ardupilot/libraries/AP_HAL_ChibiOS/hwdef/KakuteF7/README.md

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# KakuteF7 AIO Flight Controller
http://www.holybro.com/product/59
The KakuteF7 AIO is a flight controller produced by [Holybro](http://www.holybro.com/product/59).
## Features
- STM32F745 microcontroller
- ICM20689 IMU
- BMP280 barometer
- microSD card slot
- AT7456E OSD
- 6 UARTs
- 6 PWM outputs
## Pinout
The KakuteF7 comes in two variants. One is an AIO (All-In-One) board,
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with OSD. The other is a smaller board without OSD.
### KakuteF7 Pinout
![KakuteF7 Board](kakutef7.jpg "KakuteF7")
### KakuteF7 AIO Pinout
![KakuteF7 AIO Board](kakutef7_AIO.jpg "KakuteF7 AIO")
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## UART Mapping
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The UARTs are marked Rn and Tn in the above pinouts. The Rn pin is the
receive pin for UARTn. The Tn pin is the transmit pin for UARTn.
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- SERIAL0 -> USB
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- SERIAL1 -> UART1 (Telem1)
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- SERIAL2 -> UART2 (Telem2)
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- SERIAL3 -> UART3 (GPS)
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- SERIAL4 -> UART4
- SERIAL5 -> UART7
- SERIAL6 -> UART6 (Transmit only, FrSky)
The SERIAL5 port (UART7) is for ESC telemetry, and has a R7 pad on
each of the four corners of the KakuteF7 AIO board.
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## RC Input
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RC input is configured on the R6 (UART6_RX) pin. It supports all RC protocols.
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## FrSky Telemetry
FrSky Telemetry is supported using the T6 pin (UART6 transmit). You need to set the following parameters to enable support for FrSky S.PORT
- SERIAL6_PROTOCOL 10
- SERIAL6_OPTIONS 7
## OSD Support
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The KakuteF7 AIO supports OSD using OSD_TYPE 1 (MAX7456 driver).
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## PWM Output
The KakuteF7 supports up to 6 PWM outputs. The pads for motor output M1 to M6 on the above diagram are for the 6 outputs. All 6 outputs support DShot as well as all PWM types.
The PWM is in 3 groups:
- PWM 1, 2 and 3 in group1
- PWM 4 and 5 in group2
- PWM 6 in group3
Channels within the same group need to use the same output rate. If
any channel in a group uses DShot then all channels in the group need
to use DShot.
## Battery Monitoring
The board has a builting voltage and current sensor. The current
sensor can read up to 130 Amps. The voltage sensor can handle up to 6S
LiPo batteries.
The correct battery setting parameters are:
- BATT_MONITOR 4
- BATT_VOLT_PIN 13
- BATT_CURR_PIN 12
- BATT_VOLT_MULT 10.1
- BATT_AMP_PERVLT 17.0
## Compass
The KakuteF7 AIO does not have a builting compass, but you can attach an external compass using I2C on the SDA and SCL pads.
## Loading Firmware
Initial firmware load can be done with DFU by plugging in USB with the
bootloader button pressed. Then you should load the "with_bl.hex"
firmware, using your favourite DFU loading tool.
Once the initial firmware is loaded you can update the firmware using
any ArduPilot ground station software. Updates should be done with the
*.apj firmware files.