ardupilot/libraries/AP_HAL_ChibiOS/hwdef/KakuteH7-Wing

KakuteH7-Wing Flight Controller

The KakuteH7-Wing is a flight controller produced by Holybro.

Features

Processor
    STM32H743 32-bit processor
    AT7456E OSD
Sensors
    ICM42688 Acc/Gyro
    BMP280 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
    14x PWM outputs DShot capable, 4 outputs BiDirDShot capable
    1x RC input
    6x UARTs/serial for GPS and other peripherals
    2x I2C ports for external compass, airspeed, etc.
    USB-C port
    Switchable 9V/12V VTX power
    2 Switchable Camera inputs
    All UARTS support hardware inversion. SBUS, SmartPort, and other inverted protocols work on any UART without “uninvert hack”
    Input for second battery monitor

Pinout

![KakuteH7-Wing Board](KakuteH7-Wing-pinout.jpg "KakuteH7-Wing)

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 -> UART7 (TELEM1) with CTS/RTS DMA Enabled
• SERIAL2 -> UART2 (Telem2) DMA Enabled
• SERIAL3 -> UART1 (GPS) DMA Enabled
• SERIAL4 -> USART3 (GPS2)
• SERIAL5 -> UART5 (User) DMA Enabled
• SERIAL6 -> USART6 (RX normally RCIN, BRD_ALT_CONFIG =1 for normal UART RX)
• SERIAL7 -> UART8 (User) DMA Enabled

RC Input

RC input is configured on the R6 (UART6_RX) pin. It supports all RC protocols. For protocols requiring half-duplex serial to transmit telemetry (such as FPort) you should set BRD_ALT_CONFIG=1 and setup SERIAL6 as an RC input serial port, with half-duplex, pin-swap and inversion enabled.

OSD Support

The KakuteH7 supports OSD using OSD_TYPE 1 (MAX7456 driver).

PWM Output

The KakuteH7 supports up to 14 PWM outputs. Outputs 1-10 support DShot. Outputs 5-8 support BiDirDshot.

The PWM is in 5 groups:

• PWM 1-4 in group1
• PWM 5,6 in group2
• PWM 7,8 in group3
• PWM 9,10 in group4
• PWM 11-13 in group5
• PWM 14 in group6

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 8
• BATT_CURR_PIN 4
• BATT_VOLT_MULT 18.18
• BATT_AMP_PERVLT 36.6

Switchable Vidoe Supply and Camera Inputs

The camera input defaults to CAM1 but can be switched to CAM2 by setting a relay set to pin 81. Both cameras should be the same video format.

The 9V/12V video supply can be switched off (default is on) using a relay set topin 82.

Compass

The KakuteH7-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 “KakuteH7-Wing”.

Initial firmware load can be done with DFU by plugging in USB with the boot button pressed. Then you should load the "KakuteH7-Wing_bl.hex" firmware, using your favourite DFU loading tool.

Subsequently, you can update firmware with Mission Planner.