HAL_ChibiOS: added board docs for KakuteF4

libraries/AP_HAL_ChibiOS/hwdef/KakuteF4/README.md

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+# KakuteF4 AIO Flight Controller
+
+The [KakuteF4 AIO](http://www.holybro.com/product/47) is a flight controller produced by [Holybro](http://www.holybro.com).
+
+## Features
+
+ - STM32F405 microcontroller
+ - ICM20689 IMU
+ - BMP280 barometer
+ - MAX7456 OSD
+ - 5 UARTs
+ - 4 PWM outputs
+
+## Pinout
+
+![KakuteF4 Board](KakuteF4.jpg "KakuteF4")
+
+## UART Mapping
+
+ - SERIAL0 -> USB
+ - SERIAL1 -> UART6 (Telem1)
+ - SERIAL2 -> UART1 (FrSky S.Port)
+ - SERIAL3 -> UART4 (GPS)
+ - SERIAL4 -> UART5 (ESC Telemetry, RX only)
+ - SERIAL5 -> UART3 (spare, TX only)
+
+## RC Input
+ 
+RC input is configured on the R6 (UART3_RX) pin. It supports all RC protocols.
+ 
+## FrSky Telemetry
+ 
+FrSky Telemetry is supported using the SmartPort pad (UART1). You need
+to set the following parameters to enable support for FrSky S.PORT. It
+has builtin inverters and a diode to allow for operation from a single
+pin with no special adapters.
+ 
+  - SERIAL2_PROTOCOL 10
+  - SERIAL2_OPTIONS 0
+  
+## OSD Support
+
+The KakuteF4 supports OSD using OSD_TYPE 1 (MAX7456 driver).
+
+## PWM Output
+
+The KakuteF4 supports up to 4 PWM outputs. The pads for motor output
+M1 to M4 on the above diagram are for the 4 outputs. All 4 outputs
+support DShot as well as all PWM types. The M5 and M6 outputs are not
+currently available with ArduPilot.
+
+The PWM is in 2 groups:
+
+ - PWM 1 and 4 in group1
+ - PWM 2 and 3 in group2
+
+Channels within the same group need to use the same output rate. If
+any channel in a group uses DShot then all channels in the group need
+to use DShot.
+
+## Battery Monitoring
+
+The board has a builting voltage and current sensor. The voltage
+sensor can handle up to 6S LiPo batteries.
+
+The correct battery setting parameters are:
+
+ - BATT_MONITOR 4
+ - BATT_VOLT_PIN 13
+ - BATT_CURR_PIN 12
+ - BATT_VOLT_MULT 10.1
+ - BATT_AMP_PERVLT 17.0
+
+## Compass
+
+The KakuteF4 AIO does not have a builting compass, but you can attach an external compass using I2C on the SDA and SCL pads.
+
+## Logging
+
+The KakuteF4 does not support on-board logging at this time.
+
+## Loading Firmware
+
+Initial firmware load can be done with DFU by plugging in USB with the
+bootloader button pressed. Then you should load the "with_bl.hex"
+firmware, using your favourite DFU loading tool.
+
+Once the initial firmware is loaded you can update the firmware using
+any ArduPilot ground station software. Updates should be done with the
+*.apj firmware files.
+