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154 lines
7.1 KiB
Markdown
154 lines
7.1 KiB
Markdown
# Holybro Kakute H7
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<Badge type="tip" text="PX4 v1.13" />
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:::warning
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PX4 does not manufacture this (or any) autopilot.
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Contact the [manufacturer](https://holybro.com/) for hardware support or compliance issues.
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:::
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The [Holybro Kakute H7](https://holybro.com/products/kakute-h7) is full of features including dual plug-and-play 4in1 ESC ports, HD camera plug, barometer, OSD, 6x UARTs, full Blackbox MicroSD card slot, 5V and 9V BEC, easy soldering layout, and much more.
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The Kakute H7 builds upon the best features of its predecessor, the [Kakute F7](../flight_controller/kakutef7.md), and further improves on hardware components and layout.
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Dual plug'n'play 4-in-1 ESC connectors simplify support for x8 and Octocopter configurations, keeping assembly simple and clean.
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The board also has an on-board barometer, LED & buzzer pad, and I2C pad (SDA & SCL) for external GPS/Magnetometers.
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::: info
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This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
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:::
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## Key Features
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- MCU: STM32H743 32-bit processor running at 480 MHz
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- IMU: MPU6000
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- Barometer: BMP280
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- OSD: AT7456E
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- Onboard Bluetooth chip: Disabled with PX4
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- 2x JST-SH1.0_8pin port (For Single or 4in1 ESCs, x8/Octocopter plug & play compatible)
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- 1x JST-GH1.25_6pin port (For HD System like Caddx Vista & Air Unit)
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- Battery input voltage: 2S - 8S
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- BEC 5V 2A Cont.
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- BEC 9V 1.5A Cont.
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- Mounting: 30.5 x 30.5mm/Φ4mm hole with Φ3mm Grommets
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- Dimensions: 35x35mm
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- Weight: 8g
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## Where to Buy
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The board can be bought from one of the following shops (for example):
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- [Holybro](https://holybro.com/products/kakute-h7)
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:::tip
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The _Kakute H7_ is designed to work with the _Tekko32_ 4-in-1 ESC and they can be bought in combination.
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:::
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## Connectors and Pins
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This is the silkscreen for the _Kakute H7_, showing the top of the board:
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<img src="../../assets/flight_controller/kakuteh7/kakuteh7_silk.png" width="380px" title="Kakute h7" />
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| Pin | Function | PX4 default |
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| -------- | ----------------------------------------------------------------- | ------------------- |
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| B+ | Battery positive voltage (2S-8S) | |
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| SDA, SCL | I2C connection (for peripherals) | |
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| 5V | 5V output (2A max) | |
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| 3V3 | 3.3V output (0.25A max) | |
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| VI | Video input from FPV camera | |
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| VO | Video output to video transmitter | |
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| CAM | To camera OSD control | |
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| G or GND | Ground | |
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| RSI | Analog RSSI (0-3.3V) input from receiver | |
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| R1, T1 | UART1 RX and TX | TELEM1 |
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| R3, T3 | UART3 RX and TX | NuttX debug console |
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| R4, T4 | UART4 RX and TX | GPS1 |
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| R6, T6 | UART6 RX and TX (R6 also located in the GH plug) | RC port |
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| R7 | UART7 RX (RX is located in the plugs for use with 4-in-1 ESCs) | DShot telemetry |
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| LED | WS2182 addressable LED signal wire (not tested) | |
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| Z- | Piezo buzzer negative leg (Connect buzzer positive leg to 5V pad) | |
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| M1 to M4 | Motor signal outputs (located in plug for use in 4-in-1 ESCs) | |
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| M5 to M8 | Motor signal outputs (located in plug for use in 4-in-1 ESCs) | |
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| Boot | Bootloader button | |
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## PX4 Bootloader Update {#bootloader}
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The board comes pre-installed with [Betaflight](https://github.com/betaflight/betaflight/wiki).
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Before PX4 firmware can be installed, the _PX4 bootloader_ must be flashed.
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Download the [kakuteh7_bl.hex](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/flight_controller/kakuteh7/holybro_kakuteh7_bootloader.hex) bootloader binary and read [this page](../advanced_config/bootloader_update_from_betaflight.md) for flashing instructions.
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## Building Firmware
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To [build PX4](../dev_setup/building_px4.md) for this target:
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```sh
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make holybro_kakuteh7_default
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```
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## Installing PX4 Firmware
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The firmware can be installed in any of the normal ways:
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- Build and upload the source
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```sh
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make holybro_kakuteh7_default upload
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```
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- [Load the firmware](../config/firmware.md) using _QGroundControl_.
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You can use either pre-built firmware or your own custom firmware.
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::: info
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If you are loading the pre-built firmware via QGroundcontrol, you must use QGC Daily or QGC version newer than 4.1.7.
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:::
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## PX4 Configuration
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In addition to the [basic configuration](../config/index.md), the following parameters are important:
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| Parameter | Setting |
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| -------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------- |
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| [SYS_HAS_MAG](../advanced_config/parameter_reference.md#SYS_HAS_MAG) | This should be disabled since the board does not have an internal mag. You can enable it if you attach an external mag. |
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## Serial Port Mapping
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| UART | Device | Port |
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| ------ | ---------- | --------------------- |
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| USART1 | /dev/ttyS0 | TELEM1 |
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| USART2 | /dev/ttyS1 | TELEM2 |
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| USART3 | /dev/ttyS2 | Debug Console |
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| UART4 | /dev/ttyS3 | GPS1 |
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| USART6 | /dev/ttyS4 | RC SBUS |
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| UART7 | /dev/ttyS5 | ESC telemetry (DShot) |
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### Using TELEM2 (USART2)
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The `TELEM2` port (USART2) has no exposed solder pads as it is intended for use with Bluetooth telemetry (this does not work with PX4).
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You can expose the solder pads and use the port by removing the two resistors marked with an X.
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No other configuration should be required.
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<img src="../../assets/flight_controller/kakuteh7/kakuteh7_uart2.png" width="380px" title="Kakute h7" />
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## Debug Port
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### System Console
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UART3 RX and TX are configured for use as the [System Console](../debug/system_console.md).
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### SWD
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The [SWD interface](../debug/swd_debug.md) (JTAG) pins are:
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- `SWCLK`: Test Point 2 (Pin 72 on the CPU)
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- `SWDIO`: Test Point 3 (Pin 76 on CPU)
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- `GND`: As marked on board
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- `VDD_3V3`: As marked on board
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These are shown below.
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