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new file mode 100644 index 0000000000..aa3d1b5f2a --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/KakuteF7/README.md @@ -0,0 +1,87 @@ +# KakuteF7 AIO Flight Controller + +http://www.holybro.com/product/59 + +The KakuteF7 AIO is a flight controller produced by [Holybro](http://www.holybro.com/product/59). + +## Features + + - STM32F745 microcontroller + - ICM20689 IMU + - BMP280 barometer + - microSD card slot + - AT7456E OSD + - 6 UARTs + - 6 PWM outputs + +## Pinout + +![KakuteF7 Board](KakuteF7.jpg "KakuteF7") + +## UART Mapping + + - SERIAL0 -> USB + - SERIAL1 -> UART3 (Telem1) + - SERIAL2 -> UART2 (Telem2) + - SERIAL3 -> UART1 (GPS) + - SERIAL4 -> UART4 + - SERIAL5 -> UART7 + - SERIAL6 -> UART6 (Transmit only, FrSky) + +## RC Input + + RC input is configured on the R6 (UART6_RX) pin. It supports all RC protocols. + +## FrSky Telemetry + +FrSky Telemetry is supported using the T6 pin (UART6 transmit). You need to set the following parameters to enable support for FrSky S.PORT + + - SERIAL6_PROTOCOL 10 + - SERIAL6_OPTIONS 7 + +## OSD Support + +The KakuteF7 supports OSD using OSD_TYPE 1 (MAX7456 driver). + +## PWM Output + +The KakuteF7 supports up to 6 PWM outputs. The pads for motor output M1 to M6 on the above diagram are for the 6 outputs. All 6 outputs support DShot as well as all PWM types. + +The PWM is in 3 groups: + + - PWM 1, 2 and 3 in group1 + - PWM 4 and 5 in group2 + - PWM 6 in group3 + +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 current +sensor can read up to 130 Amps. 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 KakuteF7 AIO does not have a builting compass, but you can attach an external compass using I2C on the SDA and SCL pads. + +## 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. +