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+# Matek H7A3-slim Flight Controller
+
+https://www.mateksys.com/?portfolio=h7a3-slim.
+
+
+## Features
+    Processor
+        STM32H7A3RIT6 Cortex-M7 280 MHz, 2MB flash
+    Sensors
+        ICM-42688p Acc/Gyro
+        SPL06-001 barometer
+        AT7456E OSD
+        W25N01GV dataflash
+    Power
+        2S - 6S Lipo input voltage with voltage monitoring
+        9V, 2A BEC for powering Video Transmitter and camera controlled by GPIO
+        5V, 2A BEC for internal and peripherals
+    Interfaces
+        11x PWM outputs DShot capable
+        6x UARTs
+        1x CAN
+        1x I2C
+        4x ADC
+        128MB NAND for logging
+        USB-C port
+    LED
+        Red, 3.3V power indicator
+        Blue and Green, FC status
+    Size
+        36 x 36mm PCB with 30.5mm M3 mounting
+
+  
+## Overview
+
+![MATEKH7A3-SLIM](H7A3-SLIM.jpg)
+
+## Wiring Diagram
+
+
+## UART Mapping
+
+The UARTs are marked Rx* and Tx* in the above pinouts. The Rx* pin is the
+receive pin for UART*. The Tx* pin is the transmit pin for UART*.
+
+ - SERIAL0 -> USB
+ - SERIAL1 -> USART1 (MAVLink2 telem)  (DMA capable)
+ - SERIAL2 -> USART2 (Serial RC input) (DMA capable)
+ - SERIAL3 -> USART3 (GPS)  (DMA capable)
+ - SERIAL4 -> UART4  (User) (NO DMA)
+ - SERIAL5 -> UART5  (User) (NO DMA)
+ - SERIAL6 -> USART6 (User) (NO DMA)
+
+## CAN and I2C
+
+H7A3-SLIM supports 1x CAN bus and 1x I2C bus
+multiple CAN peripherals can be connected to one CAN bus in parallel. similarly for I2C bus.
+
+## RC Input
+
+RC input is configured on the USART2(SERIAL2). It supports all serial RC protocols. SERIAL2_PROTOCOL=23 by default.
+- PPM is not supported.
+- CRSF requires Tx2 & Rx2 connection, and set SERIAL2_OPTIONS to “0” (default).
+- SBUS/DSM/SRXL connects to the Rx2 pin, but SBUS requires that the SERIAL2_OPTIONS be set to “3”.
+- FPort requires connection to Tx2, and set SERIAL2_OPTIONS to “7”.
+- SRXL2 requires a connection to Tx2, and automatically provides telemetry. Set SERIAL2_OPTIONS to “4”.
+
+   
+## OSD Support
+
+H7A3-SLIM supports using its internal OSD using OSD_TYPE 1 (MAX7456 driver). External OSD support such as DJI or DisplayPort is supported using any spare UART. See :ref:`common-msp-osd-overview-4.2` for more info.
+
+## PWM Output
+
+H7A3-SLIM supports up to 11 PWM outputs. All outputs support DShot.
+The PWM is in 5 groups:
+
+ - PWM 1,2    TIM1
+ - PWM 3,4    TIM2
+ - PWM 5,6,7,8  TIM3
+ - PWM 9,10   TIM4
+ - PWM 11     TIM16
+
+## Battery Monitoring
+
+The board has 2x built-in voltage dividers and 2x current ADC. support external 3.3V based current sensor
+
+The correct battery setting parameters are set by default and are:
+
+ - BATT_MONITOR 4
+
+ - BATT_VOLT_PIN 10
+ - BATT_CURR_PIN 11
+ - BATT_VOLT_MULT 21.0 ("Vbat" pad support 5.5~30V input, limited by onboard regulator chips)
+ - BATT_AMP_PERVLT X  ("Curr" pad, set it according to external current sensor spec)
+
+ - BATT2_VOLT_PIN 18
+ - BATT2_CURR_PIN 8
+ - BATT2_VOLT_MULT 21.0  ("VB2" pad support Max.69V voltage sense)
+ - BATT_AMP_PERVLT X ("CU2" pad, set it according to external current sensor spec)
+
+
+## Compass
+
+H7A3-SLIM does not have a built-in compass, but you can attach an external compass using I2C on the SDA and SCL pads.
+
+## VTX power control
+
+GPIO 81 controls the 9V BEC output to pins marked "9V". Setting this GPIO high removes voltage supply to pins. Default GPIO 81 is low(9V output enable)
+
+## Loading Firmware
+Firmware for these boards can be found at https://firmware.ardupilot.org in sub-folders labeled MatekH7A3.
+
+Initial firmware load can be done with DFU by plugging in USB with the
+boot button pressed. Then you should load the "ardu*_with_bl.hex" firmware, using your favourite DFU loading tool. eg STM32CubeProgrammer
+
+Subsequently, you can update firmware with Mission Planner.
+
+