mirror of https://github.com/ArduPilot/ardupilot
94 lines
2.8 KiB
Markdown
94 lines
2.8 KiB
Markdown
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# KakuteF4 Mini Flight Controller
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http://www.holybro.com/product/kakute-f4-v2-mini/
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The KakuteF7 Mini is a flight controller produced by [Holybro](http://www.holybro.com/product/kakute-f4-v2-mini/).
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## Features
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- STM32F405 microcontroller
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- MPU6000 IMU
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- BMP280 barometer
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- 128Mbit dataflash
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- MAX7456 OSD
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- 5 UARTs
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- 7 PWM outputs (2 unallocated)
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### KakuteF4 Mini 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 (Transmit only, FrSky)
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- SERIAL3 -> UART3 (RC Input)
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- SERIAL4 -> UART4 (GPS/Telem1)
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- SERIAL5 -> UART5 (Receive only, ESC Telemetry)
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- SERIAL6 -> UART6 (GPS2/Telem2)
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## ESC Telemetry
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The SERIAL5 port (UART5) is for ESC telemetry. It is connected through the
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motor connector and works out of the box with the [Tekko32 F3 Mini](https://shop.holybro.com/tekko32-f3-4in1-45a-mini-esc_p1132.html) which is commonly paired with this flight controller
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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 protocols.
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## FrSky Telemetry
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FrSky Telemetry is supported using the T1 pin (UART1 transmit). You need to set the following parameters to enable support for FrSky S.PORT
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## OSD Support
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The KakuteF7 Mini 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, but only 5 can currently be used. M1 to M4 are accessed via the connector. PWM5 is used for LED output. M1-M4 support bi-directional dshot.
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The PWM is in 3 groups:
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- PWM 1 and 2 in group1
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- PWM 3 and 4 in group2
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- PWM 5 in group3
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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 13
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- BATT_CURR_PIN 12
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- BATT_VOLT_MULT 10.9
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- BATT_AMP_PERVLT 28.5
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## Compass
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The KakuteF7 Mini does not have a builtin 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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Note that this hardware has problems going into DFU mode if a GPS is connected and powered - please disconnect your GPS when flashing for the first time.
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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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