PX4-Autopilot/docs/ko/flight_controller/kakuteh7mini.md

Holybro Kakute H7 mini

:::warning PX4 does not manufacture this (or any) autopilot. Contact the manufacturer for hardware support or compliance issues. :::

The Holybro Kakute H7 mini flight controller is intended for lightweight frame builds (such as racers, etc.).

This flight controller is full of features including HD camera plug, dual plug-and-play 4in1 ESC ports, VTX ON/OFF Pit Switch (Battery Voltage), barometer, OSD, 6x UARTs, 128MB Flash for logging (not supported with PX4 yet), 5V BEC, and bigger soldering pad with easy layout and much more.

The Kakute H7 mini builds upon the best features of its predecessor, the Kakute F7, and the Kakute H7. The board also has an on-board barometer, LED & buzzer pad, and I2C pad (SDA & SCL) for external GPS/magnetometers.

:::info This flight controller is manufacturer supported. :::

:::info PX4 runs on the H7 mini v1.3 and later. :::

주요 특징

• MCU: STM32H743 32-bit processor running at 480 MHz
• IMU: BMI270
• Barometer: BMP280
• OSD: AT7456E
• 6x UARTs (1,2,3,4,6,7)
• VTX On/Off Pit Switch: Not used with PX4
• 9x PWM Outputs (8 Motor Outputs, 1 LED)
• 2x JST-SH1.0_8pin port (For Single or 4in1 ESCs, x8/Octocopter plug & play compatible)
• 1x JST-GH1.5_6pin port (For HD System like Caddx Vista & Air Unit)
• Battery input voltage: 2S-6S
• BEC 5V 2A Cont.
• Mounting: 20 x 20mm/Φ3.6mm hole with M3 & M2 Grommets
• Dimensions: 30x31x6mm
• Weight: 5.5g

Where to Buy

The board can be bought from one of the following shops (for example):

• Holybro

커넥터 및 핀

핀	기능	기본값
B+	배터리 양극 전압 (2S-6S)
VTX+	배터리 양극 전압 (2S-6S)
SDA, SCL	I2C 연결(주변장치용)
5V	5V 출력 (최대 2A)
3V3	3.3V output (0.25A max)
VI	FPV 카메라의 비디오 입력
VO	비디오 송신기로 비디오 출력
CAM	To camera OSD control
G 또는 GND	접지
RSI	수신기에서 아날로그 RSSI(0-3.3V) 입력
R1, T1	UART1 RX 및 TX	TELEM1
R2, T2	UART2 RX 및 TX	TELEM2
R3, T3	UART3 RX 및 TX	NuttX 디버그 콘솔
R4, T4	UART4 RX 및 TX	GPS1
R6, T6	UART6 RX and TX (R6 also located in the GH plug)	RC 포트
R7	UART7 RX (RX is located in the plugs for use with 4-in-1 ESCs)	DShot 텔레메트리
LED	WS2182 주소 지정이 가능한 LED 신호 와이어(테스트되지 않음)
Z-	피에조 부저 네거티브 레그(부저 포지티브 레그를 5V 패드에 연결)
M1에서 M4	모터 신호 출력 (4-in-1 ESC에서 사용하기 위해 플러그에 위치)
M5 to M8	모터 신호 출력 (4-in-1 ESC에서 사용하기 위해 플러그에 위치)
Boot	부트로더 버튼

부트로더 업데이트

The board comes pre-installed with Betaflight. Before the PX4 firmware can be installed, the PX4 bootloader must be flashed. Download the holybro_kakuteh7mini_bootloader.hex bootloader binary and read this page for flashing instructions.

펌웨어 빌드

To build PX4 for this target:

make holybro_kakuteh7mini_default

펌웨어 설치

:::info If you are loading the pre-built firmware via QGroundControl, you must use QGC Daily or QGC version newer than 4.1.7. Prior to that release you will need to manually build and install the firmware. :::

Firmware can be manually installed in any of the normal ways:

• Build and upload the source:

  make holybro_kakuteh7mini_default upload
  

• Load the firmware using QGroundControl. 미리 빌드된 펌웨어나 사용자 지정 펌웨어를 사용할 수 있습니다.

:::info KakuteH7mini is supported with PX4 main and v1.14 or newer. :::

PX4 설정

In addition to the basic configuration, the following parameters are important:

매개변수	설정
SYS_HAS_MAG	보드에 내부 자력계가 없기 때문에 비활성화하여야 합니다. 외부 자력계를 연결하여 활성화 할 수 있습니다.

시리얼 포트 매핑

UART	장치	포트
USART1	/dev/ttyS0	TELEM1
UART2	/dev/ttyS1	TELEM2
USART3	/dev/ttyS2	디버그 콘솔
UART4	/dev/ttyS3	GPS1
USART6	/dev/ttyS4	RC SBUS
UART7	/dev/ttyS5	ESC 텔레메트리(DShot)

디버그 포트

시스템 콘솔

UART3 RX and TX are configured for use as the System Console.

SWD

The SWD interface (JTAG) pins are:

• SWCLK: Test Point 2 (Pin 72 on the CPU)
• SWDIO: Test Point 3 (Pin 76 on CPU)
• GND: As marked on board
• VDD_3V3: As marked on board