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README.md
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.