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README.md
KakuteH7Mini-Nand Flight Controller
The KakuteH7Mini-Nand is a flight controller produced by Holybro.
Features
- MCU - STM32H743 32-bit processor running at 480 MHz
- IMU - BMI270
- Barometer - BMP280
- OSD - AT7456E
- Onboard Flash: 1GBit
- 6x UARTs (1,2,3,4,6,7)
- 9x PWM Outputs (8 Motor Output, 1 LED)
- Battery input voltage: 2S-6S
- BEC 5V 2A
Pinout
UART Mapping
The UARTs are marked Rn and Tn in the above pinouts. The Rn pin is the receive pin for UARTn. The Tn pin is the transmit pin for UARTn.
- SERIAL0 -> USB
- SERIAL1 -> UART1 (DJI VTX, DMA-enabled)
- SERIAL2 -> UART2 (VTX)
- SERIAL3 -> UART3 (GPS, DMA-enabled)
- SERIAL4 -> UART4 (DMA-enabled)
- SERIAL5 -> not available
- SERIAL6 -> UART6 (RX/SBUS, DMA-enabled)
- SERIAL7 -> UART7 (ESC Telemetry)
RC Input
RC input is configured on the R6 (UART6_RX) pin. It supports all serial RC protocols except PPM. For protocols requiring half-duplex serial to transmit telemetry (such as FPort) you should setup SERIAL6 with half-duplex, pin-swap and inversion enabled.
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 KakuteH7Mini-Nand supports OSD using OSD_TYPE 1 (MAX7456 driver).
PWM Output
The KakuteH7Mini-Nand supports up to 9 PWM outputs. The pads for motor output M1 to M4 on the motor connectors and M5 to M8 on separate pads, plus M9 for LED strip or another PWM output.
The PWM is in 5 groups:
- PWM 1, 2 in group1
- PWM 3, 4 in group2
- PWM 5, 6 in group3
- PWM 7, 8 in group4
- PWM 9 in group5
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. Channels 1-4 support bi-directional dshot.
Battery Monitoring
The board has a builtin 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 10
- BATT_CURR_PIN 11
- BATT_VOLT_MULT 11.1
- BATT_AMP_PERVLT 59.5
Compass
The KakuteH7Mini-Nand does not have a builtin 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.