mirror of https://github.com/ArduPilot/ardupilot
101 lines
2.6 KiB
Markdown
101 lines
2.6 KiB
Markdown
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# KakuteH7 Flight Controller
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The KakuteH7 is a flight controller produced by [Holybro](http://www.holybro.com/).
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## Features
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- STM32H743 microcontroller
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- ICM20689 IMU
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- BMP280 barometer
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- microSD card slot
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- AT7456E OSD
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- 6 UARTs
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- 9 PWM outputs
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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 (Telem1)
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- SERIAL2 -> UART2 (Telem2)
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- SERIAL3 -> UART3 (GPS)
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- SERIAL4 -> UART4
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- SERIAL5 -> not available
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- SERIAL6 -> UART6
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- SERIAL7 -> UART7
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- SERIAL7 -> USB2
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## RC Input
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RC input is configured on the R6 (UART6_RX) pin. It supports all RC
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protocols. For protocols requiring half-duplex serial to transmit
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telemetry (such as FPort) you should set BRD_ALT_CONFIG=1 and setup
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SERIAL6 as an RC input serial port, with half-duplex, pin-swap
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and inversion enabled.
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## FrSky Telemetry
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FrSky Telemetry is supported using the T6 pin (UART6 transmit). You need to set the following parameters to enable support for FrSky S.PORT
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- SERIAL6_PROTOCOL 10
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- SERIAL6_OPTIONS 7
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## OSD Support
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The KakuteH7 supports OSD using OSD_TYPE 1 (MAX7456 driver).
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## PWM Output
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The KakuteH7 supports up to 9 PWM outputs. The pads for motor output
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M1 to M8 on the two motor connectors, plus M9 for LED strip or another
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PWM output.
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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, 8 in group4
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- PWM 9 in group5
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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 130 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 10.1
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- BATT_AMP_PERVLT 17.0
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## Compass
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The KakuteH7 does not have a builting 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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Initial firmware load can be done with DFU by plugging in USB with the
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bootloader button pressed. Then you should load the "with_bl.hex"
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firmware, using your favourite DFU loading tool.
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Once the initial firmware is loaded you can update the firmware using
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any ArduPilot ground station software. Updates should be done with the
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*.apj firmware files.
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