mirror of https://github.com/ArduPilot/ardupilot
109 lines
3.4 KiB
Markdown
109 lines
3.4 KiB
Markdown
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# KakuteH7-Wing Flight Controller
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The KakuteH7-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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STM32H743 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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BMP280 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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14x PWM outputs DShot capable, 4 outputs BiDirDShot capable
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1x RC input
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6x UARTs/serial for GPS and other peripherals
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2x I2C ports for external compass, airspeed, etc.
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USB-C port
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Switchable 9V/12V VTX power
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2 Switchable Camera inputs
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All UARTS support hardware inversion. SBUS, SmartPort, and other inverted protocols work on any UART without “uninvert hack”
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Input for second battery monitor
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## Pinout
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![KakuteH7-Wing Board](KakuteH7-Wing-pinout.jpg "KakuteH7-Wing)
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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 -> UART7 (TELEM1) with CTS/RTS DMA Enabled
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- SERIAL2 -> UART2 (Telem2) DMA Enabled
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- SERIAL3 -> UART1 (GPS) DMA Enabled
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- SERIAL4 -> USART3 (GPS2)
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- SERIAL5 -> UART5 (User) DMA Enabled
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- SERIAL6 -> USART6 (RX normally RCIN, BRD_ALT_CONFIG =1 for normal UART RX)
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- SERIAL7 -> UART8 (User) DMA Enabled
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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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## 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 14 PWM outputs. Outputs 1-10 support DShot. Outputs 5-8 support BiDirDshot.
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The PWM is in 5 groups:
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- PWM 1-4 in group1
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- PWM 5,6 in group2
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- PWM 7,8 in group3
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- PWM 9,10 in group4
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- PWM 11-13 in group5
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- PWM 14 in group6
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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 8
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- BATT_CURR_PIN 4
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- BATT_VOLT_MULT 18.18
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- BATT_AMP_PERVLT 36.6
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## Switchable Vidoe Supply and Camera Inputs
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The camera input defaults to CAM1 but can be switched to CAM2 by setting a relay set to pin 81. Both cameras should be the same video format.
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The 9V/12V video supply can be switched off (default is on) using a relay set topin 82.
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## Compass
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The KakuteH7-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 “KakuteH7-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 "KakuteH7-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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