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KakuteF4-Wing Flight Controller

The KakuteF4-Wing is a flight controller produced by Holybro.

Features

Processor
    STM32F405 32-bit processor
    AT7456E OSD
Sensors
    ICM42688 Acc/Gyro
    SLP06 barometer
Power
    2S - 8S Lipo input voltage with voltage monitoring
    9V/12V, 1.5A BEC for powering Video Transmitter
    6V/7.2V, ?A BEC for servos
    3.3V, 1A BEC
Interfaces
    7x PWM outputs DShot capable, 4 outputs BiDirDShot capable
    1x RC input
    5x UARTs/serial for GPS and other peripherals
    1x I2C ports for external compass, airspeed, etc.
    USB-C port

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 (GPS) DMA-Enabled
SERIAL2 -> UART2 (Telem1) DMA Enabled
SERIAL3 -> UART3 (RX) DMA Enabled
SERIAL5 -> UART5 (User)
SERIAL6 -> USART6 (User)

RC Input

RC input is configured on the R3 (UART3_RX) pin. It supports all serial RC protocols.

OSD Support

The KakuteF4-Wing supports OSD using OSD_TYPE 1 (MAX7456 driver).

PWM Output

The KakuteF4 supports up to 7 PWM outputs. All outputs support DShot. Outputs 1-4 support BiDirDshot.

The PWM is in 5 groups:

PWM 1-2 in group1
PWM 3-4 in group2
PWM 5-6 in group3
PWM 7 in group4

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 ?? 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
BATT_AMP_PERVLT 40

Compass

The KakuteF4-Wing does not have a built-in compass, but you can attach an external compass using I2C on the SDA and SCL pads.

Loading Firmware

Firmware for these boards can be found at https://firmware.ardupilot.org in sub-folders labeled “KakuteF4-Wing”.

Initial firmware load can be done with DFU by plugging in USB with the boot button pressed. Then you should load the "KakuteF4-Wing_bl.hex" firmware, using your favourite DFU loading tool.

Subsequently, you can update firmware with Mission Planner.

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