mirror of https://github.com/ArduPilot/ardupilot
94 lines
2.5 KiB
Markdown
94 lines
2.5 KiB
Markdown
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# KakuteF4-Wing Flight Controller
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The KakuteF4-Wing is a flight controller produced by [Holybro](http://www.holybro.com/).
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## Features
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Processor
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STM32F405 32-bit processor
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AT7456E OSD
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Sensors
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ICM42688 Acc/Gyro
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SLP06 barometer
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Power
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2S - 8S Lipo input voltage with voltage monitoring
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9V/12V, 1.5A BEC for powering Video Transmitter
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6V/7.2V, ?A BEC for servos
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3.3V, 1A BEC
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Interfaces
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7x PWM outputs DShot capable, 4 outputs BiDirDShot capable
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1x RC input
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5x UARTs/serial for GPS and other peripherals
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1x I2C ports for external compass, airspeed, etc.
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USB-C port
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## Pinout
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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
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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 (GPS) DMA-Enabled
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- SERIAL2 -> UART2 (Telem1) DMA Enabled
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- SERIAL3 -> UART3 (RX) DMA Enabled
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- SERIAL5 -> UART5 (User)
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- SERIAL6 -> USART6 (User)
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## RC Input
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RC input is configured on the R3 (UART3_RX) pin. It supports all serial RC
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protocols.
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## OSD Support
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The KakuteF4-Wing supports OSD using OSD_TYPE 1 (MAX7456 driver).
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## PWM Output
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The KakuteF4 supports up to 7 PWM outputs. All outputs support DShot. Outputs 1-4 support BiDirDshot.
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The PWM is in 5 groups:
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- PWM 1-2 in group1
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- PWM 3-4 in group2
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- PWM 5-6 in group3
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- PWM 7 in group4
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Channels within the same group need to use the same output rate. If
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any channel in a group uses DShot then all channels in the group need
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to use DShot.
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## Battery Monitoring
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The board has a builting voltage and current sensor. The current
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sensor can read up to ?? Amps. The voltage sensor can handle up to 6S
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LiPo batteries.
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The correct battery setting parameters are:
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- BATT_MONITOR 4
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- BATT_VOLT_PIN 10
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- BATT_CURR_PIN 11
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- BATT_VOLT_MULT 11
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- BATT_AMP_PERVLT 40
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## Compass
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The KakuteF4-Wing does not have a built-in compass, but you can attach an external compass using I2C on the SDA and SCL pads.
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## Loading Firmware
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Firmware for these boards can be found at https://firmware.ardupilot.org in sub-folders labeled “KakuteF4-Wing”.
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Initial firmware load can be done with DFU by plugging in USB with the
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boot button pressed. Then you should load the "KakuteF4-Wing_bl.hex"
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firmware, using your favourite DFU loading tool.
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Subsequently, you can update firmware with Mission Planner.
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