DIVIMATH HDZERO 4 In 1 Halo Flight Controller User Manual

Connect the ESC cable to the flight controller using the 8-pin
SH1.0 connector.
If using peripherals like external radio RX or GPS, wire them
according to the provided diagrams.

For LED strip wiring, choose between parallel or individually
addressable configurations as needed.

2. Wiring:

Refer to the wiring diagrams provided in the manual for
connecting the HDZero Halo stack components correctly. Ensure
proper connections for VTX, DJI systems, and peripherals.

3. ELRS Antennas Mount:

Use the included antenna retainers to guide the ELRS antennas to
the top plate and arms of your drone. Adjust the mounting based on
space availability.

4. Binding with ELRS TX Radio:

To bind with an ELRS TX radio, observe the LED indicators on the
Halo FC. A solid green light indicates a successful bind, while
other flashing patterns signify different connection statuses.

Frequently Asked Questions (FAQ)

Q: How can I tell if the bind with ELRS TX radio was
successful?

A: The green ELRS LED on the Halo FC will display different
patterns to indicate the status. A solid light means a successful
bind/connection, a double-flash indicates bind mode, and a slow
flash signifies no signal established with the TX module.

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User Manual of HDZero Halo Flight Controller and 4in1 70A ESC

Revision 1.0 1.3 1.4

Date Jan 14, 2025 Feb 6, 2025 June 24, 2025

Description Initial draft Added Halo Flight Controller Added Halo 4in1 70A ESC

For more product information, please visit: www.hd-zero.com
All Rights Reserved
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Contents
HDZero Halo Mini Flight Controller with Gemini ELRS RX………………………………………………………………….. 3 Introduction ……………………………………………………………………………………………………………………………. 3 Specification ……………………………………………………………………………………………………………………………. 4 Includes ………………………………………………………………………………………………………………………………….. 5 Diagram ………………………………………………………………………………………………………………………………….. 6 Wiring…………………………………………………………………………………………………………………………………….. 7 HDZero RACE V3 VTX Wiring ………………………………………………………………………………………………….. 7 HDZero Freestyle V2 VTX Wiring …………………………………………………………………………………………….. 7 DJI O3/O4 Wiring …………………………………………………………………………………………………………………. 8 DJI VISTA Wiring …………………………………………………………………………………………………………………… 8 Wiring of Peripherals (External Radio RX, GPS) ………………………………………………………………………… 9 LED Strip Wiring (Parallel, all strips share the same config)………………………………………………………. 10 LED Strip Wiring (Individually, addressable LED strips)…………………………………………………………….. 10 Racing Stack ………………………………………………………………………………………………………………………. 11 ELRS Antennas Mount…………………………………………………………………………………………………………….. 11 Bind with ELRS TX radio ………………………………………………………………………………………………………….. 12 Firmware ………………………………………………………………………………………………………………………………. 13 Switchable 9v BEC ………………………………………………………………………………………………………………….. 16
HDZero Halo 4in1 70A ESC ………………………………………………………………………………………………………….. 17 Introduction ………………………………………………………………………………………………………………………….. 17 Specification ………………………………………………………………………………………………………………………….. 17 Includes ………………………………………………………………………………………………………………………………… 18 Diagram ………………………………………………………………………………………………………………………………… 18 Configuration/Firmware………………………………………………………………………………………………………….. 19 BLHeli32 ……………………………………………………………………………………………………………………………. 19 AM32………………………………………………………………………………………………………………………………… 19
HDZero Halo Stack……………………………………………………………………………………………………………………… 20 Includes ………………………………………………………………………………………………………………………………… 20
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HDZero Halo Mini Flight Controller with Gemini ELRS RX
Introduction
The HDZero Halo is a compact flight controller powered by the H743 MCU for high-performance computation. It integrates a Gemini ELRS receiver and features a switchable 9V/3A BEC output for video transmitters, along with a 5V/4A output for LED strips and other peripherals. The integrated ELRS RX simplifies quad assembly and ensures high-performance link quality with its Gemini. The Halo Flight Controller makes connecting parallel LED strips for single colors straightforward and simplifies the routing of addressable LED strip wires. Designed for digital video systems, it eliminates the analog OSD chip to save space and reduce costs. It’s particularly optimized for use with the HDZero Race v3 VTX, ensuring a low-profile stack. The Halo Flight Controller features dedicated sockets for connecting ESCs with a maximum 4A included cable, as well as for connecting any digital VTXes. This design makes it a solderless flight controller, ensuring easy assembly and quick swaps in the field. The Halo Flight Controller is available in two versions, MPU6000 and ICM42688, to meet different pilot preferences.
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Specification
Model Flight Controller CPU Gyro BEC output
Black Box I2C Pads UART Pads ESC Telemetry VTX MSP UART DJI HDL Buzzer Pads LED Strip USB Analog OSD FC Firmware ELRS Receiver Chip Set FC UART Gemini RX RF Frequency Max TX RF Power Antenna Interface ELRS Firmware Dimensions Power Supply Size Weight Dedicated sockets for

HDZero Halo Flight Controller
STM32H743 (480MHz) MPU6000 or ICM42688 DC 5V/4A DC 9V/3A DC 4.5V/0.5A 16MB Flash memory Yes TX2/RX2, TX7/RX7, TX8/RX8 RX4 TX5/RX5 RX3 Yes Parallel or Serial Type-C No Betaflight: HDZERO_HALO
ESP32 + 2x SX1280 TX1/RX1 Yes 2.4GHz 10mW 2xU.FL HDZero Halo FC 2.4G Gemini RX
3S ~ 8S 29×30.5mm with 20×20 M4 mounting holes 5.6g ESC, and HDZero and other Digital VTX’s

Includes
– 1x HDZero Halo FC – 5x Rubber Grommet(6.6mm) – 5x Rubber Grommet(8.0mm) – 1x ELRS T-sharp short antenna (40mm) – 1x ELRS T-sharp long antenna (90mm) – 2x ELRS antenna retainers – 1x ESC Cable (8-pin SH1.0, 30mm) – 1x 8-pin SH1.0 connector
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Diagram
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Wiring HDZero RACE V3 VTX Wiring

Unfortunately, the previous batches of HDZero VTX-R3 have different signal definitions for its connector, requiring users to re-pin it (see picture below) to match the correct connections. However, the latest HDZero Race v3 VTX features an updated connector that perfectly matches the Halo FC, enabling seamless plug-and-play installation.

The previous batches of VTX-R3 (after re-pinning)
HDZero Freestyle V2 VTX Wiring

The newest batch of HDZero VTX-R3

DJI O3/O4 Wiring DJI VISTA Wiring
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Wiring of Peripherals (External Radio RX, GPS)
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LED Strip Wiring (Parallel, all strips share the same config) LED Strip Wiring (Individually, addressable LED strips)
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Racing Stack Here are two examples of how to mount the HDZero Race v3 VTX and the HDZero Halo stack in a racing drone. The configuration on the left fits a frame with 21.5mm of clearance between the carbon plates, while the one on the right is suited for taller frames with a minimum clearance of 23mm. To reduce space between FC and ESC, install the FC and ESC with plugs facing downward (note, this requires changing the order of the motors in Betaflight Motors tab).
ELRS Antennas Mount
Use the included antenna retainers–indicated by red circles below–to guide the antenna wires to the top plate and one of the arms. If space is limited, such as on compact racing drones, mounting only one antenna is acceptable.
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Bind with ELRS TX radio
There are two ways to configure Halo FC for binding: 1. Connect HDZero Halo FC to PC via USB-C. Open Betaflight and connect to the FC. Navigate to the “Receiver” tab and click “Bind” to initiate binding mode; or 2. Power off the Halo FC. Power-cycle the Halo FC 3 times. Supply power to the Halo FC The ELRS LED lights up. Turn it off within 2 seconds. Repeat 2 more times. Once RX is in binding mode, insert the ELRS TX module into your OpenTX Radio transmitter, select External RF mode and set it to the CRSF protocol. You will find the ELRS menu in the Radio system (ensure the ELRS.LUA file is copied to the SD-Card tools first). Enter the ELRS menu and press [Bind]. The RX LED on the flight controller will become solid if the binding is successful. NOTE: Make sure you use the matching ELRS preset for your link rate, failure to do so can lead to uncommanded movement in turns.
The green ELRS LED on Halo FC status: Solid means bind successful or Connection established; Double-flash means in bind mode; Flash slowly means no signal established with the TX module
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Firmware 1. Flash Betaflight firmware
· Download and install the Betaflight Configurator. · Launch the Betaflight Configurator · To flash firmware:
1) Select the target port 2) Click “Update Firmware” to enter Firmware Flasher tab 3) Select target “HAZERO_HALO” and version, The factory version is 4.5.1[27-Jun-2024] 4) Click “Load Firmware [Online] ” to download the firmware 5) Click “Flash Firmware” to Flash the Flight controller · DFU flash: If you have lost communication with your board follow these steps to restore communication: 1) Power off HALO FC 2) Enable `No reboot sequence’, enable `Full chip erase’ 3) Hold FC BOOT button and Power on via USB-C into PC, then release BOOT button 4) Install all STM32 drivers and Zadig if required (see USB Flashing section of Betaflight manual) 5) Close Betaflight configurator, Restart Betaflight configurator 6) Click “Update Firmware” to enter Firmware Flasher tab 7) Select target ” HAZERO_HALO ” and version, The factory version is 4.5.1[27-Jun-2024] 8) Click “Load Firmware [Online] ” to download the firmware 9) Click “Flash Firmware” to Flash the Flight controller
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2. Execute CLI · HDZero HALO online firmware already contains the required CLI, predefined cli are available if needed by following these steps: Download the file from Flight Configurator tab at https://www.hd-zero.com/document, and unzip HDZEROHALO_RevXYZ.zip into a temporary directory, i.e. c:123
1) Switch to Betaflight Configurator CLI tab 2) Click “Load from file”, and select file c:123 HDZERO_HALO.txt for HDZero HALO 3) Click “Execute”
· VTX table is not included in the HDZero HALO online firmware, but it can be added in several ways: 1) When you use HDZero VTX with HDZero HALO, the VTX will provide this over MSP, and VTX firmware needs to be version 1.7.0 or newer, or 2) The CLI file HDZERO_HALO.txt provides, or 3) Use Betaflight Configurator preset, search for HDZero VTXs to find this preset
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3. Flash ELRS firmware The HDZero Halo factory ELRS firmware version is Released 3.5.1, If you need to update the firmware, please refer to the ELRS update tutorials (Typical Updating Steps), and the Device Category and Device target are as follow:
Device Category: HDZero Device target: HDZero Halo FC 2.4G Gemini RX
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Switchable 9v BEC
· Launch the Betaflight Configurator · Switch to CLI tab · Enter CLI:
resource PINIO 1 E03 set pinio_config = 1 set pinio_box = 40 save · Switch to Modes tab · Add Range for USER1 mode · Then you can use the remote control to switch 9v BEC
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HDZero Halo 4in1 70A ESC
Introduction
The HDZero Halo ESC is a 4in1 ESC built for both racing and freestyle drone applications. It is engineered for exceptional reliability, crash resilience, and high current output–perfectly suited for the demands of drone racing.
The Halo ESC utilizes a split-board design with a dedicated MCU/driver board and a high-voltage power board, integrating 24 MOSFETs and an 8-layer PCB with over 3 oz copper thickness per layer to optimize current flow and thermal efficiency. A rear-mounted copper bar further enhances current delivery and heat dissipation. Each motor can sustain outputs over 70A for 30 seconds and peak at 100A for up to 3 seconds.
The Halo ESC supplies exceptionally clean power to the MCUs, safeguarding them against voltage spikes triggered by sudden motor acceleration or deceleration. This vital protection helps prevent MCU brownouts or lockups–common culprits behind burnt motors, failed MOSFETs, and critical flight failures.
The Halo ESC is protected with a conformal coating for enhanced resistance to moisture, dust, and corrosion.
The Halo ESC is available in two versions, BLHeli32 and AM32, to meet different pilot preferences.

Specification
Model CPU
Firmware
Input Voltage Telemetry Input signal Output Voltage Max Current Current Sensor Dual-sided solder pads Dimension Mounting Weight

HDZero Halo 4in1 70A ESC

AT32F421 (120MHz)

BLHeli 32.10

AM32 2.18 Target: HDZ_ESC_1R0_F421

DC 9V 40V (3S 8S)

Supported

Dshot 150/300/600/1200, MultiShot, OneShot

VBAT (to power the FC)

Over 70Ax4 (Continuous) / 100Ax4 (Burst)

Scale = 400, offset = 0

YES

33x43mm

20x20mm, 4mm, M3 Rubber Grommets

13.4g

Includes
– 1x HDZero ESC – 5x Rubber Grommet (4.5mm height) – 5x Rubber Grommet (6.6mm height) – 5x Nylon washer (M3 1.0mm thick) – 5x 304 steel nuts (M3 2.3mm thick) – 1x ESC Cable (-pin SH1.0, 30mm) – 1x 8-pin SH1.0 connector – 1x XT60 Cable(70mm,12AWG) – 1x 35V/1000uf capacitor
Diagram
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Configuration/Firmware BLHeli32
a) Download BLHeliSuite32 https://github.com/bitdump/BLHeli/releases/tag/Rev3 2.10
b) Remove all propellers from the drone that flight controller and Halo ESC are correctly installed
c) Power on the drone, and connect the FC to PC via USB d) Execute BLHeliSuite32.exe e) Select ESC Setup tab, Port | Connect | Check f) Adjust parameters as needed, Write Setup to save the
setting to ESCs
AM32 a) Remove all propellers from the drone that flight controller and Halo ESC are correctly installed b) Power on the drone, and connect the FC to PC via USB c) Open the AM32 Configurator: http://am32.ca d) Click Port Select and Connect, then Read. e) Adjust parameters as needed, then Save.
If needed, click [Flash firmware] to update the ESC firmware
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HDZero Halo Stack
The HDZero Halo Stack features the Halo Flight Controller paired with the Halo ESC. It has 4 variations: – Halo Flight Controller (MPU6000) + Halo ESC (AM32) – Halo Flight Controller (ICM42688) + Halo ESC (AM32) – Halo Flight Controller (MPU6000) + Halo ESC (BLHeLi32) – Halo Flight Controller (ICM42688) + Halo ESC (BLHeLi32)
Includes
– 1x HDZero Halo FC – 1x HDZero Halo ESC – 1x ESC cable (8-pin SH1.0, 30mm) – 1x XT60 cable (70mm,12AWG) – 1x 35V/1000uf capacitor – 9x Rubber grommet (4.5mm height) – 6x Rubber grommet (6.6mm height) – 5x Nylon washer (M3 1.0mm thick) – 5x 304 Steel nuts (M3 2.3mm thick) – 4x 12.9 Carbon steel screws (M3 25mm
length) – 1x ELRS T-sharp short antenna (40mm) – 1x ELRS T-sharp long antenna (90mm) – 2x ELRS Antenna retainers
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Documents / Resources

DIVIMATH HDZERO 4 In 1 Halo Flight Controller [pdf] User Manual
HDZERO 4 In 1 Halo Flight Controller, 4 In 1 Halo Flight Controller, Halo Flight Controller, Flight Controller, Controller

References

User Manual

DIVIMATH HDZERO 4 In 1 Halo Flight Controller User Manual

HDZERO 4 In 1 Halo Flight Controller

Product Specifications

Product Usage Instructions

1. Installation: