FlyingRC

F4Wing Mini MK1 F405 Fixed-Wing Flight Controller

Pinouts, setup notes and firmware references. Match the exact hardware revision before connecting or flashing.

Overview

An ultra-small fixed-wing autopilot board. It is the central controller for a small plane: it reads sensors, runs ArduPilot/INAV-style flight firmware, outputs servo/PWM control, and provides connectors for receiver and HD video equipment.

  • STM32F405 fixed-wing autopilot controller
  • 27.9 x 20.3 x 11.2 mm board size
  • 6 PWM outputs, 3 UARTs, SBUS, I2C, USB-C, and HD VTX connector

Hardware revision

Current retail configuration: BMI270. Earlier ICM versions are discontinued; their documentation remains available for existing owners. The ICM42688 parameter image is retained only for earlier hardware; use the BMI270 revision information for current units.

F4Wing Mini MK1 Hardware Revision Notice: IMU Update

F4Wing Mini MK1 units shipped on or after May 25, 2026 use the BMI270 IMU with the SPA06-003 barometer. Earlier units may use ICM42688P / ICM42605 IMUs and SPL06-001 / SPA06-003 barometers.

ItemEarlier hardwareCurrent revision shipped from May 25, 2026
IMU (gyro and accelerometer)ICM42688P / ICM42605BMI270 (current revision)
BarometerSPL06-001 / SPA06-003SPA06-003
Firmware target / configUse earlier hardware target/configUse BMI270 hardware revision target/config
How to identifyCheck sensor marking / photosCheck sensor marking / photos

Firmware compatibility note for SPA06-003 barometer

The SPA06-003 barometer requires firmware with SPA06 / DPS310-compatible barometer support.

Recommended tested versions

ArduPilot

4.6.0 or newer

4.6.0 或更新版本

INAV

8.0.0 or newer

8.0.0 或更新版本

Betaflight

4.5.0 or newer

4.5.0 或更新版本

Older firmware or old user-submitted targets may not detect the barometer correctly. Please use the firmware target/configuration listed for this hardware revision.

Driver support alone is not enough. The firmware target must also enable the correct barometer driver and bus configuration for this board revision.

IMU chip marking guide for earlier and current revisions
IMU chip marking guide for earlier and current revisions

Setup notes

  • Use the SH1.0 2P connector only for battery voltage detection and HD VTX direct-power input, not as the flight-controller power input.
  • For fixed-wing aircraft, start from ArduPlane wiring examples and check UART/SERIAL mapping carefully.
  • Use USB-C for configuration; mobile ground-station setup is possible with a USB-C to USB-C cable.
  • Dimensions: 27.9 x 20.3 x 11.2 mm.
  • Weight: 2.8 g without pin headers, about 5.3 g with soldered headers.
  • Voltage detection range: 2.5-30 V / 1-6S LiPo; flight controller power input is 5 V.
  • No onboard analog current sensor; external I2C current sensor is supported.
  • Analog OSD is not supported on this board.
  • Because there is no onboard BEC, plan a clean 5 V supply for the flight controller.

Wiring, dimensions & photos

Historical ICM42688 parameter table — not the current BMI270 specification
Historical ICM42688 parameter table — not the current BMI270 specification
Historical ICM42688 parameter table — not the current BMI270 specification
Dimension drawing
Dimension drawing
Dimension drawing
Full wiring diagram
Full wiring diagram
Full wiring diagram
Flight controller with receiver
Flight controller with receiver
Flight controller with receiver
Product detail image
Product detail image
Product detail image
Front product photo
Front product photo
Front product photo
Back product photo
Back product photo
Back product photo
Soldered pin header photo
Soldered pin header photo
Soldered pin header photo
Angled product photo
Angled product photo
Angled product photo
Top layout
Top layout
Top layout
Bottom layout
Bottom layout
Bottom layout
Package contents
Package contents
Package contents

Firmware & manuals

Product manualOpen / download
ArduPilot F4Wing Mini target branchOpen / download
INAV F4Wing Mini target branchOpen / download
ArduCopter 4.7.1 firmware with bootloader

Version: 4.7.1

Channel: stable

Status: latest-stable

Configuration: ArduCopter

Target: FlyingRCF4WingMini / ArduCopter

Hardware: F4Wing Mini MK1; verify IMU and barometer revision before flashing.

Compatibility: ArduCopter 4.7.1 firmware with bootloader for the FlyingRCF4WingMini target.

SHA-256

1f5067b1fd02d839cf0aee0221b547e7c47facffcfcc372dfd4fd2dc24b8771eOpen / download
ArduPlane 4.7.1 firmware with bootloader

Version: 4.7.1

Channel: stable

Status: latest-stable

Configuration: ArduPlane

Target: FlyingRCF4WingMini / ArduPlane

Hardware: F4Wing Mini MK1; verify IMU and barometer revision before flashing.

Compatibility: ArduPlane 4.7.1 firmware with bootloader for the FlyingRCF4WingMini target.

SHA-256

c2972614b3f57e52a747b016763e0c9412d6f5463f33f038935f3921d44e0a2cOpen / download
ArduRover 4.7.1 firmware with bootloader

Version: 4.7.1

Channel: stable

Status: latest-stable

Configuration: ArduRover

Target: FlyingRCF4WingMini / ArduRover

Hardware: F4Wing Mini MK1; verify IMU and barometer revision before flashing.

Compatibility: ArduRover 4.7.1 firmware with bootloader for the FlyingRCF4WingMini target.

SHA-256

330436e376010a80ea7cab19bb08838fc92ba00c88290ecdc511cdfe77e4a65aOpen / download
ArduSub 4.7.1 firmware with bootloader

Version: 4.7.1

Channel: stable

Status: latest-stable

Configuration: ArduSub

Target: FlyingRCF4WingMini / ArduSub

Hardware: F4Wing Mini MK1; verify IMU and barometer revision before flashing.

Compatibility: ArduSub 4.7.1 firmware with bootloader for the FlyingRCF4WingMini target.

SHA-256

6ed64a8914da7c23158cf4a719963caabe95d3379621b6856518c7fb721296c5Open / download
Betaflight 2026.6.2 firmware

Version: 2026.6.2

Channel: stable

Status: latest-stable

Target: STM32F405 / FLYINGRCF4WINGMINI

Hardware: F4Wing Mini MK1; verify IMU and barometer revision before flashing.

Compatibility: Betaflight 2026.6.2 firmware for the FLYINGRCF4WINGMINI target.

SHA-256

4369288287f3be7884bf38d4819a65403fcc8dc0f86bf174963f98ee00873225Open / download
SHA256 checksumsOpen / download
Past / Unstable firmware (13)
ArduPlane 4.7.0 firmware with bootloader

Version: 4.7.0

Channel: stable

Status: archive

Configuration: ArduPlane

Release note: Archived formal release; use ArduPlane 4.7.1 as the recommended stable release.

Target: FlyingRCF4WingMini / ArduPlane

Hardware: F4Wing Mini MK1; verify IMU and barometer revision before flashing.

Compatibility: ArduPlane 4.7.0 firmware with bootloader for the F4Wing Mini target.

SHA-256

0d4cd35ef451d2f57266e2873be73a4bf993567267b418cfeb4a84b5a340b710Open / download
ArduCopter 4.7.0 firmware with bootloader

Version: 4.7.0

Channel: stable

Status: archive

Configuration: ArduCopter

Release note: Archived formal release; use ArduCopter 4.7.1 as the recommended stable release.

Target: FlyingRCF4WingMini / ArduCopter

Hardware: F4Wing Mini MK1; verify IMU and barometer revision before flashing.

Compatibility: ArduCopter 4.7.0 firmware with bootloader for the F4Wing Mini target.

SHA-256

0994c85ebc882058b8af35f54f60ca327c67d9971febe3ac32cd08e686806e8aOpen / download
ArduRover 4.7.0 firmware with bootloader

Version: 4.7.0

Channel: stable

Status: archive

Configuration: ArduRover

Release note: Archived formal release; use ArduRover 4.7.1 as the recommended stable release.

Target: FlyingRCF4WingMini / ArduRover

Hardware: F4Wing Mini MK1; verify IMU and barometer revision before flashing.

Compatibility: ArduRover 4.7.0 firmware with bootloader for the F4Wing Mini target.

SHA-256

7798dba0a4d55071cba5ade2549974eb757c8b01acbf1689fe099941d672abb9Open / download
ArduSub 4.7.0 firmware with bootloader

Version: 4.7.0

Channel: stable

Status: archive

Configuration: ArduSub

Release note: Archived formal release; use ArduSub 4.7.1 as the recommended stable release.

Target: FlyingRCF4WingMini / ArduSub

Hardware: F4Wing Mini MK1; verify IMU and barometer revision before flashing.

Compatibility: ArduSub 4.7.0 firmware with bootloader for the F4Wing Mini target.

SHA-256

39666b26fc3eefc74368924151e5b17c9cb2d03a773f6fe2d4398d5479645b2cOpen / download
INAV 9.1.0 firmware

Version: 9.1.0

Channel: stable

Status: archive

Target: FLYINGRCF4WINGMINI

Hardware: F4Wing Mini MK1; verify IMU and barometer revision before flashing.

Compatibility: INAV 9.1.0 firmware for the FlyingRC F4Wing Mini target.

SHA-256

de2009e9f90bbced7f05a11387c0dcc2bca69ee1d0aa1ec283dc27756b7c32a3Open / download
INAV 9.1.0 custom INA226 I2C firmware

Version: 9.1.0-custom-INA226

Channel: unstable

Status: archive

Configuration: INA226 I2C

Release note: Custom build based on official INAV 9.1.0 with FlyingRC INA226 support; it is not an official INAV release asset.

Target: FLYINGRCF4WINGMINI / INA226 on I2C1

Hardware: F4Wing Mini MK1; external INA226 on PB8 SCL / PB7 SDA at default address 0x40.

Compatibility: Select INA226 for current and voltage after flashing, then set ina_shunt_res_uohm to the module's actual shunt resistance.

SHA-256

d80855722b3cc6b20bf1a90b86e49dd0c19e04a09864349116091d3155161cb8Open / download
INAV 9.0.1 firmware

Version: 9.0.1

Channel: stable

Status: archive

Release note: Older stable INAV build retained for users who need the previous tested release.

Target: FLYINGRCF4WINGMINI

Hardware: F4Wing Mini MK1; verify IMU and barometer revision before flashing.

Compatibility: INAV 9.0.1 firmware for the FlyingRC F4Wing Mini target.

SHA-256

c4b6fe0b33c65f49c937d5a3287bbf4de0980171aa0fa09bda7d6f69d4804657Open / download
ArduPlane 4.6.3 firmware with bootloader

Version: 4.6.3

Channel: stable

Status: archive

Configuration: ArduPlane

Target: FlyingRCF4WingMini / ArduPlane

Hardware: F4Wing Mini MK1; verify IMU and barometer revision before flashing.

Compatibility: ArduPlane 4.6.3 firmware with bootloader for the F4Wing Mini target.

Open / download
ArduCopter 4.6.3 firmware with bootloader

Version: 4.6.3

Channel: stable

Status: archive

Configuration: ArduCopter

Target: FlyingRCF4WingMini / ArduCopter

Hardware: F4Wing Mini MK1; verify IMU and barometer revision before flashing.

Compatibility: ArduCopter 4.6.3 firmware with bootloader for the F4Wing Mini target.

SHA-256

c21551141b9ee8c941d784d895ba994c534056b0c9335abbc2cec76211411adcOpen / download
Betaflight 2026.6.1 firmware

Version: 2026.6.1

Channel: stable

Status: archive

Release note: Archived formal release; use Betaflight 2026.6.2 as the recommended stable release.

Target: STM32F405 / FLYINGRCF4WINGMINI

Hardware: F4Wing Mini MK1; verify IMU and barometer revision before flashing.

Compatibility: Betaflight 2026.6.1 firmware for the FLYINGRCF4WINGMINI target.

SHA-256

178a45fc9325b5747f254b926658ef9b7191b6a5b2caab96985824a970320830Open / download
Betaflight 2025.12.5 firmware

Version: 2025.12.5

Channel: stable

Status: archive

Target: STM32F405 / FLYINGRCF4WINGMINI

Hardware: F4Wing Mini MK1; verify IMU and barometer revision before flashing.

Compatibility: Betaflight 2025.12.5 firmware for the FLYINGRCF4WINGMINI target.

SHA-256

74455393edd9609c3e422dcb60de122b9dddfeaeba5ee26ff02a308ae483c097Open / download
Betaflight 4.5.5 firmware

Version: 4.5.5

Channel: stable

Status: archive

Release note: Retained Betaflight 4.5.5 stable maintenance-line build for users who need the 4.5.x series; use Betaflight 2026.6.2 for the current recommended stable build.

Target: STM32F405 / FLYINGRCF4WINGMINI

Hardware: F4Wing Mini MK1; verify IMU and barometer revision before flashing.

Compatibility: Betaflight 4.5.5 firmware for the FLYINGRCF4WINGMINI target.

SHA-256

28372661b9200f2b14ad75ae4c8085745929c5d773582da281ff97527c89e4e4Open / download
Betaflight 2025.12.4 firmware

Version: 2025.12.4

Channel: stable

Status: archive

Release note: Older stable Betaflight build retained for users who need the previous tested release.

Target: STM32F405 / FLYINGRCF4WINGMINI

Hardware: F4Wing Mini MK1; verify IMU and barometer revision before flashing.

Compatibility: Betaflight 2025.12.4 firmware for the FLYINGRCF4WINGMINI target.

SHA-256

21f94fb8a6a6a195bbb71895b6fc255f12d552639b7bf2108c15a873809083f2Open / download
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