FlyingRC

H7Wlite MK2 H743 Fixed-Wing Flight Controller

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

Overview

H7Wlite V2 hardware revision with dual BMI270 IMUs, SPA06-003 barometer, and internal QMC5883P compass. ArduPilot and INAV retain legacy ICM support; Betaflight is BMI270-only.

  • STM32H743 fixed-wing flight controller
  • Dual BMI270 IMUs; legacy ICM alternatives remain available in ArduPilot and INAV
  • SPA06-003 barometer and internal QMC5883P compass on I2C2
  • 12 PWM outputs, SDIO logging, analog OSD, CAN, and seven UARTs

Hardware revision

Current retail configuration: Dual BMI270. Earlier ICM versions are discontinued; their documentation remains available for existing owners. H7Wlite MK1 images in the documentation are historical; do not use them as V2 specifications or verified V2 wiring.

Wiring, dimensions & photos

Historical H7Wlite MK1 ICM-42688-P / ICM-42605 parameter table — not V2 specifications
Historical H7Wlite MK1 ICM-42688-P / ICM-42605 parameter table — not V2 specifications
Historical H7Wlite MK1 ICM-42688-P / ICM-42605 parameter table — not V2 specifications
Historical H7Wlite MK1 dimension reference — V2 compatibility unconfirmed
Historical H7Wlite MK1 dimension reference — V2 compatibility unconfirmed
Historical H7Wlite MK1 dimension reference — V2 compatibility unconfirmed
Historical H7Wlite MK1 wiring reference — V2 compatibility unconfirmed
Historical H7Wlite MK1 wiring reference — V2 compatibility unconfirmed
Historical H7Wlite MK1 wiring reference — V2 compatibility unconfirmed
Historical H7Wlite MK1 top-layout reference — V2 compatibility unconfirmed
Historical H7Wlite MK1 top-layout reference — V2 compatibility unconfirmed
Historical H7Wlite MK1 top-layout reference — V2 compatibility unconfirmed
Historical H7Wlite MK1 bottom-layout reference — V2 compatibility unconfirmed
Historical H7Wlite MK1 bottom-layout reference — V2 compatibility unconfirmed
Historical H7Wlite MK1 bottom-layout reference — V2 compatibility unconfirmed

Firmware & manuals

ArduPilot H7Wlite V2 target branchOpen / download
INAV H7Wlite V2 target branchOpen / download
Betaflight H7Wlite V2 config branchOpen / download
PX4 H7Wlite V2 base branchOpen / download
ArduCopter 4.7.1 firmware with bootloader

Version: 4.7.1

Channel: stable

Status: latest-stable

Configuration: ArduCopter

Target: FlyingRC_H7WliteV2 / ArduCopter

Hardware: H7Wlite V2 BMI270 / SPA06-003 / QMC5883P revision; secondary BMI270 uses corrected ROTATION_NONE orientation; ICM42688P and ICM42605 alternatives are supported.

Compatibility: ArduCopter 4.7.1 firmware with bootloader for the FlyingRC_H7WliteV2 target.

SHA-256

47b6dfc1dad4a6a40fd49b24f629cb6a1d9c9466e8d7b88106f4e85e3727afbcOpen / download
ArduPlane 4.7.1 firmware with bootloader

Version: 4.7.1

Channel: stable

Status: latest-stable

Configuration: ArduPlane

Target: FlyingRC_H7WliteV2 / ArduPlane

Hardware: H7Wlite V2 BMI270 / SPA06-003 / QMC5883P revision; secondary BMI270 uses corrected ROTATION_NONE orientation; ICM42688P and ICM42605 alternatives are supported.

Compatibility: ArduPlane 4.7.1 firmware with bootloader for the FlyingRC_H7WliteV2 target.

SHA-256

3addcc4fa41042c6ff60c65a614b09a58dc3d763e01b3a2aa42378a742785e7bOpen / download
ArduRover 4.7.1 firmware with bootloader

Version: 4.7.1

Channel: stable

Status: latest-stable

Configuration: ArduRover

Target: FlyingRC_H7WliteV2 / ArduRover

Hardware: H7Wlite V2 BMI270 / SPA06-003 / QMC5883P revision; secondary BMI270 uses corrected ROTATION_NONE orientation; ICM42688P and ICM42605 alternatives are supported.

Compatibility: ArduRover 4.7.1 firmware with bootloader for the FlyingRC_H7WliteV2 target.

SHA-256

cf8d808e11f81615eb6a814d53fc325c446e35d7e5549c3b1a288eaf63db2365Open / download
ArduSub 4.7.1 firmware with bootloader

Version: 4.7.1

Channel: stable

Status: latest-stable

Configuration: ArduSub

Target: FlyingRC_H7WliteV2 / ArduSub

Hardware: H7Wlite V2 BMI270 / SPA06-003 / QMC5883P revision; secondary BMI270 uses corrected ROTATION_NONE orientation; ICM42688P and ICM42605 alternatives are supported.

Compatibility: ArduSub 4.7.1 firmware with bootloader for the FlyingRC_H7WliteV2 target.

SHA-256

6258c4ea5b9d8be6cdb0f07f23ecaed4b8a337eba822326a8d0160e2fcd6d54dOpen / download
INAV 9.1.0 firmware

Version: 9.1.0

Channel: stable

Status: latest-stable

Target: FLYINGRCH7WLITEV2 / H7W2

Hardware: H7Wlite V2 BMI270 / SPA06-003 / QMC5883P revision; ICM42688P and ICM42605 alternatives are supported.

Compatibility: INAV 9.1.0 firmware for the FLYINGRCH7WLITEV2 target.

SHA-256

d5b3e3a9dd65cc24a5b6e1e43dfcca1c7227405c26c3584cd58bf6ceb8fc9d53Open / download
Betaflight 2026.6.2 BMI270 firmware

Version: 2026.6.2

Channel: stable

Status: latest-stable

Target: STM32H743 / FLYINGRCH7WLITEV2_BMI270

Hardware: H7Wlite V2 dual BMI270 / SPA06-003 / QMC5883P revision; ICM42688P and ICM42605 alternatives are retained.

Compatibility: Betaflight 2026.6.2 firmware for FLYINGRCH7WLITEV2_BMI270, built with dual BMI270 and alternative ICM42688P / ICM42605 sensor support.

SHA-256

aaf7b9ec096a97e4b4fb30bc48725fc91c02f420cce06e45126d2fe7cc51b0a0Open / download
SHA256 checksumsOpen / download
Past / Unstable firmware (11)
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: FlyingRC_H7WliteV2 / ArduCopter

Hardware: H7Wlite V2 BMI270 / SPA06-003 / QMC5883P revision; secondary BMI270 uses corrected ROTATION_NONE orientation; ICM42688P and ICM42605 alternatives are supported.

Compatibility: ArduCopter 4.7.0 firmware with bootloader for FlyingRC_H7WliteV2. Rebuilt with target correction 0a1f8148.

SHA-256

70498c58b4f279e81d37eae39f40418a6c559faa8b527d3bbee81e95eb3e0035Open / 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 4.7.1 as the recommended stable release.

Target: FlyingRC_H7WliteV2 / ArduPlane

Hardware: H7Wlite V2 BMI270 / SPA06-003 / QMC5883P revision; secondary BMI270 uses corrected ROTATION_NONE orientation; ICM42688P and ICM42605 alternatives are supported.

Compatibility: ArduPlane 4.7.0 firmware with bootloader for FlyingRC_H7WliteV2. Rebuilt with target correction 0a1f8148.

SHA-256

0b825a044d5d685330d13676fa042d8d317019976a68f30b7918a6c318b634b5Open / 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: FlyingRC_H7WliteV2 / ArduRover

Hardware: H7Wlite V2 BMI270 / SPA06-003 / QMC5883P revision; secondary BMI270 uses corrected ROTATION_NONE orientation; ICM42688P and ICM42605 alternatives are supported.

Compatibility: ArduRover 4.7.0 firmware with bootloader for FlyingRC_H7WliteV2. Rebuilt with target correction 0a1f8148.

SHA-256

13c0d09c9ea186dcdf08faddf31fe131224d2f1c790a3230bfe4ea0e5c7a9d57Open / 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: FlyingRC_H7WliteV2 / ArduSub

Hardware: H7Wlite V2 BMI270 / SPA06-003 / QMC5883P revision; secondary BMI270 uses corrected ROTATION_NONE orientation; ICM42688P and ICM42605 alternatives are supported.

Compatibility: ArduSub 4.7.0 firmware with bootloader for FlyingRC_H7WliteV2. Rebuilt with target correction 0a1f8148.

SHA-256

deffc1def43aa72ae3542531d062d04e1532ffcb03add2733e8c908d8a5cdb4eOpen / download
ArduCopter 4.6.3 firmware with bootloader

Version: 4.6.3

Channel: stable

Status: archive

Configuration: ArduCopter

Target: FlyingRC_H7WliteV2 / ArduCopter

Hardware: H7Wlite V2 BMI270 / SPA06-003 / QMC5883P revision; secondary BMI270 uses corrected ROTATION_NONE orientation; ICM42688P and ICM42605 alternatives are supported.

Compatibility: ArduCopter 4.6.3 firmware with bootloader for FlyingRC_H7WliteV2. Rebuilt with target correction 0a1f8148.

SHA-256

a30eadeba3c2110ee366dc1483cbd11137261630ba083971d2e241e52655ce0bOpen / download
ArduPlane 4.6.3 firmware with bootloader

Version: 4.6.3

Channel: stable

Status: archive

Configuration: ArduPlane

Target: FlyingRC_H7WliteV2 / ArduPlane

Hardware: H7Wlite V2 BMI270 / SPA06-003 / QMC5883P revision; secondary BMI270 uses corrected ROTATION_NONE orientation; ICM42688P and ICM42605 alternatives are supported.

Compatibility: ArduPlane 4.6.3 firmware with bootloader for FlyingRC_H7WliteV2. Rebuilt with target correction 0a1f8148.

SHA-256

3bbd74a275205c26ed9ead5c2050be2ec0177273775ad96d6d0cca372382985aOpen / download
ArduRover 4.6.3 firmware with bootloader

Version: 4.6.3

Channel: stable

Status: archive

Configuration: ArduRover

Target: FlyingRC_H7WliteV2 / ArduRover

Hardware: H7Wlite V2 BMI270 / SPA06-003 / QMC5883P revision; secondary BMI270 uses corrected ROTATION_NONE orientation; ICM42688P and ICM42605 alternatives are supported.

Compatibility: ArduRover 4.6.3 firmware with bootloader for FlyingRC_H7WliteV2. Rebuilt with target correction 0a1f8148.

SHA-256

5004dd1fd395a06894d1f1062df371bef36c8f38f24010a0eec42d2445b2ccd8Open / download
Betaflight 2026.6.1 BMI270 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: STM32H743 / FLYINGRCH7WLITEV2_BMI270

Hardware: H7Wlite V2 BMI270 / SPA06-003 / QMC5883P revision; BMI270 hardware only.

Compatibility: Betaflight 2026.6.1 BMI270-only firmware for FLYINGRCH7WLITEV2_BMI270.

SHA-256

30fb3a02604658f71d1e7689f947e672a6692b2aecabed731f41f544a4dc6f57Open / download
Betaflight 2025.12.5 BMI270 firmware

Version: 2025.12.5

Channel: stable

Status: archive

Target: STM32H743 / FLYINGRCH7WLITEV2_BMI270

Hardware: H7Wlite V2 BMI270 / SPA06-003 / QMC5883P revision; BMI270 hardware only.

Compatibility: Betaflight 2025.12.5 BMI270-only firmware for FLYINGRCH7WLITEV2_BMI270.

SHA-256

5a7cab472df69c38b6b85c084c1ade63469ecae45e397bfb66e0344627126c92Open / download
Betaflight 4.5.5 BMI270 firmware

Version: 4.5.5

Channel: stable

Status: archive

Release note: Retained stable 4.5.x build; use Betaflight 2026.6.2 for the current recommended stable build.

Target: STM32H743 / FLYINGRCH7WLITEV2_BMI270

Hardware: H7Wlite V2 BMI270 / SPA06-003 / QMC5883P revision; BMI270 hardware only.

Compatibility: Betaflight 4.5.5 BMI270-only firmware for FLYINGRCH7WLITEV2_BMI270.

SHA-256

a5c85433c2a0d8eac7c2ec4bc9caf8d77634be72370cecd691e4d4fbe1e5e907Open / download
PX4 custom firmware package (commit 50161b1)

Version: custom-50161b1

Channel: unstable

Status: archive

Release note: Custom board-port build based on commit 50161b1; not an official tagged PX4 release.

Target: flyingrc_h7wlite-v2 / Board ID 1219

Hardware: FlyingRC H7Wlite V2 board package with default and bootloader firmware.

Compatibility: PX4 custom firmware package for the flyingrc_h7wlite-v2 target; use the default .px4 file with QGroundControl.

SHA-256

fa777f8d47b8c9d1f8272bd27759d2cf0e8d0c6d65d8d67bc395465bfecf3168Open / download
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