Holybro ICM-42688-P 6-Axis Motion Tracking User Manual

June 9, 2024
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Technical Specification
Processors & Sensors
  • FMU Processor: STM32H743
    • 32 Bit Arm® Cortex®-M7, 480MHz, 2MB memory, 1MB SRAM

  • IO Processor: STM32F103
    • 32 Bit Arm® Cortex®-M3, 72MHz, 64KB SRAM

  • On-board sensors
    • Accel/Gyro: ICM-42688-P
    • Accel/Gyro: BMI055
    • Mag: IST8310
    • Barometer: MS5611

Electrical data
  • Voltage Ratings:
    • Max input voltage: 6V
    • USB Power Input: 4.75~5.25V
    • Servo Rail Input: 0~36V

  • Current Ratings:
    • Telem1 Max output current limiter: 1.5A
    • All other port combined output current limiter: 1.5A

Mechanical data
  • FC Module Connector Type: Panasonic-AXK5S-6S
  • Dimensions: N/A
  • Weight: N/A
Interfaces
  • 16- PWM servo outputs (8 from IO, 8 from FMU)

  • 3 general purpose serial ports
    • Telem1 – Full flow control, separate 1.5A current limit
    • Telem2 – Full flow control
    • Telem3

  • 2 GPS ports
    • GPS1 – Full GPS port (GPS plus safety switch)
    • GPS2 – Basic GPS port

  • 1 I2C port
    • Supports dedicated I2C calibration EEPROM located on sensor module

  • 2 CAN Buses

  • 2 Debug port
    • FMU Debug
    • I/O Debug

  • Dedicated R/C input for Spektrum / DSM and S.BUS, CPPM, analog / PWM RSSI

  • Dedicated S.BUS output

  • 2 Power input ports (Analog)

Other Characteristics
  • Operating temperature: -40 ~ 85°c

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