Julian Oes
3c39095271
* hrt: Fix PPM input on channel 2 The CCMR1_PPM define for PPM input on channel 2 was incorrectly set to 2, which was setting bits for channel 1 instead of channel 2. This prevented PPM input from functioning properly on channel 2. Changed CCMR1_PPM for channel 2 from 2 to (1 << 8), which correctly configures the CC2S bits for input capture mode on TI2. This fixes an issue noted in the existing code comment: "FIXME! There is an interaction in the CCMR registers that prevents using Chan 1 as the timer and chan 2 as the PPM" Tested on STM32H743 with PPM input on PC7 (TIM8_CH2). * rc_input: enable sharing serial and PPM pin By setting RC_SERIAL_PORT_SHARED_PPM_PIN_GPIO_RX it is now possible to use the same pin on the STM32 for PPM input as well as serial input. * boards: Add support for Holybro KakuteH7-Wing
3.6 KiB
Holybro Kakute H7 V2
:::warning PX4 does not manufacture this (or any) autopilot. Contact the manufacturer for hardware support or compliance issues. :::
The Holybro Kakute H743 Wing is a fully featured flight controller specifically aimed at fixed-wing and VTOL applications. It has the STM32 H743 Processor running at 480 MHz and CAN Bus support, along with dual camera support & switch, ON/OFF Pit Switch, 5V, 6V/8V, 9V/12 BEC, and plug-and-play GPS, CAN, I2C ports.
::: info This flight controller is manufacturer supported. :::
Where to Buy
The board can be bought from one of the following shops (for example):
Connectors and Pins
| Pin | Function | PX4 default |
|---|---|---|
| GPS 1 | USART1 and I2C1 | GPS1 |
| R2, T2 | USART2 RX and TX | GPS2 |
| R3, T3 | USART3 RX and TX | TELEM1 |
| R5, T5 | USART5 RX and TX | TELEM2 |
| R6, T6 | USART6 RX and TX | RC (PPM, SBUS, etc.) input |
| R7, T7, RTS, CTS | UART7 RX and TX with flow control | TELEM3 |
| R8, T8 | UART8 RX and TX | Console |
| Buz-, Buz+ | Piezo buzzer | |
| M1 to M14 | Motor signal outputs |
PX4 Bootloader Update
The board comes pre-installed with Betaflight. Before the PX4 firmware can be installed, the PX4 bootloader must be flashed. Download the holybro_kakuteh7-wing.hex bootloader binary and read this page for flashing instructions.
Building Firmware
To build PX4 for this target:
make holybro_kakuteh7-wing_default
Installing PX4 Firmware
::: info KakuteH7-wing is supported with PX4 master & PX4 v1.16 or newer.. 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_kakuteh7-wing_default upload -
Load the firmware using QGroundControl. You can use either pre-built firmware or your own custom firmware.
Serial Port Mapping
| UART | Device | Port | Default function |
|---|---|---|---|
| USART1 | /dev/ttyS0 | GPS 1 | GPS1 |
| USART2 | /dev/ttyS1 | R2, T2 | GPS2 |
| USART3 | /dev/ttyS2 | R3, T3 | TELEM1 |
| UART5 | /dev/ttyS3 | R5, T5 | TELEM2 |
| USART6 | /dev/ttyS4 | R6, (T6) | RC input |
| UART7 | /dev/ttyS5 | R7, T7, RTS, CTS | TELEM3 |
| UART8 | /dev/ttyS6 | R8, T8 | Console |
Debug Port
System Console
UART8 RX and TX are configured for use as the System Console.