FlyingRC

F4Wing Mini MK1 F405 Fixed-Wing Flight Controller

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

Fixed-wingFlight controllerSTM32F405ArduPlaneINAV

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.

Wiring referenceFirmware & manualsProduct page

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

INAV

8.0.0 or newer

Betaflight

4.5.0 or newer

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 reference

Check your board revision before wiring. This supplied drawing shows an earlier board; it is a connection reference, not confirmation of BMI270 revision compatibility. The SH1.0 2-pin connector is not the flight-controller power input. Use a regulated 5 V supply for the controller.

Full wiring diagram
Full wiring diagram · Open full-size image

Board layout

Locate the BOOT button, USB-C connector and output headers. This is the supplied reference drawing; compare its markings with your board. The earlier ICM sensor-side drawing is in Historical hardware below.

Top layout
Top layout · Open full-size image

Dimensions & mounting

Published board dimensions: 27.9 × 20.3 × 11.2 mm. Check the connector and pin-header clearance in your installation.

Dimension drawing
Dimension drawing · Open full-size image

Historical hardware

Earlier hardware diagrams

Earlier ICM hardware only. The parameter table refers to ICM42688; the sensor-side drawing labels ICM42605 and SPL06. Neither describes the current BMI270 + SPA06-003 configuration.

Historical ICM42688 parameter table — not the current BMI270 specification
Historical ICM42688 parameter table — not the current BMI270 specification · Open full-size image
Bottom layout
Bottom layout · Open full-size image

Firmware & manuals

ArduPilot

ArduCopter 4.7.2 firmware with bootloader

Version: 4.7.2

Channel: stable

Status: latest-stable

Configuration: ArduCopter

Target: FlyingRCF4WingMini / ArduCopter

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

Compatibility: ArduCopter 4.7.2 firmware with bootloader for the FlyingRCF4WingMini target.

SHA-256 checksum94dbb9c83ecb1db01f390e7e722d7b0836f687472366f708977720c6ae7cf8a7
Open / download
ArduPlane 4.7.2 firmware with bootloader

Version: 4.7.2

Channel: stable

Status: latest-stable

Configuration: ArduPlane

Target: FlyingRCF4WingMini / ArduPlane

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

Compatibility: ArduPlane 4.7.2 firmware with bootloader for the FlyingRCF4WingMini target.

SHA-256 checksuma88eaff77db4e6d34abcfef8bb228f63894b0ef36ed733c5dd54a8343924995c
Open / download
ArduRover 4.7.2 firmware with bootloader

Version: 4.7.2

Channel: stable

Status: latest-stable

Configuration: ArduRover

Target: FlyingRCF4WingMini / ArduRover

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

Compatibility: ArduRover 4.7.2 firmware with bootloader for the FlyingRCF4WingMini target.

SHA-256 checksum20cdc60f032de6744735df8bde639128ac03bcfa78307faf5c256194249adec9
Open / download
ArduSub 4.7.2 firmware with bootloader

Version: 4.7.2

Channel: stable

Status: latest-stable

Configuration: ArduSub

Target: FlyingRCF4WingMini / ArduSub

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

Compatibility: ArduSub 4.7.2 firmware with bootloader for the FlyingRCF4WingMini target.

SHA-256 checksume3def3de3c9ef02627ffb335e786061df9e4a1833ff88223b12931244ae22598
Open / download
Historical stable firmware (10)
ArduCopter 4.7.1 firmware with bootloader

Version: 4.7.1

Channel: stable

Status: archive

Configuration: ArduCopter

Release note: Archived formal release; use ArduCopter 4.7.2 as the recommended stable release.

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 checksum1f5067b1fd02d839cf0aee0221b547e7c47facffcfcc372dfd4fd2dc24b8771e
Open / download
ArduPlane 4.7.1 firmware with bootloader

Version: 4.7.1

Channel: stable

Status: archive

Configuration: ArduPlane

Release note: Archived formal release; use ArduPlane 4.7.2 as the recommended stable release.

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 checksumc2972614b3f57e52a747b016763e0c9412d6f5463f33f038935f3921d44e0a2c
Open / download
ArduRover 4.7.1 firmware with bootloader

Version: 4.7.1

Channel: stable

Status: archive

Configuration: ArduRover

Release note: Archived formal release; use ArduRover 4.7.2 as the recommended stable release.

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 checksum330436e376010a80ea7cab19bb08838fc92ba00c88290ecdc511cdfe77e4a65a
Open / download
ArduSub 4.7.1 firmware with bootloader

Version: 4.7.1

Channel: stable

Status: archive

Configuration: ArduSub

Release note: Archived formal release; use ArduSub 4.7.2 as the recommended stable release.

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 checksum6ed64a8914da7c23158cf4a719963caabe95d3379621b6856518c7fb721296c5
Open / download
ArduPlane 4.7.0 firmware with bootloader

Version: 4.7.0

Channel: stable

Status: archive

Configuration: ArduPlane

Release note: Archived formal release; use ArduPlane 4.7.2 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 checksum0d4cd35ef451d2f57266e2873be73a4bf993567267b418cfeb4a84b5a340b710
Open / 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 4.7.2 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 checksum0994c85ebc882058b8af35f54f60ca327c67d9971febe3ac32cd08e686806e8a
Open / 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 4.7.2 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 checksum7798dba0a4d55071cba5ade2549974eb757c8b01acbf1689fe099941d672abb9
Open / 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 4.7.2 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 checksum39666b26fc3eefc74368924151e5b17c9cb2d03a773f6fe2d4398d5479645b2c
Open / 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 checksumc21551141b9ee8c941d784d895ba994c534056b0c9335abbc2cec76211411adc
Open / download

INAV

INAV 9.1.0 firmware

Version: 9.1.0

Channel: stable

Status: latest-stable

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 checksumde2009e9f90bbced7f05a11387c0dcc2bca69ee1d0aa1ec283dc27756b7c32a3
Open / download
Historical stable firmware (1)
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 checksumc4b6fe0b33c65f49c937d5a3287bbf4de0980171aa0fa09bda7d6f69d4804657
Open / download
Custom / Development firmware (1)
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 checksumd80855722b3cc6b20bf1a90b86e49dd0c19e04a09864349116091d3155161cb8
Open / download

Betaflight

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 checksum4369288287f3be7884bf38d4819a65403fcc8dc0f86bf174963f98ee00873225
Open / download
Historical stable firmware (4)
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 checksum178a45fc9325b5747f254b926658ef9b7191b6a5b2caab96985824a970320830
Open / 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 checksum74455393edd9609c3e422dcb60de122b9dddfeaeba5ee26ff02a308ae483c097
Open / 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 checksum28372661b9200f2b14ad75ae4c8085745929c5d773582da281ff97527c89e4e4
Open / 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 checksum21f94fb8a6a6a195bbb71895b6fc255f12d552639b7bf2108c15a873809083f2
Open / download

Manuals & source references

Product manualOpen / download
ArduPilot F4Wing Mini target branchOpen / download
INAV F4Wing Mini target branchOpen / download
SHA256 checksumsOpen / download
Back to product

Frequently asked questions

Which IMU is used on the current F4Wing Mini MK1?

The current retail configuration uses BMI270. The ICM42688 parameter image is historical and should not be used for current BMI270 units.

How is the board powered?

Do not use the SH1.0 2-pin connector as the flight-controller power input; it is documented for battery-voltage detection and HD VTX direct-power input. Follow the product wiring documentation for the main power connection.