FlyingRC

H7D Pro H743 FPV Flight Controller

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

FPV / multirotorFlight controllerSTM32H743PX4Betaflight

Single- and dual-ICM-42688-P configurations are available. The historical ICM-42688-P + BMI270 parameter sheet describes earlier hardware, not either current configuration. Firmware downloads explicitly marked dual-ICM must match dual-ICM hardware; for a single-ICM board, confirm the exact target with FlyingRC before flashing.

Wiring & pinoutsFirmware & manualsProduct page

Overview

STM32H743 FPV flight controller with a switchable 9V BEC for the video transmitter or camera.

  • STM32H743 Pro FPV flight controller
  • Switchable onboard 9 V BEC for VTX/camera power

Hardware revision

Single- and dual-ICM-42688-P configurations are available. The historical ICM-42688-P + BMI270 parameter sheet describes earlier hardware, not either current configuration. Firmware downloads explicitly marked dual-ICM must match dual-ICM hardware; for a single-ICM board, confirm the exact target with FlyingRC before flashing.

Setup notes

  • Use the H7D Pro wiring references before connecting video, receiver, and LED accessories.
  • Do not infer ArduPilot SERIAL numbers from UART labels without the mapping table.
  • PX4 board port: FlyingRC-Official/PX4-Autopilot branch FlyingRC-H7D-Pro-Board.
  • ArduPilot target branch: FlyingRC-Official/ardupilot pr-flyingrch7dpro-upstream.
  • Betaflight config branch: FlyingRC-Official/betaflight-config Add-FlyingRC-H7D-Pro-Config.
  • LED pad is S13 and can be configured in Betaflight; AP firmware can show flight-controller status through WS2812 LEDs.
  • Choose the firmware path that matches your build, and verify the board target, wiring, and sensor orientation before flight.

Wiring & pinouts

The ESC example explicitly uses the V4.0 4-in-1 75A ESC. Do not assume the same harness order for another ESC revision. The compass example is for the L4-CAN RM3100.

4IN1 75A ESC wiring
4IN1 75A ESC wiring · Open full-size image
Digital VTX wiring
Digital VTX wiring · Open full-size image
RM3100 compass wiring
RM3100 compass wiring · Open full-size image

Board layout & identification

Compare the supplied reference with the markings and revision of your own unit before use.

Front connector and pad map
Front connector and pad map · Open full-size image
Back connector and pad map
Back connector and pad map · Open full-size image

Dimensions & mounting

Check the published dimensions and connector clearance against your installation.

Dimension drawing
Dimension drawing · Open full-size image

Historical hardware references

Earlier hardware diagrams

This sheet describes earlier mixed ICM-42688-P + BMI270 hardware, not either current single/dual ICM configuration.

Historical mixed ICM-42688-P + BMI270 parameter sheet — not the current single/dual ICM configuration
Historical mixed ICM-42688-P + BMI270 parameter sheet — not the current single/dual ICM configuration · 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: FlyingRCH7DPro / ArduCopter

Hardware: H7D Pro dual ICM42688 hardware; verify sensor revision before flashing.

Compatibility: ArduCopter 4.7.2 firmware with bootloader for the FlyingRCH7DPro target.

SHA-256 checksumd78b76e3d78be30a5757cfcbdd88198a9aa768527a850d34941d6c2602457421
Open / download
ArduPlane 4.7.2 firmware with bootloader

Version: 4.7.2

Channel: stable

Status: latest-stable

Configuration: ArduPlane

Target: FlyingRCH7DPro / ArduPlane

Hardware: H7D Pro dual ICM42688 hardware; verify sensor revision before flashing.

Compatibility: ArduPlane 4.7.2 firmware with bootloader for the FlyingRCH7DPro target.

SHA-256 checksum43a4e63f3470eb06a5b57f9e125e1eab424cfeb3a2f248411d498d2a4ff448eb
Open / download
ArduRover 4.7.2 firmware with bootloader

Version: 4.7.2

Channel: stable

Status: latest-stable

Configuration: ArduRover

Target: FlyingRCH7DPro / ArduRover

Hardware: H7D Pro dual ICM42688 hardware; verify sensor revision before flashing.

Compatibility: ArduRover 4.7.2 firmware with bootloader for the FlyingRCH7DPro target.

SHA-256 checksum4befe20a2217bb526fdea1339dd5ab22ea38174ae16e14ea0eb82a0c9ac6d1c9
Open / download
ArduSub 4.7.2 firmware with bootloader

Version: 4.7.2

Channel: stable

Status: latest-stable

Configuration: ArduSub

Target: FlyingRCH7DPro / ArduSub

Hardware: H7D Pro dual ICM42688 hardware; verify sensor revision before flashing.

Compatibility: ArduSub 4.7.2 firmware with bootloader for the FlyingRCH7DPro target.

SHA-256 checksum6dcf59cec02418ebae168c1122f6abdca89a7a407e04ff1852c0ee389dc1dd8b
Open / download
ArduCopter 4.7.2 BDShot firmware with bootloader

Version: 4.7.2

Channel: stable

Status: latest-stable

Configuration: ArduCopter BDShot

Target: FlyingRCH7DPro-bdshot / ArduCopter

Hardware: H7D Pro dual ICM42688 hardware; verify sensor revision before flashing. This build uses the dedicated BDShot timer mapping.

Compatibility: ArduCopter 4.7.2 firmware with bootloader for the FlyingRCH7DPro-bdshot target.

SHA-256 checksum3b941da46c2d4af37c0ccfe2af558b5059bd42eca69a1f260e118c63e47a09c0
Open / download
ArduPlane 4.7.2 BDShot firmware with bootloader

Version: 4.7.2

Channel: stable

Status: latest-stable

Configuration: ArduPlane BDShot

Target: FlyingRCH7DPro-bdshot / ArduPlane

Hardware: H7D Pro dual ICM42688 hardware; verify sensor revision before flashing. This build uses the dedicated BDShot timer mapping.

Compatibility: ArduPlane 4.7.2 firmware with bootloader for the FlyingRCH7DPro-bdshot target.

SHA-256 checksumf247fd527749a248450e8ed20807b7a2861cb44b9b7dad97def00e65a3e1008e
Open / download
ArduRover 4.7.2 BDShot firmware with bootloader

Version: 4.7.2

Channel: stable

Status: latest-stable

Configuration: ArduRover BDShot

Target: FlyingRCH7DPro-bdshot / ArduRover

Hardware: H7D Pro dual ICM42688 hardware; verify sensor revision before flashing. This build uses the dedicated BDShot timer mapping.

Compatibility: ArduRover 4.7.2 firmware with bootloader for the FlyingRCH7DPro-bdshot target.

SHA-256 checksum215796cb452245e7f942d077cb201037ff8c599d895d4f782851859a262a86b2
Open / download
ArduSub 4.7.2 BDShot firmware with bootloader

Version: 4.7.2

Channel: stable

Status: latest-stable

Configuration: ArduSub BDShot

Target: FlyingRCH7DPro-bdshot / ArduSub

Hardware: H7D Pro dual ICM42688 hardware; verify sensor revision before flashing. This build uses the dedicated BDShot timer mapping.

Compatibility: ArduSub 4.7.2 firmware with bootloader for the FlyingRCH7DPro-bdshot target.

SHA-256 checksum1d43688cadaac0e6372bab3a6ffa446206d9c937683be0ddbe3820db87180618
Open / download
Historical stable firmware (13)
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: FlyingRCH7DPro / ArduCopter

Hardware: H7D Pro dual ICM42688 hardware; verify sensor revision before flashing.

Compatibility: ArduCopter 4.7.1 firmware with bootloader for the FlyingRCH7DPro target.

SHA-256 checksumc061f9449e8e9dd1ca6307c9a2cdd85cda939f96b118da83cf563d2c5630b65b
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: FlyingRCH7DPro / ArduPlane

Hardware: H7D Pro dual ICM42688 hardware; verify sensor revision before flashing.

Compatibility: ArduPlane 4.7.1 firmware with bootloader for the FlyingRCH7DPro target.

SHA-256 checksum2815e4e01d5ea14453ae09ce009772bdaedf0f8daa1dc1dba4baa6e096e22cc7
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: FlyingRCH7DPro / ArduRover

Hardware: H7D Pro dual ICM42688 hardware; verify sensor revision before flashing.

Compatibility: ArduRover 4.7.1 firmware with bootloader for the FlyingRCH7DPro target.

SHA-256 checksum667cf70293f856d323a4341ba5ee6f19a8afad40f4eb1e75a45caa3bccff9eab
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: FlyingRCH7DPro / ArduSub

Hardware: H7D Pro dual ICM42688 hardware; verify sensor revision before flashing.

Compatibility: ArduSub 4.7.1 firmware with bootloader for the FlyingRCH7DPro target.

SHA-256 checksum2153708720be95cd17d99b60834903ce781b6e7f83ff673d8ddf27c479585a41
Open / download
ArduCopter 4.7.1 BDShot firmware with bootloader

Version: 4.7.1

Channel: stable

Status: archive

Configuration: ArduCopter BDShot

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

Target: FlyingRCH7DPro-bdshot / ArduCopter

Hardware: H7D Pro dual ICM42688 hardware; verify sensor revision before flashing. This build uses the dedicated BDShot timer mapping.

Compatibility: ArduCopter 4.7.1 firmware with bootloader for the FlyingRCH7DPro-bdshot target.

SHA-256 checksum810dd59fca9ce4c63590af39cc9c3df49450dda53edcb94bda37cb5d785baed8
Open / download
ArduPlane 4.7.1 BDShot firmware with bootloader

Version: 4.7.1

Channel: stable

Status: archive

Configuration: ArduPlane BDShot

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

Target: FlyingRCH7DPro-bdshot / ArduPlane

Hardware: H7D Pro dual ICM42688 hardware; verify sensor revision before flashing. This build uses the dedicated BDShot timer mapping.

Compatibility: ArduPlane 4.7.1 firmware with bootloader for the FlyingRCH7DPro-bdshot target.

SHA-256 checksum6e6d924d17cab8e0529acb310abb8dbc857e34a187b812ce0d737da7b8e26205
Open / download
ArduRover 4.7.1 BDShot firmware with bootloader

Version: 4.7.1

Channel: stable

Status: archive

Configuration: ArduRover BDShot

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

Target: FlyingRCH7DPro-bdshot / ArduRover

Hardware: H7D Pro dual ICM42688 hardware; verify sensor revision before flashing. This build uses the dedicated BDShot timer mapping.

Compatibility: ArduRover 4.7.1 firmware with bootloader for the FlyingRCH7DPro-bdshot target.

SHA-256 checksum5900fe2d2837c2519286a572966d82250da612df4e7dded3b8a4367bc941fa0c
Open / download
ArduSub 4.7.1 BDShot firmware with bootloader

Version: 4.7.1

Channel: stable

Status: archive

Configuration: ArduSub BDShot

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

Target: FlyingRCH7DPro-bdshot / ArduSub

Hardware: H7D Pro dual ICM42688 hardware; verify sensor revision before flashing. This build uses the dedicated BDShot timer mapping.

Compatibility: ArduSub 4.7.1 firmware with bootloader for the FlyingRCH7DPro-bdshot target.

SHA-256 checksum819f98faf9e3d06ca569015df587b0e0d4b9703f59c053202445facc19f7a0fb
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: FlyingRCH7DPro / ArduCopter

Hardware: H7D Pro dual ICM42688 hardware; verify sensor revision before flashing.

Compatibility: ArduCopter 4.7.0 firmware with bootloader for the H7D Pro target.

SHA-256 checksumee4bbec89c84852bfaf8056c39df510c08636ce37af09a309d7e4724a41be71b
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: FlyingRCH7DPro / ArduPlane

Hardware: H7D Pro dual ICM42688 hardware; verify sensor revision before flashing.

Compatibility: ArduPlane 4.7.0 firmware with bootloader for the H7D Pro target.

SHA-256 checksum165bc38e92b5e209b14f0578749784e6fc512b2f855c748e5ee90268864ac139
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: FlyingRCH7DPro / ArduRover

Hardware: H7D Pro dual ICM42688 hardware; verify sensor revision before flashing.

Compatibility: ArduRover 4.7.0 firmware with bootloader for the H7D Pro target.

SHA-256 checksum1bbcef573dc659d9e86a7100b68f6f762880b07db8ed80c52b622fbb5a833d3c
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: FlyingRCH7DPro / ArduSub

Hardware: H7D Pro dual ICM42688 hardware; verify sensor revision before flashing.

Compatibility: ArduSub 4.7.0 firmware with bootloader for the H7D Pro target.

SHA-256 checksum5d0393f3ffbd88dbd279decc0d942c35ff726a9a1ca39c0fd95b8052c35e528b
Open / download
ArduCopter 4.6.3 dual ICM42688 firmware with bootloader

Version: 4.6.3

Channel: stable

Status: archive

Configuration: ArduCopter

Target: FlyingRCH7DPro / ArduCopter

Hardware: H7D Pro dual ICM42688 hardware; verify sensor revision before flashing.

Compatibility: ArduCopter 4.6.3 firmware with bootloader for the H7D Pro target.

SHA-256 checksum2b39a8da307a033cae6e3b9cdaddf9aaa4c83f45978cb4b65a711becf1e1c502
Open / download

INAV

INAV 9.1.0 firmware

Version: 9.1.0

Channel: stable

Status: latest-stable

Target: FLYINGRCH7DPRO

Hardware: H7D Pro hardware; verify target name before flashing.

Compatibility: INAV 9.1.0 firmware for the FLYINGRCH7DPRO target.

SHA-256 checksumf76b29c0dc32b123c3ec8da8666e7399f0e07fd6eaf19fa911fad2c5de830335
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: FLYINGRCH7DPRO

Hardware: H7D Pro hardware; verify target name before flashing.

Compatibility: INAV 9.0.1 firmware for the FLYINGRCH7DPRO target.

SHA-256 checksum82eaee4682d991220e6b17da2b75104d0e0ae841408e74ed8dba698697f3d69b
Open / download

Betaflight

Betaflight 2026.6.2 DUAL-ICM firmware

Version: 2026.6.2

Channel: stable

Status: latest-stable

Configuration: DUAL-ICM

Target: STM32H743 / FLRCH7DPRO_DUAL-ICM

Hardware: H7D Pro dual ICM42688 hardware; verify sensor revision before flashing.

Compatibility: Betaflight 2026.6.2 DUAL-ICM firmware for the FLRCH7DPRO target.

SHA-256 checksum4f05efa52b5bc98bb502369732d664b00b4d54e28b1cc6c180204dcee236af1c
Open / download
Historical stable firmware (5)
Betaflight 2026.6.1 DUAL-ICM firmware

Version: 2026.6.1

Channel: stable

Status: archive

Configuration: DUAL-ICM

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

Target: STM32H743 / FLRCH7DPRO_DUAL-ICM

Hardware: H7D Pro dual ICM42688 hardware; verify sensor revision before flashing.

Compatibility: Betaflight 2026.6.1 DUAL-ICM firmware for the FLRCH7DPRO target.

SHA-256 checksumf99ec90962b1dabe7bdb8a6c4c0e1152c87221cc52f06a76b864ec62dde589f4
Open / download
Betaflight 2025.12.5 DUAL-ICM firmware

Version: 2025.12.5

Channel: stable

Status: archive

Configuration: DUAL-ICM

Target: STM32H743 / FLRCH7DPRO_DUAL-ICM

Hardware: H7D Pro dual ICM42688 hardware; verify sensor revision before flashing.

Compatibility: Betaflight 2025.12.5 DUAL-ICM firmware for the FLRCH7DPRO target.

SHA-256 checksumeab0f75717e8d97b739c7070dba9f8d369c2c28ce3ad9e88c656443a622e5135
Open / download
Betaflight 4.5.5 DUAL-ICM firmware

Version: 4.5.5

Channel: stable

Status: archive

Configuration: DUAL-ICM

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: STM32H743 / FLRCH7DPRO_DUAL-ICM

Hardware: H7D Pro dual ICM42688 hardware; verify sensor revision before flashing.

Compatibility: Betaflight 4.5.5 DUAL-ICM firmware for the FLRCH7DPRO target.

SHA-256 checksum46af66614e6aafade10b25f78e9af5c2afeeb83b9f3cc6fdcd179a349ea1f710
Open / download
Betaflight 2025.12.4 DUAL-ICM firmware

Version: 2025.12.4

Channel: stable

Status: archive

Configuration: DUAL-ICM

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

Target: STM32H743 / FLRCH7DPRO_DUAL-ICM

Hardware: H7D Pro dual ICM42688 hardware; verify sensor revision before flashing.

Compatibility: Betaflight 2025.12.4 DUAL-ICM firmware for the FLRCH7DPRO target.

SHA-256 checksumdb3b4863ce1cdbbefd53d942ab394a7bc9f41057837189cc814f82d74fd0e9cf
Open / download
Betaflight 2025.12.2 DUAL-ICM firmware

Version: 2025.12.2

Channel: stable

Status: archive

Configuration: DUAL-ICM

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

Target: STM32H743 / FLRCH7DPRO_DUAL-ICM

Hardware: H7D Pro dual ICM42688 hardware; verify sensor revision before flashing.

Compatibility: Betaflight 2025.12.2 DUAL-ICM firmware for the FLRCH7DPRO target.

SHA-256 checksumf9c664961b7a08a8d596c0cddf93d820c32529fc2090163449447297ed43ba0e
Open / download

px4

PX4 1.17.0 firmware package

Version: 1.17.0

Channel: stable

Status: latest-stable

Target: FlyingRC-H7D-Pro-Board / PX4

Hardware: H7D Pro hardware; verify PX4 board package before flashing.

Compatibility: PX4 1.17.0 firmware package for the FlyingRC-H7D-Pro-Board port.

SHA-256 checksumd129ba717e894c9b30a4173b2256923c69da1aaba0cf38a439168046eda993be
Open / download

Manuals & source references

Product manualOpen / download
PX4 H7D Pro firmware repositoryOpen / download
ArduPilot H7D Pro target branchOpen / download
Betaflight H7D Pro config branchOpen / download
INAV H7D Pro target branchOpen / download
SHA256 checksumsOpen / download
Back to product

Frequently asked questions

Which H7D Pro sensor configurations are current?

Current products are available with single or dual ICM-42688-P. The historical ICM-42688-P plus BMI270 sheet does not describe either current configuration.

Can dual-IMU firmware be flashed to a single-IMU board?

Firmware explicitly marked for dual ICM hardware must match a dual-ICM board. For a single-ICM board, confirm the exact firmware target with FlyingRC before flashing.