# KakuteF7 AIO Flight Controller

http://www.holybro.com/product/59

The KakuteF7 AIO is a flight controller produced by [Holybro](http://www.holybro.com/product/59).

## Features

 - STM32F745 microcontroller
 - ICM20689 IMU
 - BMP280 barometer
 - microSD card slot
 - AT7456E OSD
 - 6 UARTs
 - 6 PWM outputs

## Pinout

![KakuteF7 Board](KakuteF7.jpg "KakuteF7")

## UART Mapping

 - SERIAL0 -> USB
 - SERIAL1 -> UART1 (Telem1)
 - SERIAL2 -> UART2 (Telem2)
 - SERIAL3 -> UART3 (GPS)
 - SERIAL4 -> UART4
 - SERIAL5 -> UART7
 - SERIAL6 -> UART6 (Transmit only, FrSky)
 
## RC Input
 
RC input is configured on the R6 (UART6_RX) pin. It supports all RC protocols.
 
## 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 KakuteF7 supports OSD using OSD_TYPE 1 (MAX7456 driver).

## PWM Output

The KakuteF7 supports up to 6 PWM outputs. The pads for motor output M1 to M6 on the above diagram are for the 6 outputs. All 6 outputs support DShot as well as all PWM types.

The PWM is in 3 groups:

 - PWM 1, 2 and 3 in group1
 - PWM 4 and 5 in group2
 - PWM 6 in group3

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 130 Amps. The voltage sensor can handle up to 6S
LiPo batteries.

The correct battery setting parameters are:

 - BATT_MONITOR 4
 - BATT_VOLT_PIN 13
 - BATT_CURR_PIN 12
 - BATT_VOLT_MULT 10.1
 - BATT_AMP_PERVLT 17.0

## Compass

The KakuteF7 AIO does not have a builting 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.