mirror of https://github.com/ArduPilot/ardupilot
99 lines
2.8 KiB
Markdown
99 lines
2.8 KiB
Markdown
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# KakuteH7Mini Flight Controller
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The KakuteH7Mini is a flight controller produced by [Holybro](http://www.holybro.com/).
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## Features
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- MCU - STM32H743 32-bit processor running at 480 MHz
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- IMU - MPU6000
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- Barometer - BMP280
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- OSD - AT7456E
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- Onboard Flash: 128Mbits
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- 6x UARTs (1,2,3,4,6,7)
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- 9x PWM Outputs (8 Motor Output, 1 LED)
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- Battery input voltage: 2S-6S
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- BEC 5V 2A
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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 (DJI VTX, DMA-enabled)
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- SERIAL2 -> UART2 (VTX)
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- SERIAL3 -> UART3 (GPS, DMA-enabled)
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- SERIAL4 -> UART4 (DMA-enabled)
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- SERIAL5 -> not available
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- SERIAL6 -> UART6 (RX/SBUS, DMA-enabled)
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- SERIAL7 -> UART7 (ESC Telemetry)
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## RC Input
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RC input is configured on the R6 (UART6_RX) pin. It supports all serial RC
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protocols. For protocols requiring half-duplex serial to transmit
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telemetry (such as FPort) you should setup SERIAL6 as an RC input serial port,
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with half-duplex, pin-swap 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 KakuteH7Mini supports OSD using OSD_TYPE 1 (MAX7456 driver).
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## PWM Output
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The KakuteH7Mini supports up to 9 PWM outputs. The pads for motor output
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M1 to M4 on the motor connectors and M5 to M8 on separate pads, plus
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M9 for LED strip or another 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. Channels 1-4 support bi-directional 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 11.1
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- BATT_AMP_PERVLT 59.5
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## Compass
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The KakuteH7Mini 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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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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