2018-11-18 05:51:18 -04:00
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# KakuteF4 AIO Flight Controller
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The [KakuteF4 AIO](http://www.holybro.com/product/47) is a flight controller produced by [Holybro](http://www.holybro.com).
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## Features
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- STM32F405 microcontroller
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- ICM20689 IMU
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- BMP280 barometer
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- MAX7456 OSD
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- 5 UARTs
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- 4 PWM outputs
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## Pinout
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2018-11-20 04:16:37 -04:00
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2018-11-18 05:51:18 -04:00
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## UART Mapping
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2018-11-20 04:16:37 -04:00
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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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The pin labelled Rx on each corner of the board is a common pin for
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ESC telemetry input.
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2018-11-18 05:51:18 -04:00
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- SERIAL0 -> USB
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- SERIAL1 -> UART6 (Telem1)
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- SERIAL2 -> UART1 (FrSky S.Port)
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- SERIAL3 -> UART4 (GPS)
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- SERIAL4 -> UART5 (ESC Telemetry, RX only)
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- SERIAL5 -> UART3 (spare, TX only)
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## RC Input
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RC input is configured on the R6 (UART3_RX) pin. It supports all RC protocols.
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## FrSky Telemetry
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FrSky Telemetry is supported using the SmartPort pad (UART1). You need
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to set the following parameters to enable support for FrSky S.PORT. It
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has builtin inverters and a diode to allow for operation from a single
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pin with no special adapters.
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- SERIAL2_PROTOCOL 10
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- SERIAL2_OPTIONS 0
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## OSD Support
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The KakuteF4 supports OSD using OSD_TYPE 1 (MAX7456 driver).
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## PWM Output
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The KakuteF4 supports up to 4 PWM outputs. The pads for motor output
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M1 to M4 on the above diagram are for the 4 outputs. All 4 outputs
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support DShot as well as all PWM types. The M5 and M6 outputs are not
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currently available with ArduPilot.
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The PWM is in 2 groups:
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- PWM 1 and 4 in group1
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- PWM 2 and 3 in group2
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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 voltage
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sensor can handle up to 6S 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 10.1
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- BATT_AMP_PERVLT 17.0
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## Compass
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The KakuteF4 AIO 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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## Logging
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2019-10-12 20:06:52 -03:00
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The KakuteF4 supports on-board dataflash logging.
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2018-11-18 05:51:18 -04:00
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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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