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README.md
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.