the loading of \*.apj firmware files with any PX4 compatible ground station, such as Mission Planner.
+
+<br>
+
+# [VOLOLAND Inc.](https://vololand.com "VOLOLAND Inc.")
+